BBL headers for ABG (emuflight#549)

nerdCopter · Apr 26, 2021 · 1faf22f · 1faf22f
1 parent 96f51c6
commit 1faf22f
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -1174,6 +1174,9 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_roll", "%d",          currentPidProfile->dFilter[ROLL].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_pitch", "%d",         currentPidProfile->dFilter[PITCH].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_yaw", "%d",           currentPidProfile->dFilter[YAW].dLpf2);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_alpha", "%d",                 currentPidProfile->dterm_ABG_alpha);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_boost", "%d",                 currentPidProfile->dterm_ABG_boost);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_half_life", "%d",             currentPidProfile->dterm_ABG_half_life);
         BLACKBOX_PRINT_HEADER_LINE("witchcraft_roll", "%d",                 currentPidProfile->dFilter[ROLL].Wc);
         BLACKBOX_PRINT_HEADER_LINE("witchcraft_pitch", "%d",                currentPidProfile->dFilter[PITCH].Wc);
         BLACKBOX_PRINT_HEADER_LINE("witchcraft_yaw", "%d",                  currentPidProfile->dFilter[YAW].Wc);
@@ -1233,6 +1236,9 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_min_hz", "%d",       gyroConfig()->dyn_notch_min_hz);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_max_hz", "%d",       gyroConfig()->dyn_notch_max_hz);
 #endif
+        BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_alpha", "%d",                  gyroConfig()->gyro_ABG_alpha);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_boost", "%d",                  gyroConfig()->gyro_ABG_boost);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_half_life", "%d",              gyroConfig()->gyro_ABG_half_life);
 #if defined(USE_ACC)
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d",                  (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d",                accelerometerConfig()->acc_hardware);