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dronecan: log cumulative bus-off count to blackbox slow frame #11729

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dronecan: log cumulative bus-off count to blackbox slow frame #11729

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dronecan: log cumulative bus-off count to blackbox slow frame
daijoubu Jul 15, 2026
94b3925
Merge branch 'maintenance-10.x' into feature/canbus-errors-blackbox
daijoubu Aug 28, 2026
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17 changes: 17 additions & 0 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,9 @@
#include "sensors/esc_sensor.h"
#include "flight/wind_estimator.h"
#include "sensors/temperature.h"
#ifdef USE_DRONECAN
#include "drivers/dronecan/dronecan.h"
#endif

#include "terrain/terrain.h"

Expand Down Expand Up @@ -523,6 +526,9 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"escRPM", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"escTemperature", -1, SIGNED, PREDICT(PREVIOUS), ENCODING(SIGNED_VB)},
#endif
#ifdef USE_DRONECAN
{"droneCANBusOffCount", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
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#endif
#ifdef USE_TERRAIN
{"terrainAGL", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"terrainAMSL", -1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
Expand Down Expand Up @@ -640,6 +646,9 @@ typedef struct blackboxSlowState_s {
#endif
uint16_t rxUpdateRate;
uint8_t activeWpNumber;
#ifdef USE_DRONECAN
uint32_t droneCANBusOffCount;
#endif
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()

//From rc_controls.c
Expand Down Expand Up @@ -1430,6 +1439,10 @@ static void writeSlowFrame(void)
blackboxWriteSignedVB(slowHistory.terrainAMSL);
#endif

#ifdef USE_DRONECAN
blackboxWriteUnsignedVB(slowHistory.droneCANBusOffCount);
#endif

blackboxSlowFrameIterationTimer = 0;
}

Expand Down Expand Up @@ -1526,6 +1539,10 @@ static void loadSlowState(blackboxSlowState_t *slow)
slow->escRPM = escSensor->rpm;
slow->escTemperature = escSensor->temperature;
#endif

#ifdef USE_DRONECAN
slow->droneCANBusOffCount = dronecanGetBusOffCount();
#endif
#ifdef USE_TERRAIN
slow->terrainAGL = terrainGetLastDistanceCm();
slow->terrainAMSL = terrainGetLastAMSL();
Expand Down
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