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Some changes required for the 'custom-servo-mixers' cleanflight branch.

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TODO - Support old version of MSP_SERVO_CONF
This commit is contained in:
Dominic Clifton 2015-06-28 22:30:36 +01:00
parent 8d39b3f8cc
commit 438dc8d46d
2 changed files with 42 additions and 26 deletions
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21
js/msp.js
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@ -447,13 +447,16 @@ var MSP = {
case MSP_codes.MSP_SERVO_CONF:
SERVO_CONFIG = []; // empty the array as new data is coming in
if (data.byteLength % 7 == 0) {
for (var i = 0; i < data.byteLength; i += 7) {
if (data.byteLength % 13 == 0) {
for (var i = 0; i < data.byteLength; i += 13) {
var arr = {
'min': data.getInt16(i, 1),
'max': data.getInt16(i + 2, 1),
'middle': data.getInt16(i + 4, 1),
'rate': data.getInt8(i + 6)
'rate': data.getInt8(i + 6),
'angleAtMin': data.getInt8(i + 7),
'angleAtMax': data.getInt8(i + 8),
'reversedChannels': data.getInt32(i + 9)
};
SERVO_CONFIG.push(arr);
@ -1047,6 +1050,18 @@ MSP.crunch = function (code) {
buffer.push(highByte(SERVO_CONFIG[i].middle));
buffer.push(lowByte(SERVO_CONFIG[i].rate));
if (semver.gte(CONFIG.apiVersion, "1.11.0")) {
buffer.push(SERVO_CONFIG[i].angleAtMin);
buffer.push(SERVO_CONFIG[i].angleAtMax);
}
if (semver.gte(CONFIG.apiVersion, "1.12.0")) {
buffer.push(specificByte(SERVO_CONFIG[i].reversedChannels, 0));
buffer.push(specificByte(SERVO_CONFIG[i].reversedChannels, 1));
buffer.push(specificByte(SERVO_CONFIG[i].reversedChannels, 2));
buffer.push(specificByte(SERVO_CONFIG[i].reversedChannels, 3));
}
}
break;
case MSP_codes.MSP_SET_CHANNEL_FORWARDING: