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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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47
js/model.js
View file

@ -2,27 +2,28 @@
// generate mixer // generate mixer
var mixerList = [ var mixerList = [
{name: 'Tricopter', model: 'tricopter', image: 'tri'}, {name: 'Tricopter', model: 'tricopter', image: 'tri'},
{name: 'Quad +', model: 'quad_x', image: 'quad_p'}, {name: 'Quad +', model: 'quad_x', image: 'quad_p'},
{name: 'Quad X', model: 'quad_x', image: 'quad_x'}, {name: 'Quad X', model: 'quad_x', image: 'quad_x'},
{name: 'Bicopter', model: 'custom', image: 'bicopter'}, {name: 'Bicopter', model: 'custom', image: 'bicopter'},
{name: 'Gimbal', model: 'custom', image: 'custom'}, {name: 'Gimbal', model: 'custom', image: 'custom'},
{name: 'Y6', model: 'y6', image: 'y6'}, {name: 'Y6', model: 'y6', image: 'y6'},
{name: 'Hex +', model: 'hex_plus', image: 'hex_p'}, {name: 'Hex +', model: 'hex_plus', image: 'hex_p'},
{name: 'Flying Wing', model: 'custom', image: 'flying_wing'}, {name: 'Flying Wing', model: 'custom', image: 'flying_wing'},
{name: 'Y4', model: 'y4', image: 'y4'}, {name: 'Y4', model: 'y4', image: 'y4'},
{name: 'Hex X', model: 'hex_x', image: 'hex_x'}, {name: 'Hex X', model: 'hex_x', image: 'hex_x'},
{name: 'Octo X8', model: 'custom', image: 'octo_x8'}, {name: 'Octo X8', model: 'custom', image: 'octo_x8'},
{name: 'Octo Flat +', model: 'custom', image: 'octo_flat_p'}, {name: 'Octo Flat +', model: 'custom', image: 'octo_flat_p'},
{name: 'Octo Flat X', model: 'custom', image: 'octo_flat_x'}, {name: 'Octo Flat X', model: 'custom', image: 'octo_flat_x'},
{name: 'Airplane', model: 'custom', image: 'airplane'}, {name: 'Airplane', model: 'custom', image: 'airplane'},
{name: 'Heli 120', model: 'custom', image: 'custom'}, {name: 'Heli 120', model: 'custom', image: 'custom'},
{name: 'Heli 90', model: 'custom', image: 'custom'}, {name: 'Heli 90', model: 'custom', image: 'custom'},
{name: 'V-tail Quad', model: 'quad_vtail', image: 'vtail_quad'}, {name: 'V-tail Quad', model: 'quad_vtail', image: 'vtail_quad'},
{name: 'Hex H', model: 'custom', image: 'custom'}, {name: 'Hex H', model: 'custom', image: 'custom'},
{name: 'PPM to SERVO', model: 'custom', image: 'custom'}, {name: 'PPM to SERVO', model: 'custom', image: 'custom'},
{name: 'Dualcopter', model: 'custom', image: 'custom'}, {name: 'Dualcopter', model: 'custom', image: 'custom'},
{name: 'Singlecopter', model: 'custom', image: 'custom'}, {name: 'Singlecopter', model: 'custom', image: 'custom'},
{name: 'A-tail Quad', model: 'quad_atail', image: 'atail_quad'}, {name: 'A-tail Quad', model: 'quad_atail', image: 'atail_quad'},
{name: 'Custom', model: 'custom', image: 'custom'} {name: 'Custom', model: 'custom', image: 'custom'},
{name: 'Custom Airplane', model: 'custom', image: 'custom'}
]; ];

21
js/msp.js
View file

@ -447,13 +447,16 @@ var MSP = {
case MSP_codes.MSP_SERVO_CONF: case MSP_codes.MSP_SERVO_CONF:
SERVO_CONFIG = []; // empty the array as new data is coming in SERVO_CONFIG = []; // empty the array as new data is coming in
if (data.byteLength % 7 == 0) { if (data.byteLength % 13 == 0) {
for (var i = 0; i < data.byteLength; i += 7) { for (var i = 0; i < data.byteLength; i += 13) {
var arr = { var arr = {
'min': data.getInt16(i, 1), 'min': data.getInt16(i, 1),
'max': data.getInt16(i + 2, 1), 'max': data.getInt16(i + 2, 1),
'middle': data.getInt16(i + 4, 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); SERVO_CONFIG.push(arr);
@ -1047,6 +1050,18 @@ MSP.crunch = function (code) {
buffer.push(highByte(SERVO_CONFIG[i].middle)); buffer.push(highByte(SERVO_CONFIG[i].middle));
buffer.push(lowByte(SERVO_CONFIG[i].rate)); 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; break;
case MSP_codes.MSP_SET_CHANNEL_FORWARDING: case MSP_codes.MSP_SET_CHANNEL_FORWARDING: