mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-16 04:45:20 +03:00
Cleanup crunch(), switch to use .pushX functions
This commit is contained in:
Anton Stålheim
parent
6275b8b462
commit
44a0d54ea9
4 changed files with 172 additions and 272 deletions
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@ -913,165 +913,117 @@ MspHelper.prototype.crunch = function(code) {
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switch (code) {
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case MSPCodes.MSP_SET_BF_CONFIG:
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var featureMask = BF_CONFIG.features.getMask();
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buffer.push(BF_CONFIG.mixerConfiguration);
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buffer.push(specificByte(featureMask, 0));
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buffer.push(specificByte(featureMask, 1));
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buffer.push(specificByte(featureMask, 2));
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buffer.push(specificByte(featureMask, 3));
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buffer.push(BF_CONFIG.serialrx_type);
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buffer.push(specificByte(BF_CONFIG.board_align_roll, 0));
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buffer.push(specificByte(BF_CONFIG.board_align_roll, 1));
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buffer.push(specificByte(BF_CONFIG.board_align_pitch, 0));
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buffer.push(specificByte(BF_CONFIG.board_align_pitch, 1));
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buffer.push(specificByte(BF_CONFIG.board_align_yaw, 0));
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buffer.push(specificByte(BF_CONFIG.board_align_yaw, 1));
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buffer.push(lowByte(BF_CONFIG.currentscale));
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buffer.push(highByte(BF_CONFIG.currentscale));
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buffer.push(lowByte(BF_CONFIG.currentoffset));
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buffer.push(highByte(BF_CONFIG.currentoffset));
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buffer.push8(BF_CONFIG.mixerConfiguration)
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.push32(featureMask)
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.push8(BF_CONFIG.serialrx_type)
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.push16(BF_CONFIG.board_align_roll)
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.push16(BF_CONFIG.board_align_pitch)
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.push16(BF_CONFIG.board_align_yaw)
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.push16(BF_CONFIG.currentscale)
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.push16(BF_CONFIG.currentoffset);
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break;
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case MSPCodes.MSP_SET_PID_CONTROLLER:
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buffer.push(PID.controller);
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buffer.push8(PID.controller);
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break;
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case MSPCodes.MSP_SET_PID:
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for (var i = 0; i < PIDs.length; i++) {
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switch (i) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 7:
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case 8:
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case 9:
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buffer.push(parseInt(PIDs[i][0]));
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buffer.push(parseInt(PIDs[i][1]));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 4:
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buffer.push(parseInt(PIDs[i][0]));
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buffer.push(parseInt(PIDs[i][1]));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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case 5:
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case 6:
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buffer.push(parseInt(PIDs[i][0]));
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buffer.push(parseInt(PIDs[i][1]));
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buffer.push(parseInt(PIDs[i][2]));
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break;
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for (var j = 0; j < 3; j++) {
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buffer.push8(parseInt(PIDs[i][j]));
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}
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}
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break;
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case MSPCodes.MSP_SET_RC_TUNING:
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buffer.push(Math.round(RC_tuning.RC_RATE * 100));
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buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
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buffer.push8(Math.round(RC_tuning.RC_RATE * 100))
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.push8(Math.round(RC_tuning.RC_EXPO * 100));
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if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
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buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
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buffer.push8(Math.round(RC_tuning.roll_pitch_rate * 100));
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} else {
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buffer.push(Math.round(RC_tuning.roll_rate * 100));
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buffer.push(Math.round(RC_tuning.pitch_rate * 100));
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buffer.push8(Math.round(RC_tuning.roll_rate * 100))
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.push8(Math.round(RC_tuning.pitch_rate * 100));
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}
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buffer.push(Math.round(RC_tuning.yaw_rate * 100));
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buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
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buffer.push(Math.round(RC_tuning.throttle_MID * 100));
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buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
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buffer.push8(Math.round(RC_tuning.yaw_rate * 100))
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.push8(Math.round(RC_tuning.dynamic_THR_PID * 100))
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.push8(Math.round(RC_tuning.throttle_MID * 100))
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.push8(Math.round(RC_tuning.throttle_EXPO * 100));
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if (semver.gte(CONFIG.apiVersion, "1.7.0")) {
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buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
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buffer.push16(RC_tuning.dynamic_THR_breakpoint);
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}
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if (semver.gte(CONFIG.apiVersion, "1.10.0")) {
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buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
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buffer.push8(Math.round(RC_tuning.RC_YAW_EXPO * 100));
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if (semver.gte(CONFIG.flightControllerVersion, "2.9.1")) {
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buffer.push(Math.round(RC_tuning.rcYawRate * 100));
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buffer.push8(Math.round(RC_tuning.rcYawRate * 100));
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}
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}
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break;
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case MSPCodes.MSP_SET_RX_MAP:
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for (var i = 0; i < RC_MAP.length; i++) {
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buffer.push(RC_MAP[i]);
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buffer.push8(RC_MAP[i]);
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}
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break;
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case MSPCodes.MSP_SET_ACC_TRIM:
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buffer.push(lowByte(CONFIG.accelerometerTrims[0]));
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buffer.push(highByte(CONFIG.accelerometerTrims[0]));
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buffer.push(lowByte(CONFIG.accelerometerTrims[1]));
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buffer.push(highByte(CONFIG.accelerometerTrims[1]));
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buffer.push16(CONFIG.accelerometerTrims[0])
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.push16(CONFIG.accelerometerTrims[1]);
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break;
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case MSPCodes.MSP_SET_ARMING_CONFIG:
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buffer.push(ARMING_CONFIG.auto_disarm_delay);
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buffer.push(ARMING_CONFIG.disarm_kill_switch);
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buffer.push8(ARMING_CONFIG.auto_disarm_delay)
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.push8(ARMING_CONFIG.disarm_kill_switch);
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break;
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case MSPCodes.MSP_SET_LOOP_TIME:
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buffer.push(lowByte(FC_CONFIG.loopTime));
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buffer.push(highByte(FC_CONFIG.loopTime));
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buffer.push16(FC_CONFIG.loopTime);
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break;
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case MSPCodes.MSP_SET_MISC:
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buffer.push(lowByte(MISC.midrc));
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buffer.push(highByte(MISC.midrc));
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buffer.push(lowByte(MISC.minthrottle));
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buffer.push(highByte(MISC.minthrottle));
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buffer.push(lowByte(MISC.maxthrottle));
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buffer.push(highByte(MISC.maxthrottle));
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buffer.push(lowByte(MISC.mincommand));
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buffer.push(highByte(MISC.mincommand));
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buffer.push(lowByte(MISC.failsafe_throttle));
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buffer.push(highByte(MISC.failsafe_throttle));
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buffer.push(MISC.gps_type);
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buffer.push(MISC.gps_baudrate);
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buffer.push(MISC.gps_ubx_sbas);
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buffer.push(MISC.multiwiicurrentoutput);
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buffer.push(MISC.rssi_channel);
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buffer.push(MISC.placeholder2);
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buffer.push16(MISC.midrc)
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.push16(MISC.minthrottle)
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.push16(MISC.maxthrottle)
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.push16(MISC.mincommand)
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.push16(MISC.failsafe_throttle)
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.push8(MISC.gps_type)
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.push8(MISC.gps_baudrate)
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.push8(MISC.gps_ubx_sbas)
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.push8(MISC.multiwiicurrentoutput)
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.push8(MISC.rssi_channel)
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.push8(MISC.placeholder2);
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if (semver.lt(CONFIG.apiVersion, "1.18.0")) {
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buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
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buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
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buffer.push16(Math.round(MISC.mag_declination * 10));
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} else {
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buffer.push(lowByte(Math.round(MISC.mag_declination * 100)));
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buffer.push(highByte(Math.round(MISC.mag_declination * 100)));
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buffer.push16(Math.round(MISC.mag_declination * 100));
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}
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buffer.push(MISC.vbatscale);
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buffer.push(Math.round(MISC.vbatmincellvoltage * 10));
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buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
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buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
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buffer.push8(MISC.vbatscale)
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.push8(Math.round(MISC.vbatmincellvoltage * 10))
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.push8(Math.round(MISC.vbatmaxcellvoltage * 10))
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.push8(Math.round(MISC.vbatwarningcellvoltage * 10));
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break;
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case MSPCodes.MSP_SET_RX_CONFIG:
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buffer.push(RX_CONFIG.serialrx_provider);
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buffer.push(lowByte(RX_CONFIG.maxcheck));
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buffer.push(highByte(RX_CONFIG.maxcheck));
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buffer.push(lowByte(RX_CONFIG.midrc));
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buffer.push(highByte(RX_CONFIG.midrc));
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buffer.push(lowByte(RX_CONFIG.mincheck));
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buffer.push(highByte(RX_CONFIG.mincheck));
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buffer.push(RX_CONFIG.spektrum_sat_bind);
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buffer.push(lowByte(RX_CONFIG.rx_min_usec));
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buffer.push(highByte(RX_CONFIG.rx_min_usec));
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buffer.push(lowByte(RX_CONFIG.rx_max_usec));
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buffer.push(highByte(RX_CONFIG.rx_max_usec));
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buffer.push8(RX_CONFIG.serialrx_provider)
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.push16(RX_CONFIG.maxcheck)
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.push16(RX_CONFIG.midrc)
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.push16(RX_CONFIG.mincheck)
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.push8(RX_CONFIG.spektrum_sat_bind)
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.push16(RX_CONFIG.rx_min_usec)
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.push16(RX_CONFIG.rx_max_usec);
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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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buffer.push(RX_CONFIG.rcInterpolation);
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buffer.push(RX_CONFIG.rcInterpolationInterval);
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buffer.push(lowByte(RX_CONFIG.airModeActivateThreshold));
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buffer.push(highByte(RX_CONFIG.airModeActivateThreshold));
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buffer.push8(RX_CONFIG.rcInterpolation)
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.push8(RX_CONFIG.rcInterpolationInterval)
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.push16(RX_CONFIG.airModeActivateThreshold);
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}
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break;
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case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
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buffer.push(FAILSAFE_CONFIG.failsafe_delay);
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buffer.push(FAILSAFE_CONFIG.failsafe_off_delay);
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buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push(highByte(FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push8(FAILSAFE_CONFIG.failsafe_delay)
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.push8(FAILSAFE_CONFIG.failsafe_off_delay)
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.push16(FAILSAFE_CONFIG.failsafe_throttle);
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if (semver.gte(CONFIG.apiVersion, "1.15.0")) {
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buffer.push(FAILSAFE_CONFIG.failsafe_kill_switch);
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buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_throttle_low_delay));
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buffer.push(highByte(FAILSAFE_CONFIG.failsafe_throttle_low_delay));
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buffer.push(FAILSAFE_CONFIG.failsafe_procedure);
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buffer.push8(FAILSAFE_CONFIG.failsafe_kill_switch)
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.push16(FAILSAFE_CONFIG.failsafe_throttle_low_delay)
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.push8(FAILSAFE_CONFIG.failsafe_procedure);
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}
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break;
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case MSPCodes.MSP_SET_TRANSPONDER_CONFIG:
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for (var i = 0; i < TRANSPONDER.data.length; i++) {
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buffer.push(TRANSPONDER.data[i]);
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buffer.push8(TRANSPONDER.data[i]);
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}
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break;
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@ -1081,7 +1033,7 @@ MspHelper.prototype.crunch = function(code) {
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if (out == undefined) {
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out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
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}
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buffer.push(out);
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buffer.push8(out);
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}
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break;
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case MSPCodes.MSP_SET_CF_SERIAL_CONFIG:
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@ -1111,85 +1063,62 @@ MspHelper.prototype.crunch = function(code) {
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if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
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for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
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buffer.push(SERIAL_CONFIG.ports[i].scenario);
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buffer.push8(SERIAL_CONFIG.ports[i].scenario);
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}
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buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 0));
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buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 1));
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buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 2));
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buffer.push(specificByte(SERIAL_CONFIG.mspBaudRate, 3));
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buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 0));
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buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 1));
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buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 2));
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buffer.push(specificByte(SERIAL_CONFIG.cliBaudRate, 3));
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buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 0));
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buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 1));
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buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 2));
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buffer.push(specificByte(SERIAL_CONFIG.gpsBaudRate, 3));
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buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 0));
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buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 1));
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buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 2));
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buffer.push(specificByte(SERIAL_CONFIG.gpsPassthroughBaudRate, 3));
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buffer.push32(SERIAL_CONFIG.mspBaudRate)
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.push32(SERIAL_CONFIG.cliBaudRate)
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.push32(SERIAL_CONFIG.gpsBaudRate)
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.push32(SERIAL_CONFIG.gpsPassthroughBaudRate);
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} else {
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for (var i = 0; i < SERIAL_CONFIG.ports.length; i++) {
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var serialPort = SERIAL_CONFIG.ports[i];
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buffer.push(serialPort.identifier);
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buffer.push8(serialPort.identifier);
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var functionMask = self.serialPortFunctionsToMask(serialPort.functions);
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buffer.push(specificByte(functionMask, 0));
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buffer.push(specificByte(functionMask, 1));
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buffer.push(supportedBaudRates.indexOf(serialPort.msp_baudrate));
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buffer.push(supportedBaudRates.indexOf(serialPort.gps_baudrate));
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buffer.push(supportedBaudRates.indexOf(serialPort.telemetry_baudrate));
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buffer.push(supportedBaudRates.indexOf(serialPort.blackbox_baudrate));
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buffer.push16(functionMask)
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.push8(supportedBaudRates.indexOf(serialPort.msp_baudrate))
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.push8(supportedBaudRates.indexOf(serialPort.gps_baudrate))
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.push8(supportedBaudRates.indexOf(serialPort.telemetry_baudrate))
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.push8(supportedBaudRates.indexOf(serialPort.blackbox_baudrate));
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}
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}
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break;
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case MSPCodes.MSP_SET_3D:
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buffer.push(lowByte(_3D.deadband3d_low));
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buffer.push(highByte(_3D.deadband3d_low));
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buffer.push(lowByte(_3D.deadband3d_high));
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buffer.push(highByte(_3D.deadband3d_high));
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buffer.push(lowByte(_3D.neutral3d));
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buffer.push(highByte(_3D.neutral3d));
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buffer.push16(_3D.deadband3d_low)
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.push16(_3D.deadband3d_high)
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.push16(_3D.neutral3d);
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if (semver.lt(CONFIG.apiVersion, "1.17.0")) {
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buffer.push(lowByte(_3D.deadband3d_throttle));
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buffer.push(highByte(_3D.deadband3d_throttle));
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buffer.push16(_3D.deadband3d_throttle);
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}
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break;
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case MSPCodes.MSP_SET_RC_DEADBAND:
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buffer.push(RC_deadband.deadband);
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buffer.push(RC_deadband.yaw_deadband);
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buffer.push(RC_deadband.alt_hold_deadband);
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buffer.push8(RC_deadband.deadband)
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.push8(RC_deadband.yaw_deadband)
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.push8(RC_deadband.alt_hold_deadband);
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if (semver.gte(CONFIG.apiVersion, "1.17.0")) {
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buffer.push(lowByte(_3D.deadband3d_throttle));
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buffer.push(highByte(_3D.deadband3d_throttle));
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buffer.push16(_3D.deadband3d_throttle);
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}
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break;
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case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
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buffer.push(SENSOR_ALIGNMENT.align_gyro);
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buffer.push(SENSOR_ALIGNMENT.align_acc);
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buffer.push(SENSOR_ALIGNMENT.align_mag);
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buffer.push8(SENSOR_ALIGNMENT.align_gyro)
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.push8(SENSOR_ALIGNMENT.align_acc)
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.push8(SENSOR_ALIGNMENT.align_mag);
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break
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case MSPCodes.MSP_SET_ADVANCED_CONFIG:
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buffer.push(PID_ADVANCED_CONFIG.gyro_sync_denom);
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buffer.push(PID_ADVANCED_CONFIG.pid_process_denom);
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buffer.push(PID_ADVANCED_CONFIG.use_unsyncedPwm);
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buffer.push(PID_ADVANCED_CONFIG.fast_pwm_protocol);
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buffer.push(lowByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
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buffer.push(highByte(PID_ADVANCED_CONFIG.motor_pwm_rate));
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buffer.push8(PID_ADVANCED_CONFIG.gyro_sync_denom)
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.push8(PID_ADVANCED_CONFIG.pid_process_denom)
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.push8(PID_ADVANCED_CONFIG.use_unsyncedPwm)
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.push8(PID_ADVANCED_CONFIG.fast_pwm_protocol)
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.push16(PID_ADVANCED_CONFIG.motor_pwm_rate);
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break;
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case MSPCodes.MSP_SET_FILTER_CONFIG:
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buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
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.push16(FILTER_CONFIG.dterm_lpf_hz)
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.push16(FILTER_CONFIG.yaw_lpf_hz);
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.push16(FILTER_CONFIG.dterm_lpf_hz)
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.push16(FILTER_CONFIG.yaw_lpf_hz);
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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz)
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.push16(FILTER_CONFIG.gyro_soft_notch_cutoff)
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|
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@ -1200,54 +1129,54 @@ MspHelper.prototype.crunch = function(code) {
|
|||
case MSPCodes.MSP_SET_PID_ADVANCED:
|
||||
if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {
|
||||
buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yaw_p_limit)
|
||||
.push8(ADVANCED_TUNING.deltaMethod)
|
||||
.push8(ADVANCED_TUNING.vbatPidCompensation)
|
||||
.push8(ADVANCED_TUNING.ptermSetpointWeight)
|
||||
.push8(ADVANCED_TUNING.dtermSetpointWeight)
|
||||
.push8(ADVANCED_TUNING.toleranceBand)
|
||||
.push8(ADVANCED_TUNING.toleranceBandReduction)
|
||||
.push8(ADVANCED_TUNING.itermThrottleGain)
|
||||
.push16(ADVANCED_TUNING.pidMaxVelocity)
|
||||
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
|
||||
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yaw_p_limit)
|
||||
.push8(ADVANCED_TUNING.deltaMethod)
|
||||
.push8(ADVANCED_TUNING.vbatPidCompensation)
|
||||
.push8(ADVANCED_TUNING.ptermSetpointWeight)
|
||||
.push8(ADVANCED_TUNING.dtermSetpointWeight)
|
||||
.push8(ADVANCED_TUNING.toleranceBand)
|
||||
.push8(ADVANCED_TUNING.toleranceBandReduction)
|
||||
.push8(ADVANCED_TUNING.itermThrottleGain)
|
||||
.push16(ADVANCED_TUNING.pidMaxVelocity)
|
||||
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
|
||||
}
|
||||
// only supports 1 version pre bf 3.0
|
||||
else {
|
||||
buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yaw_p_limit)
|
||||
.push8(ADVANCED_TUNING.deltaMethod)
|
||||
.push8(ADVANCED_TUNING.vbatPidCompensation);
|
||||
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
|
||||
.push16(ADVANCED_TUNING.yaw_p_limit)
|
||||
.push8(ADVANCED_TUNING.deltaMethod)
|
||||
.push8(ADVANCED_TUNING.vbatPidCompensation);
|
||||
}
|
||||
break;
|
||||
case MSPCodes.MSP_SET_SPECIAL_PARAMETERS:
|
||||
if (semver.lt(CONFIG.flightControllerVersion, "2.9.1")) {
|
||||
buffer.push(Math.round(RC_tuning.rcYawRate * 100));
|
||||
buffer.push8(Math.round(RC_tuning.rcYawRate * 100));
|
||||
if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
|
||||
buffer.push16(RX_CONFIG.airModeActivateThreshold);
|
||||
buffer.push(RX_CONFIG.rcSmoothInterval);
|
||||
buffer.push16(SPECIAL_PARAMETERS.escDesyncProtection);
|
||||
buffer.push16(RX_CONFIG.airModeActivateThreshold)
|
||||
.push8(RX_CONFIG.rcSmoothInterval)
|
||||
.push16(SPECIAL_PARAMETERS.escDesyncProtection);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case MSPCodes.MSP_SET_SENSOR_CONFIG:
|
||||
buffer.push(SENSOR_CONFIG.acc_hardware);
|
||||
buffer.push(SENSOR_CONFIG.baro_hardware);
|
||||
buffer.push(SENSOR_CONFIG.mag_hardware);
|
||||
buffer.push8(SENSOR_CONFIG.acc_hardware)
|
||||
.push8(SENSOR_CONFIG.baro_hardware)
|
||||
.push8(SENSOR_CONFIG.mag_hardware);
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_NAME:
|
||||
var MSP_BUFFER_SIZE = 64;
|
||||
for (var i = 0; i<CONFIG.name.length && i<MSP_BUFFER_SIZE; i++) {
|
||||
buffer.push(CONFIG.name.charCodeAt(i));
|
||||
buffer.push8(CONFIG.name.charCodeAt(i));
|
||||
}
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_BLACKBOX_CONFIG:
|
||||
buffer.push(BLACKBOX.blackboxDevice);
|
||||
buffer.push(BLACKBOX.blackboxRateNum);
|
||||
buffer.push(BLACKBOX.blackboxRateDenom);
|
||||
buffer.push8(BLACKBOX.blackboxDevice)
|
||||
.push8(BLACKBOX.blackboxRateNum)
|
||||
.push8(BLACKBOX.blackboxRateDenom);
|
||||
break;
|
||||
|
||||
default:
|
||||
|
|
@ -1266,8 +1195,7 @@ MspHelper.prototype.setRawRx = function(channels) {
|
|||
var buffer = [];
|
||||
|
||||
for (var i = 0; i < channels.length; i++) {
|
||||
buffer.push(specificByte(channels[i], 0));
|
||||
buffer.push(specificByte(channels[i], 1));
|
||||
buffer.push16(channels[i]);
|
||||
}
|
||||
|
||||
MSP.send_message(MSPCodes.MSP_SET_RAW_RC, buffer, false);
|
||||
|
|
@ -1315,50 +1243,31 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) {
|
|||
// send all in one go
|
||||
// 1.9.0 had a bug where the MSP input buffer was too small, limit to 8.
|
||||
for (var i = 0; i < SERVO_CONFIG.length && i < 8; i++) {
|
||||
buffer.push(lowByte(SERVO_CONFIG[i].min));
|
||||
buffer.push(highByte(SERVO_CONFIG[i].min));
|
||||
|
||||
buffer.push(lowByte(SERVO_CONFIG[i].max));
|
||||
buffer.push(highByte(SERVO_CONFIG[i].max));
|
||||
|
||||
buffer.push(lowByte(SERVO_CONFIG[i].middle));
|
||||
buffer.push(highByte(SERVO_CONFIG[i].middle));
|
||||
|
||||
buffer.push(lowByte(SERVO_CONFIG[i].rate));
|
||||
buffer.push16(SERVO_CONFIG[i].min)
|
||||
.push16(SERVO_CONFIG[i].max)
|
||||
.push16(SERVO_CONFIG[i].middle)
|
||||
.push8(SERVO_CONFIG[i].rate);
|
||||
}
|
||||
|
||||
nextFunction = send_channel_forwarding;
|
||||
} else {
|
||||
// send one at a time, with index
|
||||
|
||||
var servoConfiguration = SERVO_CONFIG[servoIndex];
|
||||
|
||||
buffer.push(servoIndex);
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.min));
|
||||
buffer.push(highByte(servoConfiguration.min));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.max));
|
||||
buffer.push(highByte(servoConfiguration.max));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.middle));
|
||||
buffer.push(highByte(servoConfiguration.middle));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.rate));
|
||||
|
||||
buffer.push(servoConfiguration.angleAtMin);
|
||||
buffer.push(servoConfiguration.angleAtMax);
|
||||
buffer.push8(servoIndex)
|
||||
.push16(servoConfiguration.min)
|
||||
.push16(servoConfiguration.max)
|
||||
.push16(servoConfiguration.middle)
|
||||
.push8(servoConfiguration.rate)
|
||||
.push8(servoConfiguration.angleAtMin)
|
||||
.push8(servoConfiguration.angleAtMax);
|
||||
|
||||
var out = servoConfiguration.indexOfChannelToForward;
|
||||
if (out == undefined) {
|
||||
out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
|
||||
}
|
||||
buffer.push(out);
|
||||
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 0));
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 1));
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 2));
|
||||
buffer.push(specificByte(servoConfiguration.reversedInputSources, 3));
|
||||
buffer.push8(out)
|
||||
.push32(servoConfiguration.reversedInputSources);
|
||||
|
||||
// prepare for next iteration
|
||||
servoIndex++;
|
||||
|
|
@ -1377,7 +1286,7 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) {
|
|||
if (out == undefined) {
|
||||
out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
|
||||
}
|
||||
buffer.push(out);
|
||||
buffer.push8(out);
|
||||
}
|
||||
|
||||
nextFunction = onCompleteCallback;
|
||||
|
|
@ -1402,11 +1311,11 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) {
|
|||
var modeRange = MODE_RANGES[modeRangeIndex];
|
||||
|
||||
var buffer = [];
|
||||
buffer.push(modeRangeIndex);
|
||||
buffer.push(modeRange.id);
|
||||
buffer.push(modeRange.auxChannelIndex);
|
||||
buffer.push((modeRange.range.start - 900) / 25);
|
||||
buffer.push((modeRange.range.end - 900) / 25);
|
||||
buffer.push8(modeRangeIndex)
|
||||
.push8(modeRange.id)
|
||||
.push8(modeRange.auxChannelIndex)
|
||||
.push8((modeRange.range.start - 900) / 25)
|
||||
.push8((modeRange.range.end - 900) / 25);
|
||||
|
||||
// prepare for next iteration
|
||||
modeRangeIndex++;
|
||||
|
|
@ -1435,13 +1344,13 @@ MspHelper.prototype.sendAdjustmentRanges = function(onCompleteCallback) {
|
|||
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
|
||||
|
||||
var buffer = [];
|
||||
buffer.push(adjustmentRangeIndex);
|
||||
buffer.push(adjustmentRange.slotIndex);
|
||||
buffer.push(adjustmentRange.auxChannelIndex);
|
||||
buffer.push((adjustmentRange.range.start - 900) / 25);
|
||||
buffer.push((adjustmentRange.range.end - 900) / 25);
|
||||
buffer.push(adjustmentRange.adjustmentFunction);
|
||||
buffer.push(adjustmentRange.auxSwitchChannelIndex);
|
||||
buffer.push8(adjustmentRangeIndex)
|
||||
.push8(adjustmentRange.slotIndex)
|
||||
.push8(adjustmentRange.auxChannelIndex)
|
||||
.push8((adjustmentRange.range.start - 900) / 25)
|
||||
.push8((adjustmentRange.range.end - 900) / 25)
|
||||
.push8(adjustmentRange.adjustmentFunction)
|
||||
.push8(adjustmentRange.auxSwitchChannelIndex);
|
||||
|
||||
// prepare for next iteration
|
||||
adjustmentRangeIndex++;
|
||||
|
|
@ -1485,8 +1394,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) {
|
|||
directionMask = bit_set(directionMask, bitIndex);
|
||||
}
|
||||
}
|
||||
buffer.push(specificByte(directionMask, 0));
|
||||
buffer.push(specificByte(directionMask, 1));
|
||||
buffer.push16(directionMask);
|
||||
|
||||
var functionMask = 0;
|
||||
for (var functionLetterIndex = 0; functionLetterIndex < led.functions.length; functionLetterIndex++) {
|
||||
|
|
@ -1495,13 +1403,12 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) {
|
|||
functionMask = bit_set(functionMask, bitIndex);
|
||||
}
|
||||
}
|
||||
buffer.push(specificByte(functionMask, 0));
|
||||
buffer.push(specificByte(functionMask, 1));
|
||||
buffer.push16(functionMask)
|
||||
|
||||
.push8(led.x)
|
||||
.push8(led.y)
|
||||
|
||||
buffer.push(led.x);
|
||||
buffer.push(led.y);
|
||||
|
||||
buffer.push(led.color);
|
||||
.push8(led.color);
|
||||
} else {
|
||||
var mask = 0;
|
||||
|
||||
|
|
@ -1535,10 +1442,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) {
|
|||
mask |= (0 << 28); // parameters
|
||||
|
||||
|
||||
buffer.push(specificByte(mask, 0));
|
||||
buffer.push(specificByte(mask, 1));
|
||||
buffer.push(specificByte(mask, 2));
|
||||
buffer.push(specificByte(mask, 3));
|
||||
buffer.push32(mask);
|
||||
}
|
||||
|
||||
// prepare for next iteration
|
||||
|
|
@ -1560,10 +1464,9 @@ MspHelper.prototype.sendLedStripColors = function(onCompleteCallback) {
|
|||
for (var colorIndex = 0; colorIndex < LED_COLORS.length; colorIndex++) {
|
||||
var color = LED_COLORS[colorIndex];
|
||||
|
||||
buffer.push(specificByte(color.h, 0));
|
||||
buffer.push(specificByte(color.h, 1));
|
||||
buffer.push(color.s);
|
||||
buffer.push(color.v);
|
||||
buffer.push16(color.h)
|
||||
.push8(color.s)
|
||||
.push8(color.v);
|
||||
}
|
||||
MSP.send_message(MSPCodes.MSP_SET_LED_COLORS, buffer, false, onCompleteCallback);
|
||||
}
|
||||
|
|
@ -1585,9 +1488,9 @@ MspHelper.prototype.sendLedStripModeColors = function(onCompleteCallback) {
|
|||
|
||||
var mode_color = LED_MODE_COLORS[index];
|
||||
|
||||
buffer.push(mode_color.mode);
|
||||
buffer.push(mode_color.direction);
|
||||
buffer.push(mode_color.color);
|
||||
buffer.push8(mode_color.mode)
|
||||
.push8(mode_color.direction)
|
||||
.push8(mode_color.color);
|
||||
|
||||
// prepare for next iteration
|
||||
index++;
|
||||
|
|
@ -1667,10 +1570,10 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) {
|
|||
var rxFail = RXFAIL_CONFIG[rxFailIndex];
|
||||
|
||||
var buffer = [];
|
||||
buffer.push(rxFailIndex);
|
||||
buffer.push(rxFail.mode);
|
||||
buffer.push(lowByte(rxFail.value));
|
||||
buffer.push(highByte(rxFail.value));
|
||||
buffer.push8(rxFailIndex)
|
||||
.push8(rxFail.mode)
|
||||
.push16(rxFail.value);
|
||||
|
||||
|
||||
// prepare for next iteration
|
||||
rxFailIndex++;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue