mirror of
https://github.com/betaflight/betaflight-configurator.git
synced 2025-07-16 12:55:14 +03:00
Changes to MSP to make it work with Betaflight branch 'msp_cleanup'.
This commit is contained in:
parent
b85e23cdcb
commit
6da7383d61
5 changed files with 74 additions and 64 deletions
82
js/msp.js
82
js/msp.js
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@ -51,16 +51,14 @@ var MSP_codes = {
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MSP_OSD_CHAR_WRITE: 87,
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MSP_VTX_CONFIG: 88,
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MSP_SET_VTX_CONFIG: 89,
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MSP_PID_ADVANCED_CONFIG: 90,
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MSP_SET_PID_ADVANCED_CONFIG: 91,
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MSP_ADVANCED_CONFIG: 90,
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MSP_SET_ADVANCED_CONFIG: 91,
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MSP_FILTER_CONFIG: 92,
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MSP_SET_FILTER_CONFIG: 93,
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MSP_ADVANCED_TUNING: 94,
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MSP_SET_ADVANCED_TUNING: 95,
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MSP_PID_ADVANCED: 94,
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MSP_SET_PID_ADVANCED: 95,
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MSP_SENSOR_CONFIG: 96,
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MSP_SET_SENSOR_CONFIG: 97,
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MSP_SPECIAL_PARAMETERS: 98,
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MSP_SET_SPECIAL_PARAMETERS: 99,
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// Multiwii MSP commands
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MSP_IDENT: 100,
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@ -406,6 +404,11 @@ var MSP = {
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}
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if (semver.gte(CONFIG.apiVersion, "1.10.0")) {
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RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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RC_tuning.rcYawRate = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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} else {
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RC_tuning.rcYawRate = 0;
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}
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} else {
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RC_tuning.RC_YAW_EXPO = 0;
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}
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@ -901,6 +904,10 @@ var MSP = {
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offset += 2;
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RX_CONFIG.rx_max_usec = data.getUint16(offset, 1);
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offset += 2;
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RX_CONFIG.rcSmoothing = data.getUint8(offset, 1);
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RX_CONFIG.rcSmoothInterval = data.getUint8(offset, 1);
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RX_CONFIG.airModeActivateThreshold = data.getUint16(offset, 1);
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offset += 2;
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break;
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case MSP_codes.MSP_FAILSAFE_CONFIG:
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@ -936,7 +943,7 @@ var MSP = {
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}
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break;
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case MSP_codes.MSP_PID_ADVANCED_CONFIG:
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case MSP_codes.MSP_ADVANCED_CONFIG:
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var offset = 0;
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PID_ADVANCED_CONFIG.gyro_sync_denom = data.getUint8(offset++, 1);
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PID_ADVANCED_CONFIG.pid_process_denom = data.getUint8(offset++, 1);
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@ -952,8 +959,8 @@ var MSP = {
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FILTER_CONFIG.yaw_lpf_hz = data.getUint16(offset, 1);
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break;
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case MSP_codes.MSP_ADVANCED_TUNING:
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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case MSP_codes.MSP_PID_ADVANCED:
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if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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var offset = 0;
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ADVANCED_TUNING.rollPitchItermIgnoreRate = data.getUint16(offset, 1);
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offset += 2;
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@ -963,17 +970,15 @@ var MSP = {
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offset += 2;
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ADVANCED_TUNING.deltaMethod = data.getUint8(offset++, 1);
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ADVANCED_TUNING.vbatPidCompensation = data.getUint8(offset++, 1);
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}
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break;
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case MSP_codes.MSP_SPECIAL_PARAMETERS:
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var offset = 0;
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SPECIAL_PARAMETERS.RC_RATE_YAW = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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SPECIAL_PARAMETERS.airModeActivateThreshold = data.getUint16(offset, 1);
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ADVANCED_TUNING.ptermSetpointWeight = data.getUint8(offset++, 1);
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ADVANCED_TUNING.dtermSetpointWeight = data.getUint8(offset++, 1);
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ADVANCED_TUNING.toleranceBand = data.getUint8(offset++, 1);
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ADVANCED_TUNING.toleranceBandReduction = data.getUint8(offset++, 1);
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ADVANCED_TUNING.itermThrottleGain = data.getUint8(offset++, 1);
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ADVANCED_TUNING.pidMaxVelocity = data.getUint16(offset, 1);
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offset += 2;
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ADVANCED_TUNING.pidMaxVelocityYaw = data.getUint16(offset, 1);
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offset += 2;
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SPECIAL_PARAMETERS.rcSmoothInterval = data.getUint8(offset++, 1)
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SPECIAL_PARAMETERS.escDesyncProtection = data.getUint16(offset, 1);
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}
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break;
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case MSP_codes.MSP_SENSOR_CONFIG:
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@ -1235,6 +1240,12 @@ var MSP = {
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case MSP_codes.MSP_SET_NAME:
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console.log('Name set');
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break;
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case MSP_codes.MSP_SET_FILTER_CONFIG:
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console.log('Filter config set');
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break;
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case MSP_codes.MSP_SET_PID_ADVANCED:
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console.log('Advanced tuning parameters set');
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break;
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default:
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console.log('Unknown code detected: ' + code);
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} else {
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@ -1434,6 +1445,9 @@ MSP.crunch = function (code) {
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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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if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
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buffer.push(Math.round(RC_tuning.rcYawRate));
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}
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}
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break;
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// Disabled, cleanflight does not use MSP_SET_BOX.
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@ -1507,6 +1521,13 @@ MSP.crunch = function (code) {
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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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if (semver.lt(CONFIG.apiVersion, "1.20.0")) {
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buffer.push(RX_CONFIG.rcSmoothing);
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buffer.push(RX_CONFIG.rcSmoothInterval);
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buffer.push(lowByte(RX_CONFIG.airModeActivateThreshold));
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buffer.push(highByte(RX_CONFIG.airModeActivateThreshold));
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}
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break;
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case MSP_codes.MSP_SET_FAILSAFE_CONFIG:
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@ -1604,7 +1625,7 @@ MSP.crunch = function (code) {
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buffer.push(SENSOR_ALIGNMENT.align_acc);
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buffer.push(SENSOR_ALIGNMENT.align_mag);
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break
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case MSP_codes.MSP_SET_PID_ADVANCED_CONFIG:
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case MSP_codes.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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@ -1617,21 +1638,20 @@ MSP.crunch = function (code) {
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.push16(FILTER_CONFIG.dterm_lpf_hz)
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.push16(FILTER_CONFIG.yaw_lpf_hz);
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break;
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case MSP_codes.MSP_SET_ADVANCED_TUNING:
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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case MSP_codes.MSP_SET_PID_ADVANCED:
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if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
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.push16(ADVANCED_TUNING.yawItermIgnoreRate)
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.push16(ADVANCED_TUNING.yaw_p_limit)
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.push8(ADVANCED_TUNING.deltaMethod)
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.push8(ADVANCED_TUNING.vbatPidCompensation);
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}
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break;
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case MSP_codes.MSP_SET_SPECIAL_PARAMETERS:
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buffer.push(Math.round(SPECIAL_PARAMETERS.RC_RATE_YAW * 100));
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if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
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buffer.push16(SPECIAL_PARAMETERS.airModeActivateThreshold);
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buffer.push(SPECIAL_PARAMETERS.rcSmoothInterval);
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buffer.push16(SPECIAL_PARAMETERS.escDesyncProtection);
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.push8(ADVANCED_TUNING.vbatPidCompensation)
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.push8(ADVANCED_TUNING.ptermSetpointWeight)
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.push8(ADVANCED_TUNING.dtermSetpointWeight)
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.push8(ADVANCED_TUNING.toleranceBand)
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.push8(ADVANCED_TUNING.toleranceBandReduction)
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.push8(ADVANCED_TUNING.itermThrottleGain)
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.push16(ADVANCED_TUNING.pidMaxVelocity)
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.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
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}
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break;
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case MSP_codes.MSP_SET_SENSOR_CONFIG:
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