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Changes to MSP to make it work with Betaflight branch 'msp_cleanup'.

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This commit is contained in:
mikeller 2016-07-29 01:47:18 +12:00 • committed by Michael Keller
parent b85e23cdcb
commit 6da7383d61
5 changed files with 74 additions and 64 deletions
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25
js/fc.js
View file

@ -40,7 +40,6 @@ var RXFAIL_CONFIG;
var PID_ADVANCED_CONFIG; var PID_ADVANCED_CONFIG;
var FILTER_CONFIG; var FILTER_CONFIG;
var ADVANCED_TUNING; var ADVANCED_TUNING;
var SPECIAL_PARAMETERS;
var SENSOR_CONFIG; var SENSOR_CONFIG;
var FC = { var FC = {
@ -111,7 +110,8 @@ var FC = {
throttle_MID: 0, throttle_MID: 0,
throttle_EXPO: 0, throttle_EXPO: 0,
dynamic_THR_breakpoint: 0, dynamic_THR_breakpoint: 0,
RC_YAW_EXPO: 0 RC_YAW_EXPO: 0,
rcYawRate: 0
}; };
AUX_CONFIG = []; AUX_CONFIG = [];
@ -266,16 +266,16 @@ var FC = {
yawItermIgnoreRate: 0, yawItermIgnoreRate: 0,
yaw_p_limit: 0, yaw_p_limit: 0,
deltaMethod: 0, deltaMethod: 0,
vbatPidCompensation: 0 vbatPidCompensation: 0,
ptermSetpointWeight: 0,
dtermSetpointWeight: 0,
toleranceBand: 0,
toleranceBandReduction: 0,
itermThrottleGain: 0,
pidMaxVelocity: 0,
pidMaxVelocityYaw: 0
}; };
SPECIAL_PARAMETERS = {
RC_RATE_YAW: 0,
airModeActivateThreshold: 0,
rcSmoothInterval: 0,
escDesyncProtection: 0
};
SENSOR_CONFIG = { SENSOR_CONFIG = {
acc_hardware: 0, acc_hardware: 0,
baro_hardware: 0, baro_hardware: 0,
@ -289,7 +289,10 @@ var FC = {
mincheck: 0, mincheck: 0,
spektrum_sat_bind: 0, spektrum_sat_bind: 0,
rx_min_usec: 0, rx_min_usec: 0,
rx_max_usec: 0 rx_max_usec: 0,
rcSmoothing: 0,
rcSmoothInterval: 0,
airModeActivateThreshold: 0
}; };
FAILSAFE_CONFIG = { FAILSAFE_CONFIG = {

82
js/msp.js
View file

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

4
tabs/configuration.js
View file

@ -64,7 +64,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
function esc_protocol() { function esc_protocol() {
var next_callback = sensor_config; var next_callback = sensor_config;
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) { if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
MSP.send_message(MSP_codes.MSP_PID_ADVANCED_CONFIG, false, false, next_callback); MSP.send_message(MSP_codes.MSP_ADVANCED_CONFIG, false, false, next_callback);
} else { } else {
next_callback(); next_callback();
} }
@ -541,7 +541,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
function save_esc_protocol() { function save_esc_protocol() {
var next_callback = save_acc_trim; var next_callback = save_acc_trim;
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) { if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
MSP.send_message(MSP_codes.MSP_SET_PID_ADVANCED_CONFIG, MSP.crunch(MSP_codes.MSP_SET_PID_ADVANCED_CONFIG), false, next_callback); MSP.send_message(MSP_codes.MSP_SET_ADVANCED_CONFIG, MSP.crunch(MSP_codes.MSP_SET_ADVANCED_CONFIG), false, next_callback);
} else { } else {
next_callback(); next_callback();
} }

19
tabs/pid_tuning.js
View file

@ -25,9 +25,7 @@ TABS.pid_tuning.initialize = function (callback) {
}).then(function() { }).then(function() {
return MSP.promise(MSP_codes.MSP_RC_TUNING); return MSP.promise(MSP_codes.MSP_RC_TUNING);
}).then(function() { }).then(function() {
return MSP.promise(MSP_codes.MSP_SPECIAL_PARAMETERS); return MSP.promise(MSP_codes.MSP_PID_ADVANCED);
}).then(function() {
return MSP.promise(MSP_codes.MSP_ADVANCED_TUNING);
}).then(function() { }).then(function() {
return MSP.promise(MSP_codes.MSP_FILTER_CONFIG); return MSP.promise(MSP_codes.MSP_FILTER_CONFIG);
}).then(function() { }).then(function() {
@ -193,7 +191,7 @@ TABS.pid_tuning.initialize = function (callback) {
$('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2)); $('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2));
$('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2)); $('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2)); $('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2));
$('.pid_tuning input[name="rc_rate_yaw"]').val(SPECIAL_PARAMETERS.RC_RATE_YAW.toFixed(2)); $('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2));
$('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2)); $('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2));
$('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2)); $('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2));
@ -292,7 +290,7 @@ TABS.pid_tuning.initialize = function (callback) {
RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val()); RC_tuning.yaw_rate = parseFloat($('.pid_tuning input[name="yaw_rate"]').val());
RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val()); RC_tuning.RC_EXPO = parseFloat($('.pid_tuning input[name="rc_expo"]').val());
RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val()); RC_tuning.RC_YAW_EXPO = parseFloat($('.pid_tuning input[name="rc_yaw_expo"]').val());
SPECIAL_PARAMETERS.RC_RATE_YAW = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val()); RC_tuning.rcYawRate = parseFloat($('.pid_tuning input[name="rc_rate_yaw"]').val());
RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val()); RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val());
RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val()) RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val())
@ -420,7 +418,7 @@ TABS.pid_tuning.initialize = function (callback) {
pitch_rate: RC_tuning.pitch_rate, pitch_rate: RC_tuning.pitch_rate,
yaw_rate: RC_tuning.yaw_rate, yaw_rate: RC_tuning.yaw_rate,
rc_rate: RC_tuning.RC_RATE, rc_rate: RC_tuning.RC_RATE,
rc_rate_yaw: SPECIAL_PARAMETERS.RC_RATE_YAW, rc_rate_yaw: RC_tuning.rcYawRate,
rc_expo: RC_tuning.RC_EXPO, rc_expo: RC_tuning.RC_EXPO,
rc_yaw_expo: RC_tuning.RC_YAW_EXPO, rc_yaw_expo: RC_tuning.RC_YAW_EXPO,
superexpo: BF_CONFIG.features.isEnabled('SUPEREXPO_RATES') superexpo: BF_CONFIG.features.isEnabled('SUPEREXPO_RATES')
@ -700,14 +698,7 @@ TABS.pid_tuning.initialize = function (callback) {
}).then(function () { }).then(function () {
return MSP.promise(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID)); return MSP.promise(MSP_codes.MSP_SET_PID, MSP.crunch(MSP_codes.MSP_SET_PID));
}).then(function () { }).then(function () {
var promise; return MSP.promise(MSP_codes.MSP_SET_PID_ADVANCED, MSP.crunch(MSP_codes.MSP_SET_PID_ADVANCED));
if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {
promise = MSP.promise(MSP_codes.MSP_SET_SPECIAL_PARAMETERS, MSP.crunch(MSP_codes.MSP_SET_SPECIAL_PARAMETERS));
}
return promise;
}).then(function () {
return MSP.promise(MSP_codes.MSP_SET_ADVANCED_TUNING, MSP.crunch(MSP_codes.MSP_SET_ADVANCED_TUNING));
}).then(function () { }).then(function () {
var promise; var promise;
if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) { if (semver.gte(CONFIG.flightControllerVersion, "2.8.1")) {

8
tabs/receiver.js
View file

@ -20,11 +20,7 @@ TABS.receiver.initialize = function (callback) {
} }
function get_bt_config_data() { function get_bt_config_data() {
MSP.send_message(MSP_codes.MSP_BF_CONFIG, false, false, get_special_parameters_data); MSP.send_message(MSP_codes.MSP_BF_CONFIG, false, false, get_rc_map);
}
function get_special_parameters_data() {
MSP.send_message(MSP_codes.MSP_SPECIAL_PARAMETERS, false, false, get_rc_map);
} }
function get_rc_map() { function get_rc_map() {
@ -423,7 +419,7 @@ TABS.receiver.renderModel = function () {
var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo), var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo),
pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo), pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo),
yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, SPECIAL_PARAMETERS.RC_RATE_YAW, RC_tuning.RC_YAW_EXPO, this.useSuperExpo); yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo);
this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll));
} }