Merge pull request #621 from spuder/small_angle

Configure Small_angle

_locales/en/messages.json

@@ -685,6 +685,12 @@
     "configurationAccelTrimPitch": {
         "message": "Accelerometer Pitch Trim"
     },
+    "configurationArming": {
+        "message": "Arming"
+    },
+    "configurationArmingHelp": {
+        "message": "Some Arming options may require accelerometer be enabled"
+    },
     "configurationMagDeclination": {
         "message": "Magnetometer Declination [deg]"
     },
@@ -2602,6 +2608,12 @@
     "configurationMagHardware": {
         "message": "Magnetometer (if supported)"
     },
+    "configurationSmallAngle": {
+        "message": "Maximum ARM Angle [degrees]"
+    },
+    "configurationSmallAngleHelp": {
+        "message": "Craft will not ARM if tilted more than specified number of degrees. Only applies if accelerometer is enabled. Setting to 180 will effectivly disable check"
+    },
     "configurationBatteryVoltage": {
         "message": "Battery Voltage"
     },

js/fc.js

@@ -229,6 +229,7 @@ var FC = {
         ARMING_CONFIG = {
             auto_disarm_delay:          0,
             disarm_kill_switch:         0,
+            small_angle:                0,
         };
 
         FC_CONFIG = {

js/msp/MSPHelper.js

@@ -322,6 +322,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     ARMING_CONFIG.auto_disarm_delay = data.readU8();
                     ARMING_CONFIG.disarm_kill_switch = data.readU8();
                 }
+                if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+                    ARMING_CONFIG.small_angle = data.readU8();
+                }
                 break;
             case MSPCodes.MSP_LOOP_TIME:
                 if (semver.gte(CONFIG.apiVersion, "1.8.0")) {
@@ -1254,6 +1257,9 @@ MspHelper.prototype.crunch = function(code) {
         case MSPCodes.MSP_SET_ARMING_CONFIG:
             buffer.push8(ARMING_CONFIG.auto_disarm_delay)
                 .push8(ARMING_CONFIG.disarm_kill_switch);
+            if (semver.gte(CONFIG.apiVersion, "1.37.0")) {
+                buffer.push8(ARMING_CONFIG.small_angle);
+            }
             break;
         case MSPCodes.MSP_SET_LOOP_TIME:
             buffer.push16(FC_CONFIG.loopTime);

tabs/configuration.css

@@ -505,6 +505,12 @@
     width: 100%;
 }
 
+.tab-configuration ._smallAngle {
+    margin-top: 10px;
+    float: left;
+    width: 100%;
+}
+
 .tab-configuration .gpsSettings .note {
     margin-top: 10px; 
 }

tabs/configuration.html

@@ -314,6 +314,23 @@
                                 </div>
                             </div>
                         </div>
+                        <div class="gui_box grey">
+                            <div class="gui_box_titlebar">
+                                <div class="spacer_box_title" i18n="configurationArming"></div>
+                                <div class="helpicon cf_tip" i18n_title="configurationArmingHelp"></div>
+                            </div>
+                            <div class="spacer_box">
+                              <div class="_smallAngle">
+                                <div class="number">
+                                    <label>
+                                        <input type="number" id="configurationSmallAngle" step="1" min="1" max="180" />
+                                        <span i18n="configurationSmallAngle"></span>
+                                        <div class="helpicon cf_tip" i18n_title="configurationSmallAngleHelp"></div>
+                                    </label>
+                                </div>
+                              </div>
+                            </div>
+                        </div>
                     </div>
                 
                 </td>

tabs/configuration.js

@@ -609,6 +609,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
             $('div.cycles').show();
         }
+        if(semver.gte(CONFIG.apiVersion, "1.37.0")) {
+            $('input[id="configurationSmallAngle"]').val(ARMING_CONFIG.small_angle);
+            if (SENSOR_CONFIG.acc_hardware !== 1) {
+              $('._smallAngle').show();
+            } else {
+              $('._smallAngle').hide();
+            }
+        }
 
         // fill throttle
         $('input[name="minthrottle"]').val(MOTOR_CONFIG.minthrottle);
@@ -796,6 +804,17 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
         });
 
+        $('input[id="accHardwareSwitch"]').change(function() {
+            if(semver.gte(CONFIG.apiVersion, "1.37.0")) {
+              var checked = $(this).is(':checked');
+              if (checked) {
+                $('._smallAngle').show()
+              } else {
+                $('._smallAngle').hide()
+              }
+            }
+        });
+
         $(features_e).filter('select').change(function () {
             var element = $(this);
 
@@ -852,6 +871,9 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
                 ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
                 ARMING_CONFIG.disarm_kill_switch = $('input[id="disarmkillswitch"]').is(':checked') ? 1 : 0;
             }
+            if(semver.gte(CONFIG.apiVersion, "1.37.0")) {
+                ARMING_CONFIG.small_angle = parseInt($('input[id="configurationSmallAngle"]').val());
+            }
 
             MOTOR_CONFIG.minthrottle = parseInt($('input[name="minthrottle"]').val());
             MOTOR_CONFIG.maxthrottle = parseInt($('input[name="maxthrottle"]').val());