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add back SPECIAL_PARAMETERS

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This commit is contained in:
nathan 2016-07-30 01:01:46 -07:00
parent 26e7b5e9ea
commit c138b7f39f
2 changed files with 27 additions and 0 deletions
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20
js/msp.js
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@ -59,6 +59,8 @@ var MSP_codes = {
MSP_SET_PID_ADVANCED: 95,
MSP_SENSOR_CONFIG: 96,
MSP_SET_SENSOR_CONFIG: 97,
MSP_SPECIAL_PARAMETERS: 98,
MSP_SET_SPECIAL_PARAMETERS: 99,
// Multiwii MSP commands
MSP_IDENT: 100,
@ -981,6 +983,16 @@ var MSP = {
offset += 2;
}
break;
case MSP_codes.MSP_SPECIAL_PARAMETERS:
var offset = 0;
SPECIAL_PARAMETERS.RC_RATE_YAW = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
SPECIAL_PARAMETERS.airModeActivateThreshold = data.getUint16(offset, 1);
offset += 2;
SPECIAL_PARAMETERS.rcSmoothInterval = data.getUint8(offset++, 1)
SPECIAL_PARAMETERS.escDesyncProtection = data.getUint16(offset, 1);
}
break;
case MSP_codes.MSP_SENSOR_CONFIG:
var offset = 0;
SENSOR_CONFIG.acc_hardware = data.getUint8(offset++, 1);
@ -1654,6 +1666,14 @@ MSP.crunch = function (code) {
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
}
break;
case MSP_codes.MSP_SET_SPECIAL_PARAMETERS:
buffer.push(Math.round(SPECIAL_PARAMETERS.RC_RATE_YAW * 100));
if (CONFIG.flightControllerIdentifier == "BTFL" && semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
buffer.push16(SPECIAL_PARAMETERS.airModeActivateThreshold);
buffer.push(SPECIAL_PARAMETERS.rcSmoothInterval);
buffer.push16(SPECIAL_PARAMETERS.escDesyncProtection);
}
break;
case MSP_codes.MSP_SET_SENSOR_CONFIG:
buffer.push(SENSOR_CONFIG.acc_hardware);
buffer.push(SENSOR_CONFIG.baro_hardware);