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Initial implementation of new MSP commands (quick and dirty)

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Added throttle idle percent value.

Added 'gyroUse32kHz'.
This commit is contained in:
U-DESKTOP-12PPI61\boris.bozic 2017-01-05 01:28:09 +01:00 • committed by mikeller
parent f56cade39d
commit f995c3fa49
5 changed files with 172 additions and 74 deletions
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22
js/msp/MSPHelper.js
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@ -617,6 +617,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
PID_ADVANCED_CONFIG.use_unsyncedPwm = data.readU8();
PID_ADVANCED_CONFIG.fast_pwm_protocol = data.readU8();
PID_ADVANCED_CONFIG.motor_pwm_rate = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
PID_ADVANCED_CONFIG.digitalIdlePercent = data.readU16() / 100;
if (semver.gte(CONFIG.apiVersion, "1.25.0")) {
PID_ADVANCED_CONFIG.gyroUse32kHz = data.readU8();
}
}
break;
case MSPCodes.MSP_FILTER_CONFIG:
FILTER_CONFIG.gyro_soft_lpf_hz = data.readU8();
@ -651,6 +658,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
ADVANCED_TUNING.pidMaxVelocity = data.readU16();
ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
ADVANCED_TUNING.levelAngleLimit = data.readU8();
ADVANCED_TUNING.levelSensitivity = data.readU8();
}
break;
case MSPCodes.MSP_SENSOR_CONFIG:
SENSOR_CONFIG.acc_hardware = data.readU8();
@ -1130,6 +1141,13 @@ MspHelper.prototype.crunch = function(code) {
.push8(PID_ADVANCED_CONFIG.use_unsyncedPwm)
.push8(PID_ADVANCED_CONFIG.fast_pwm_protocol)
.push16(PID_ADVANCED_CONFIG.motor_pwm_rate);
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
buffer.push16(PID_ADVANCED_CONFIG.digitalIdlePercent * 100);
if (semver.gte(CONFIG.apiVersion, "1.25.0")) {
buffer.push8(PID_ADVANCED_CONFIG.gyroUse32kHz);
}
}
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
@ -1160,6 +1178,10 @@ MspHelper.prototype.crunch = function(code) {
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
buffer.push8(ADVANCED_TUNING.levelAngleLimit)
.push8(ADVANCED_TUNING.levelSensitivity);
}
}
// only supports 1 version pre bf 3.0
else {