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Code Issues Wiki Activity

Replace API versions by constants

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This commit is contained in:
Miguel Angel Mulero Martinez 2020-10-15 08:47:55 +02:00
parent 7fcc9efc72
commit fd35031e6f
25 changed files with 315 additions and 301 deletions
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166
src/js/msp/MSPHelper.js
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@ -95,7 +95,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.numProfiles = data.readU8();
FC.CONFIG.rateProfile = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
// Read flight mode flags
var byteCount = data.readU8();
for (let i = 0; i < byteCount; i++) {
@ -197,7 +197,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ANALOG.rssi = data.readU16(); // 0-1023
FC.ANALOG.amperage = data.read16() / 100; // A
FC.ANALOG.last_received_timestamp = Date.now();
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.ANALOG.voltage = data.readU16() / 100;
}
break;
@ -232,14 +232,14 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.BATTERY_STATE.voltage = data.readU8() / 10.0; // V
FC.BATTERY_STATE.mAhDrawn = data.readU16(); // mAh
FC.BATTERY_STATE.amperage = data.readU16() / 100; // A
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.BATTERY_STATE.batteryState = data.readU8();
FC.BATTERY_STATE.voltage = data.readU16() / 100;
}
break;
case MSPCodes.MSP_VOLTAGE_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.MISC.vbatscale = data.readU8(); // 10-200
FC.MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50
FC.MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50
@ -271,7 +271,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
}
break;
case MSPCodes.MSP_CURRENT_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.BF_CONFIG.currentscale = data.read16();
FC.BF_CONFIG.currentoffset = data.read16();
FC.BF_CONFIG.currentmetertype = data.readU8();
@ -307,7 +307,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.BATTERY_CONFIG.capacity = data.readU16();
FC.BATTERY_CONFIG.voltageMeterSource = data.readU8();
FC.BATTERY_CONFIG.currentMeterSource = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.BATTERY_CONFIG.vbatmincellvoltage = data.readU16() / 100;
FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.readU16() / 100;
FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.readU16() / 100;
@ -344,18 +344,18 @@ MspHelper.prototype.process_data = function(dataHandler) {
} else {
FC.RC_TUNING.RC_YAW_EXPO = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.RC_TUNING.rcPitchRate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.RC_PITCH_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
} else {
FC.RC_TUNING.rcPitchRate = 0;
FC.RC_TUNING.RC_PITCH_EXPO = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.RC_TUNING.throttleLimitType = data.readU8();
FC.RC_TUNING.throttleLimitPercent = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.RC_TUNING.roll_rate_limit = data.readU16();
FC.RC_TUNING.pitch_rate_limit = data.readU16();
FC.RC_TUNING.yaw_rate_limit = data.readU16();
@ -380,7 +380,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ARMING_CONFIG.auto_disarm_delay = data.readU8();
FC.ARMING_CONFIG.disarm_kill_switch = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.ARMING_CONFIG.small_angle = data.readU8();
}
break;
@ -411,7 +411,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.MOTOR_CONFIG.motor_count = data.readU8();
FC.MOTOR_CONFIG.motor_poles = data.readU8();
FC.MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0;
@ -421,7 +421,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
case MSPCodes.MSP_GPS_CONFIG:
FC.GPS_CONFIG.provider = data.readU8();
FC.GPS_CONFIG.ublox_sbas = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_34)) {
FC.GPS_CONFIG.auto_config = data.readU8();
FC.GPS_CONFIG.auto_baud = data.readU8();
@ -503,7 +503,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
case MSPCodes.MSP_SERVO_CONFIGURATIONS:
FC.SERVO_CONFIG = []; // empty the array as new data is coming in
if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
if (data.byteLength % 12 == 0) {
for (let i = 0; i < data.byteLength; i += 12) {
var arr = {
@ -676,7 +676,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
case MSPCodes.MSP_MIXER_CONFIG:
FC.MIXER_CONFIG.mixer = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.MIXER_CONFIG.reverseMotorDir = data.readU8();
}
break;
@ -689,10 +689,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
case MSPCodes.MSP_BEEPER_CONFIG:
FC.BEEPER_CONFIG.beepers.setDisabledMask(data.readU32());
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.BEEPER_CONFIG.dshotBeaconTone = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
FC.BEEPER_CONFIG.dshotBeaconConditions.setDisabledMask(data.readU32());
}
break;
@ -704,7 +704,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
break;
case MSPCodes.MSP_SET_REBOOT:
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
var rebootType = data.read8();
if ((rebootType === self.REBOOT_TYPES.MSC) || (rebootType === self.REBOOT_TYPES.MSC_UTC)) {
if (data.read8() === 0) {
@ -758,13 +758,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.boardIdentifier = identifier;
FC.CONFIG.boardVersion = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.35.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_35)) {
FC.CONFIG.boardType = data.readU8();
} else {
FC.CONFIG.boardType = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.CONFIG.targetCapabilities = data.readU8();
let length = data.readU8();
@ -776,7 +776,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.targetName = "";
}
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
let length = data.readU8();
for (let i = 0; i < length; i++) {
FC.CONFIG.boardName += String.fromCharCode(data.readU8());
@ -796,13 +796,13 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.CONFIG.signature = [];
}
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.CONFIG.mcuTypeId = data.readU8();
} else {
FC.CONFIG.mcuTypeId = 255;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.CONFIG.configurationState = data.readU8();
}
@ -955,19 +955,19 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.RX_CONFIG.rcInterpolation = data.readU8();
FC.RX_CONFIG.rcInterpolationInterval = data.readU8();
FC.RX_CONFIG.airModeActivateThreshold = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
FC.RX_CONFIG.rxSpiProtocol = data.readU8();
FC.RX_CONFIG.rxSpiId = data.readU32();
FC.RX_CONFIG.rxSpiRfChannelCount = data.readU8();
FC.RX_CONFIG.fpvCamAngleDegrees = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
FC.RX_CONFIG.rcInterpolationChannels = data.readU8();
FC.RX_CONFIG.rcSmoothingType = data.readU8();
FC.RX_CONFIG.rcSmoothingInputCutoff = data.readU8();
FC.RX_CONFIG.rcSmoothingDerivativeCutoff = data.readU8();
FC.RX_CONFIG.rcSmoothingInputType = data.readU8();
FC.RX_CONFIG.rcSmoothingDerivativeType = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.RX_CONFIG.usbCdcHidType = data.readU8();
FC.RX_CONFIG.rcSmoothingAutoSmoothness = data.readU8();
}
@ -1022,10 +1022,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (semver.gte(FC.CONFIG.apiVersion, "1.25.0")) {
let gyroUse32kHz = data.readU8();
if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.PID_ADVANCED_CONFIG.gyroUse32kHz = gyroUse32kHz;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.PID_ADVANCED_CONFIG.motorPwmInversion = data.readU8();
FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8(); // We don't want to double up on storing this state
FC.PID_ADVANCED_CONFIG.gyroHighFsr = data.readU8();
@ -1052,10 +1052,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.FILTER_CONFIG.gyro_notch2_hz = data.readU16();
FC.FILTER_CONFIG.gyro_notch2_cutoff = data.readU16();
}
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.FILTER_CONFIG.dterm_lowpass_type = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
FC.FILTER_CONFIG.gyro_hardware_lpf = data.readU8();
let gyro_32khz_hardware_lpf = data.readU8();
FC.FILTER_CONFIG.gyro_lowpass_hz = data.readU16();
@ -1063,7 +1063,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.FILTER_CONFIG.gyro_lowpass_type = data.readU8();
FC.FILTER_CONFIG.gyro_lowpass2_type = data.readU8();
FC.FILTER_CONFIG.dterm_lowpass2_hz = data.readU16();
if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.FILTER_CONFIG.gyro_32khz_hardware_lpf = gyro_32khz_hardware_lpf;
} else {
FC.FILTER_CONFIG.gyro_32khz_hardware_lpf = 0;
@ -1073,7 +1073,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16();
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16();
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.FILTER_CONFIG.dyn_notch_range = data.readU8();
FC.FILTER_CONFIG.dyn_notch_width_percent = data.readU8();
FC.FILTER_CONFIG.dyn_notch_q = data.readU16();
@ -1104,7 +1104,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.deltaMethod = data.readU8();
FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
FC.ADVANCED_TUNING.feedforwardTransition = data.readU8();
} else {
FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
@ -1119,14 +1119,14 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.levelAngleLimit = data.readU8();
FC.ADVANCED_TUNING.levelSensitivity = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
FC.ADVANCED_TUNING.itermRotation = data.readU8();
FC.ADVANCED_TUNING.smartFeedforward = data.readU8();
FC.ADVANCED_TUNING.itermRelax = data.readU8();
@ -1139,7 +1139,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.feedforwardYaw = data.readU16();
FC.ADVANCED_TUNING.antiGravityMode = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.ADVANCED_TUNING.dMinRoll = data.readU8();
FC.ADVANCED_TUNING.dMinPitch = data.readU8();
FC.ADVANCED_TUNING.dMinYaw = data.readU8();
@ -1148,7 +1148,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8();
FC.ADVANCED_TUNING.integratedYawRelax = data.readU8();
if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
@ -1186,7 +1186,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
var ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order
var ledFunctionLetters = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l']; // in LSB bit order
var ledBaseFunctionLetters = ['c', 'f', 'a', 'l', 's', 'g', 'r']; // in LSB bit
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
var ledOverlayLetters = ['t', 'o', 'b', 'n', 'i', 'w']; // in LSB bit
} else {
var ledOverlayLetters = ['t', 'o', 'b', 'v', 'i', 'w']; // in LSB bit
@ -1197,7 +1197,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
ledCount = data.byteLength / 4;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
// According to betaflight/src/main/msp/msp.c
// API 1.41 - add indicator for advanced profile support and the current profile selection
// 0 = basic ledstrip available
@ -1357,7 +1357,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.BLACKBOX.blackboxDevice = data.readU8();
FC.BLACKBOX.blackboxRateNum = data.readU8();
FC.BLACKBOX.blackboxRateDenom = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.BLACKBOX.blackboxPDenom = data.readU16();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
@ -1369,7 +1369,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
break;
case MSPCodes.MSP_TRANSPONDER_CONFIG:
var bytesRemaining = data.byteLength;
if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
var providerCount = data.readU8();
bytesRemaining--;
@ -1420,7 +1420,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.VTX_CONFIG.vtx_device_ready = data.readU8() != 0;
FC.VTX_CONFIG.vtx_low_power_disarm = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.VTX_CONFIG.vtx_pit_mode_frequency = data.readU16();
FC.VTX_CONFIG.vtx_table_available = data.readU8() != 0;
FC.VTX_CONFIG.vtx_table_bands = data.readU8();
@ -1648,16 +1648,16 @@ MspHelper.prototype.crunch = function(code) {
case MSPCodes.MSP_SET_BEEPER_CONFIG:
var beeperDisabledMask = FC.BEEPER_CONFIG.beepers.getDisabledMask();
buffer.push32(beeperDisabledMask);
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
buffer.push8(FC.BEEPER_CONFIG.dshotBeaconTone);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
buffer.push32(FC.BEEPER_CONFIG.dshotBeaconConditions.getDisabledMask());
}
break;
case MSPCodes.MSP_SET_MIXER_CONFIG:
buffer.push8(FC.MIXER_CONFIG.mixer)
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push8(FC.MIXER_CONFIG.reverseMotorDir);
}
break;
@ -1698,15 +1698,15 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(Math.round(FC.RC_TUNING.rcYawRate * 100));
}
}
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
buffer.push8(Math.round(FC.RC_TUNING.rcPitchRate * 100));
buffer.push8(Math.round(FC.RC_TUNING.RC_PITCH_EXPO * 100));
}
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
buffer.push8(FC.RC_TUNING.throttleLimitType);
buffer.push8(FC.RC_TUNING.throttleLimitPercent);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push16(FC.RC_TUNING.roll_rate_limit);
buffer.push16(FC.RC_TUNING.pitch_rate_limit);
buffer.push16(FC.RC_TUNING.yaw_rate_limit);
@ -1727,7 +1727,7 @@ MspHelper.prototype.crunch = function(code) {
case MSPCodes.MSP_SET_ARMING_CONFIG:
buffer.push8(FC.ARMING_CONFIG.auto_disarm_delay)
.push8(FC.ARMING_CONFIG.disarm_kill_switch);
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
buffer.push8(FC.ARMING_CONFIG.small_angle);
}
break;
@ -1756,7 +1756,7 @@ MspHelper.prototype.crunch = function(code) {
buffer.push16(FC.MOTOR_CONFIG.minthrottle)
.push16(FC.MOTOR_CONFIG.maxthrottle)
.push16(FC.MOTOR_CONFIG.mincommand);
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push8(FC.MOTOR_CONFIG.motor_poles);
buffer.push8(FC.MOTOR_CONFIG.use_dshot_telemetry ? 1 : 0);
}
@ -1764,7 +1764,7 @@ MspHelper.prototype.crunch = function(code) {
case MSPCodes.MSP_SET_GPS_CONFIG:
buffer.push8(FC.GPS_CONFIG.provider)
.push8(FC.GPS_CONFIG.ublox_sbas);
if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_34)) {
buffer.push8(FC.GPS_CONFIG.auto_config)
.push8(FC.GPS_CONFIG.auto_baud);
@ -1802,14 +1802,14 @@ MspHelper.prototype.crunch = function(code) {
.push16(FC.BATTERY_CONFIG.capacity)
.push8(FC.BATTERY_CONFIG.voltageMeterSource)
.push8(FC.BATTERY_CONFIG.currentMeterSource);
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
buffer.push16(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100))
.push16(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100))
.push16(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100));
}
break;
case MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push8(FC.MISC.vbatscale)
.push8(Math.round(FC.MISC.vbatmincellvoltage * 10))
.push8(Math.round(FC.MISC.vbatmaxcellvoltage * 10))
@ -1820,7 +1820,7 @@ MspHelper.prototype.crunch = function(code) {
}
break;
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push16(FC.BF_CONFIG.currentscale)
.push16(FC.BF_CONFIG.currentoffset)
.push8(FC.BF_CONFIG.currentmetertype)
@ -1840,19 +1840,19 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FC.RX_CONFIG.rcInterpolation)
.push8(FC.RX_CONFIG.rcInterpolationInterval)
.push16(FC.RX_CONFIG.airModeActivateThreshold);
if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
buffer.push8(FC.RX_CONFIG.rxSpiProtocol)
.push32(FC.RX_CONFIG.rxSpiId)
.push8(FC.RX_CONFIG.rxSpiRfChannelCount)
.push8(FC.RX_CONFIG.fpvCamAngleDegrees);
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
buffer.push8(FC.RX_CONFIG.rcInterpolationChannels)
.push8(FC.RX_CONFIG.rcSmoothingType)
.push8(FC.RX_CONFIG.rcSmoothingInputCutoff)
.push8(FC.RX_CONFIG.rcSmoothingDerivativeCutoff)
.push8(FC.RX_CONFIG.rcSmoothingInputType)
.push8(FC.RX_CONFIG.rcSmoothingDerivativeType);
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push8(FC.RX_CONFIG.usbCdcHidType)
.push8(FC.RX_CONFIG.rcSmoothingAutoSmoothness);
}
@ -1874,7 +1874,7 @@ MspHelper.prototype.crunch = function(code) {
break;
case MSPCodes.MSP_SET_TRANSPONDER_CONFIG:
if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
buffer.push8(FC.TRANSPONDER.provider); //
}
for (let i = 0; i < FC.TRANSPONDER.data.length; i++) {
@ -1956,7 +1956,7 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FC.SENSOR_ALIGNMENT.align_gyro)
.push8(FC.SENSOR_ALIGNMENT.align_acc)
.push8(FC.SENSOR_ALIGNMENT.align_mag);
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
buffer.push8(FC.SENSOR_ALIGNMENT.gyro_to_use)
.push8(FC.SENSOR_ALIGNMENT.gyro_1_align)
.push8(FC.SENSOR_ALIGNMENT.gyro_2_align);
@ -1973,11 +1973,11 @@ MspHelper.prototype.crunch = function(code) {
if (semver.gte(FC.CONFIG.apiVersion, "1.25.0")) {
let gyroUse32kHz = 0;
if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
gyroUse32kHz = FC.PID_ADVANCED_CONFIG.gyroUse32kHz;
}
buffer.push8(gyroUse32kHz);
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push8(FC.PID_ADVANCED_CONFIG.motorPwmInversion)
.push8(FC.SENSOR_ALIGNMENT.gyro_to_use) // We don't want to double up on storing this state
.push8(FC.PID_ADVANCED_CONFIG.gyroHighFsr)
@ -2003,12 +2003,12 @@ MspHelper.prototype.crunch = function(code) {
buffer.push16(FC.FILTER_CONFIG.gyro_notch2_hz)
.push16(FC.FILTER_CONFIG.gyro_notch2_cutoff)
}
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push8(FC.FILTER_CONFIG.dterm_lowpass_type);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
let gyro_32khz_hardware_lpf = 0;
if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
gyro_32khz_hardware_lpf = FC.FILTER_CONFIG.gyro_32khz_hardware_lpf;
}
buffer.push8(FC.FILTER_CONFIG.gyro_hardware_lpf)
@ -2019,14 +2019,14 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.FILTER_CONFIG.gyro_lowpass2_type)
.push16(FC.FILTER_CONFIG.dterm_lowpass2_hz);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
buffer.push8(FC.FILTER_CONFIG.dterm_lowpass2_type)
.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz)
.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz)
.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz)
.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push8(FC.FILTER_CONFIG.dyn_notch_range)
.push8(FC.FILTER_CONFIG.dyn_notch_width_percent)
.push16(FC.FILTER_CONFIG.dyn_notch_q)
@ -2051,7 +2051,7 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.ADVANCED_TUNING.vbatPidCompensation);
if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) {
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition);
} else {
buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition);
@ -2067,14 +2067,14 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit)
.push8(FC.ADVANCED_TUNING.levelSensitivity);
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold)
.push16(FC.ADVANCED_TUNING.itermAcceleratorGain);
if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight);
if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
buffer.push8(FC.ADVANCED_TUNING.itermRotation)
.push8(FC.ADVANCED_TUNING.smartFeedforward)
.push8(FC.ADVANCED_TUNING.itermRelax)
@ -2087,7 +2087,7 @@ MspHelper.prototype.crunch = function(code) {
.push16(FC.ADVANCED_TUNING.feedforwardYaw)
.push8(FC.ADVANCED_TUNING.antiGravityMode);
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
buffer.push8(FC.ADVANCED_TUNING.dMinRoll)
.push8(FC.ADVANCED_TUNING.dMinPitch)
.push8(FC.ADVANCED_TUNING.dMinYaw)
@ -2096,7 +2096,7 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.ADVANCED_TUNING.useIntegratedYaw)
.push8(FC.ADVANCED_TUNING.integratedYawRelax);
if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
@ -2138,7 +2138,7 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FC.BLACKBOX.blackboxDevice)
.push8(FC.BLACKBOX.blackboxRateNum)
.push8(FC.BLACKBOX.blackboxRateDenom);
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
buffer.push16(FC.BLACKBOX.blackboxPDenom);
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
@ -2172,7 +2172,7 @@ MspHelper.prototype.crunch = function(code) {
case MSPCodes.MSP_SET_RTC:
var now = new Date();
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
var timestamp = now.getTime();
var secs = timestamp / 1000;
var millis = timestamp % 1000;
@ -2196,7 +2196,7 @@ MspHelper.prototype.crunch = function(code) {
.push8(FC.VTX_CONFIG.vtx_pit_mode ? 1 : 0)
.push8(FC.VTX_CONFIG.vtx_low_power_disarm);
if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
buffer.push16(FC.VTX_CONFIG.vtx_pit_mode_frequency)
.push8(FC.VTX_CONFIG.vtx_band)
.push8(FC.VTX_CONFIG.vtx_channel)
@ -2294,11 +2294,11 @@ MspHelper.prototype.setRawRx = function(channels) {
MspHelper.prototype.dataflashRead = function(address, blockSize, onDataCallback) {
var outData = [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF];
if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
outData = outData.concat([blockSize & 0xFF, (blockSize >> 8) & 0xFF]);
}
if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
// Allow compression
outData = outData.concat([1]);
}
@ -2310,7 +2310,7 @@ MspHelper.prototype.dataflashRead = function(address, blockSize, onDataCallback)
var headerSize = 4;
var dataSize = response.data.buffer.byteLength - headerSize;
var dataCompressionType = 0;
if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_31)) {
headerSize = headerSize + 3;
dataSize = response.data.readU16();
dataCompressionType = response.data.readU8();
@ -2383,7 +2383,7 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) {
.push16(servoConfiguration.middle)
.push8(servoConfiguration.rate);
if (semver.lt(FC.CONFIG.apiVersion, "1.33.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
buffer.push8(servoConfiguration.angleAtMin)
.push8(servoConfiguration.angleAtMax);
}
@ -2443,7 +2443,7 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) {
.push8((modeRange.range.start - 900) / 25)
.push8((modeRange.range.end - 900) / 25);
if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
var modeRangeExtra = FC.MODE_RANGES_EXTRA[modeRangeIndex];
buffer.push8(modeRangeExtra.modeLogic)
@ -2573,7 +2573,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) {
var ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order
var ledFunctionLetters = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l']; // in LSB bit order
var ledBaseFunctionLetters = ['c', 'f', 'a', 'l', 's', 'g', 'r']; // in LSB bit
if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) {
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
var ledOverlayLetters = ['t', 'o', 'b', 'w', 'i', 'w']; // in LSB bit
} else {
var ledOverlayLetters = ['t', 'o', 'b', 'v', 'i', 'w']; // in LSB bit
@ -2761,7 +2761,9 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) {
}
MspHelper.prototype.setArmingEnabled = function(doEnable, disableRunawayTakeoffPrevention, onCompleteCallback) {
if (semver.gte(FC.CONFIG.apiVersion, "1.37.0") && (FC.CONFIG.armingDisabled === doEnable || FC.CONFIG.runawayTakeoffPreventionDisabled !== disableRunawayTakeoffPrevention)) {
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)
&& (FC.CONFIG.armingDisabled === doEnable || FC.CONFIG.runawayTakeoffPreventionDisabled !== disableRunawayTakeoffPrevention)) {
FC.CONFIG.armingDisabled = !doEnable;
FC.CONFIG.runawayTakeoffPreventionDisabled = disableRunawayTakeoffPrevention;