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Added throttleCorrection, batter, rcControls, gpsProfile, and gps config() macros

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This commit is contained in:
Martin Budden 2016-11-30 22:59:12 +00:00
parent 2f0f23ebfe
commit 00338cb854
9 changed files with 144 additions and 139 deletions
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82
src/main/fc/fc_msp.c
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@ -693,7 +693,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, rssi);
if(masterConfig.batteryConfig.multiwiiCurrentMeterOutput) {
if(batteryConfig()->multiwiiCurrentMeterOutput) {
sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
} else
sbufWriteU16(dst, (int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
@ -785,24 +785,24 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, masterConfig.failsafeConfig.failsafe_throttle);
#ifdef GPS
sbufWriteU8(dst, masterConfig.gpsConfig.provider); // gps_type
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
#else
sbufWriteU8(dst, 0); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, 0); // gps_ubx_sbas
#endif
sbufWriteU8(dst, masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
sbufWriteU8(dst, batteryConfig()->multiwiiCurrentMeterOutput);
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmaxcellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatwarningcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
break;
case MSP_MOTOR_PINS:
@ -872,17 +872,17 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_VOLTAGE_METER_CONFIG:
sbufWriteU8(dst, masterConfig.batteryConfig.vbatscale);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmincellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatmaxcellvoltage);
sbufWriteU8(dst, masterConfig.batteryConfig.vbatwarningcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatscale);
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
break;
case MSP_CURRENT_METER_CONFIG:
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterScale);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterOffset);
sbufWriteU8(dst, masterConfig.batteryConfig.currentMeterType);
sbufWriteU16(dst, masterConfig.batteryConfig.batteryCapacity);
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
sbufWriteU8(dst, batteryConfig()->currentMeterType);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
break;
case MSP_MIXER:
@ -942,8 +942,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterScale);
sbufWriteU16(dst, masterConfig.batteryConfig.currentMeterOffset);
sbufWriteU16(dst, batteryConfig()->currentMeterScale);
sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
break;
case MSP_CF_SERIAL_CONFIG:
@ -1068,9 +1068,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_RC_DEADBAND:
sbufWriteU8(dst, masterConfig.rcControlsConfig.deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.yaw_deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.alt_hold_deadband);
sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
sbufWriteU16(dst, flight3DConfig()->deadband3d_throttle);
break;
@ -1344,24 +1344,24 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.failsafeConfig.failsafe_throttle = sbufReadU16(src);
#ifdef GPS
masterConfig.gpsConfig.provider = sbufReadU8(src); // gps_type
gpsConfig()->provider = sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
masterConfig.gpsConfig.sbasMode = sbufReadU8(src); // gps_ubx_sbas
gpsConfig()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
#else
sbufReadU8(src); // gps_type
sbufReadU8(src); // gps_baudrate
sbufReadU8(src); // gps_ubx_sbas
#endif
masterConfig.batteryConfig.multiwiiCurrentMeterOutput = sbufReadU8(src);
batteryConfig()->multiwiiCurrentMeterOutput = sbufReadU8(src);
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
sbufReadU8(src);
compassConfig()->mag_declination = sbufReadU16(src) * 10;
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
@ -1417,9 +1417,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_RC_DEADBAND:
masterConfig.rcControlsConfig.deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.yaw_deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.alt_hold_deadband = sbufReadU8(src);
rcControlsConfig()->deadband = sbufReadU8(src);
rcControlsConfig()->yaw_deadband = sbufReadU8(src);
rcControlsConfig()->alt_hold_deadband = sbufReadU8(src);
flight3DConfig()->deadband3d_throttle = sbufReadU16(src);
break;
@ -1649,17 +1649,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_VOLTAGE_METER_CONFIG:
masterConfig.batteryConfig.vbatscale = sbufReadU8(src); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_CURRENT_METER_CONFIG:
masterConfig.batteryConfig.currentMeterScale = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterOffset = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterType = sbufReadU8(src);
masterConfig.batteryConfig.batteryCapacity = sbufReadU16(src);
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterType = sbufReadU8(src);
batteryConfig()->batteryCapacity = sbufReadU16(src);
break;
#ifndef USE_QUAD_MIXER_ONLY
@ -1735,8 +1735,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
boardAlignment()->pitchDegrees = sbufReadU16(src); // board_align_pitch
boardAlignment()->yawDegrees = sbufReadU16(src); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = sbufReadU16(src);
masterConfig.batteryConfig.currentMeterOffset = sbufReadU16(src);
batteryConfig()->currentMeterScale = sbufReadU16(src);
batteryConfig()->currentMeterOffset = sbufReadU16(src);
break;
case MSP_SET_CF_SERIAL_CONFIG: