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Port iNav's rangefinder

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This commit is contained in:
jflyper 2017-12-14 23:44:22 +09:00
parent 8a9fd29dd3
commit 11c47c631b
53 changed files with 898 additions and 492 deletions
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12
src/main/interface/msp.c
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@ -107,11 +107,11 @@
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/boardalignment.h"
#include "sensors/esc_sensor.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/rangefinder.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/esc_sensor.h"
#include "telemetry/telemetry.h"
@ -733,7 +733,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_GYRO) << 5);
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
@ -849,7 +849,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_ALTITUDE:
#if defined(USE_BARO) || defined(USE_SONAR)
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
sbufWriteU32(dst, getEstimatedAltitude());
#else
sbufWriteU32(dst, 0);
@ -858,8 +858,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_SONAR_ALTITUDE:
#if defined(USE_SONAR)
sbufWriteU32(dst, sonarGetLatestAltitude());
#if defined(USE_RANGEFINDER)
sbufWriteU32(dst, rangefinderGetLatestAltitude());
#else
sbufWriteU32(dst, 0);
#endif