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Allow failsafe config to be set via MSP. Add min/max channel values to

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MSP_RX_CONFIG.
This commit is contained in:
Dominic Clifton 2015-04-26 18:27:12 +02:00
parent 1d069ad738
commit 441b58c9c8
1 changed files with 22 additions and 1 deletions
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23
src/main/io/serial_msp.c
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@ -131,7 +131,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 8 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 9 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -228,6 +228,8 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter
#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter
#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings
#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
@ -1140,6 +1142,15 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(masterConfig.rxConfig.midrc);
serialize16(masterConfig.rxConfig.mincheck);
serialize8(masterConfig.rxConfig.spektrum_sat_bind);
serialize16(masterConfig.rxConfig.rx_min_usec);
serialize16(masterConfig.rxConfig.rx_max_usec);
break;
case MSP_FAILSAFE_CONFIG:
headSerialReply(8);
serialize8(masterConfig.failsafeConfig.failsafe_delay);
serialize8(masterConfig.failsafeConfig.failsafe_off_delay);
serialize16(masterConfig.failsafeConfig.failsafe_throttle);
break;
case MSP_RSSI_CONFIG:
@ -1533,6 +1544,16 @@ static bool processInCommand(void)
masterConfig.rxConfig.midrc = read16();
masterConfig.rxConfig.mincheck = read16();
masterConfig.rxConfig.spektrum_sat_bind = read8();
if (currentPort->dataSize > 8) {
masterConfig.rxConfig.rx_min_usec = read16();
masterConfig.rxConfig.rx_max_usec = read16();
}
break;
case MSP_SET_FAILSAFE_CONFIG:
masterConfig.failsafeConfig.failsafe_delay = read8();
masterConfig.failsafeConfig.failsafe_off_delay = read8();
masterConfig.failsafeConfig.failsafe_throttle = read16();
break;
case MSP_SET_RSSI_CONFIG: