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synced 2025-07-24 08:45:36 +03:00
CF/BF - Delete old/unused MSP commands. Cleaning MSP naming a little.
The commands that are deleted have been deprecated for a LONG time. They have long been superceed with more specific commands. Fix voltage meter config to include id and type in the subframe.
This commit is contained in:
Hydra
Dominic Clifton
parent
e9aaa4387e
commit
5d602d69ff
4 changed files with 77 additions and 140 deletions
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@ -596,14 +596,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
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break;
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// DEPRECATED - Use MSP_API_VERSION
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case MSP_IDENT:
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sbufWriteU8(dst, MW_VERSION);
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sbufWriteU8(dst, mixerConfig()->mixerMode);
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sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
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sbufWriteU32(dst, CAP_DYNBALANCE); // "capability"
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break;
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case MSP_STATUS_EX:
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sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
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#ifdef USE_I2C
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@ -739,10 +731,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
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break;
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case MSP_LOOP_TIME:
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sbufWriteU16(dst, (uint16_t)gyro.targetLooptime);
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break;
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case MSP_RC_TUNING:
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sbufWriteU8(dst, currentControlRateProfile->rcRate8);
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sbufWriteU8(dst, currentControlRateProfile->rcExpo8);
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@ -812,44 +800,24 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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}
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break;
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case MSP_MISC:
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sbufWriteU16(dst, rxConfig()->midrc);
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case MSP_MOTOR_CONFIG:
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sbufWriteU16(dst, motorConfig()->minthrottle);
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sbufWriteU16(dst, motorConfig()->maxthrottle);
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sbufWriteU16(dst, motorConfig()->mincommand);
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break;
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sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
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#ifdef GPS
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sbufWriteU8(dst, gpsConfig()->provider); // gps_type
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sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
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sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
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#else
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sbufWriteU8(dst, 0); // gps_type
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sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
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sbufWriteU8(dst, 0); // gps_ubx_sbas
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#endif
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sbufWriteU8(dst, 0); // was multiwiiCurrentMeterOutput
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sbufWriteU8(dst, rxConfig()->rssi_channel);
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sbufWriteU8(dst, 0);
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#ifdef MAG
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case MSP_COMPASS_CONFIG:
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sbufWriteU16(dst, compassConfig()->mag_declination / 10);
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sbufWriteU8(dst, 0); // was vbatscale
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
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break;
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case MSP_MOTOR_PINS:
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// FIXME This is hardcoded and should not be.
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for (int i = 0; i < 8; i++) {
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sbufWriteU8(dst, i + 1);
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}
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break;
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#endif
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#ifdef GPS
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case MSP_GPS_CONFIG:
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sbufWriteU8(dst, gpsConfig()->provider); // gps_type
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sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
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break;
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case MSP_RAW_GPS:
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sbufWriteU8(dst, STATE(GPS_FIX));
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sbufWriteU8(dst, GPS_numSat);
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@ -886,7 +854,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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}
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break;
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// Additional commands that are not compatible with MultiWii
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case MSP_ACC_TRIM:
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sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
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sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
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@ -898,7 +865,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU32(dst, U_ID_2);
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break;
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case MSP_FEATURE:
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case MSP_FEATURE_CONFIG:
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sbufWriteU32(dst, featureMask());
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break;
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@ -1002,7 +969,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU8(dst, batteryConfig()->currentMeterSource);
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break;
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case MSP_MIXER:
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case MSP_MIXER_CONFIG:
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sbufWriteU8(dst, mixerConfig()->mixerMode);
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break;
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@ -1047,21 +1014,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteData(dst, rxConfig()->rcmap, MAX_MAPPABLE_RX_INPUTS);
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break;
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case MSP_BF_CONFIG:
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sbufWriteU8(dst, mixerConfig()->mixerMode);
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sbufWriteU32(dst, featureMask());
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sbufWriteU8(dst, rxConfig()->serialrx_provider);
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sbufWriteU16(dst, boardAlignment()->rollDegrees);
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sbufWriteU16(dst, boardAlignment()->pitchDegrees);
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sbufWriteU16(dst, boardAlignment()->yawDegrees);
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sbufWriteU16(dst, 0); // was currentMeterScale, see MSP_CURRENT_METER_CONFIG
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sbufWriteU16(dst, 0); //was currentMeterOffset, see MSP_CURRENT_METER_CONFIG
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break;
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case MSP_CF_SERIAL_CONFIG:
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for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
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if (!serialIsPortAvailable(serialConfig()->portConfigs[i].identifier)) {
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@ -1169,12 +1121,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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#endif
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break;
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case MSP_BF_BUILD_INFO:
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sbufWriteData(dst, buildDate, 11); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
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sbufWriteU32(dst, 0); // future exp
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sbufWriteU32(dst, 0); // future exp
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break;
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case MSP_3D:
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sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
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sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
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@ -1359,9 +1305,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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}
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break;
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case MSP_SET_HEAD:
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#if defined(GPS) || defined(MAG)
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case MSP_SET_HEADING:
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magHold = sbufReadU16(src);
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break;
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#endif
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case MSP_SET_RAW_RC:
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#ifdef USE_RX_MSP
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@ -1388,10 +1336,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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armingConfigMutable()->disarm_kill_switch = sbufReadU8(src);
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break;
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case MSP_SET_LOOP_TIME:
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sbufReadU16(src);
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break;
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case MSP_SET_PID_CONTROLLER:
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break;
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@ -1470,37 +1414,27 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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}
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break;
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case MSP_SET_MISC:
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rxConfigMutable()->midrc = sbufReadU16(src);
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case MSP_SET_MOTOR_CONFIG:
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motorConfigMutable()->minthrottle = sbufReadU16(src);
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motorConfigMutable()->maxthrottle = sbufReadU16(src);
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motorConfigMutable()->mincommand = sbufReadU16(src);
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failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
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#ifdef GPS
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gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
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sbufReadU8(src); // gps_baudrate
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gpsConfigMutable()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
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#else
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sbufReadU8(src); // gps_type
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sbufReadU8(src); // gps_baudrate
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sbufReadU8(src); // gps_ubx_sbas
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#endif
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sbufReadU8(src); // legacy - was multiwiiCurrentMeterOutput
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rxConfigMutable()->rssi_channel = sbufReadU8(src);
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sbufReadU8(src);
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compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
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sbufReadU8(src); // legacy - was vbatscale
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batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
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batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
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batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
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break;
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#ifdef GPS
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case MSP_SET_GPS_CONFIG:
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gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
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gpsConfigMutable()->sbasMode = sbufReadU8(src); // gps_ubx_sbas
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break;
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#endif
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#ifdef MAG
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case MSP_SET_COMPASS_CONFIG:
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compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
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break;
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#endif
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case MSP_SET_MOTOR:
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for (int i = 0; i < 8; i++) { // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
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for (int i = 0; i < getMotorCount(); i++) {
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motor_disarmed[i] = convertExternalToMotor(sbufReadU16(src));
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}
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break;
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@ -1821,7 +1755,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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}
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break;
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#endif
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case MSP_SET_FEATURE:
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case MSP_SET_FEATURE_CONFIG:
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featureClearAll();
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featureSet(sbufReadU32(src)); // features bitmap
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break;
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@ -1885,11 +1819,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
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break;
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case MSP_SET_MIXER_CONFIG:
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#ifndef USE_QUAD_MIXER_ONLY
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case MSP_SET_MIXER:
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mixerConfigMutable()->mixerMode = sbufReadU8(src);
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break;
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#else
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sbufReadU8(src);
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#endif
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break;
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case MSP_SET_RX_CONFIG:
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rxConfigMutable()->serialrx_provider = sbufReadU8(src);
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@ -1945,26 +1881,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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}
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break;
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case MSP_SET_BF_CONFIG:
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#ifdef USE_QUAD_MIXER_ONLY
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sbufReadU8(src); // mixerMode ignored
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#else
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mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
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#endif
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featureClearAll();
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featureSet(sbufReadU32(src)); // features bitmap
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rxConfigMutable()->serialrx_provider = sbufReadU8(src); // serialrx_type
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boardAlignmentMutable()->rollDegrees = sbufReadU16(src); // board_align_roll
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boardAlignmentMutable()->pitchDegrees = sbufReadU16(src); // board_align_pitch
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boardAlignmentMutable()->yawDegrees = sbufReadU16(src); // board_align_yaw
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sbufReadU16(src); // was currentMeterScale, see MSP_SET_CURRENT_METER_CONFIG
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sbufReadU16(src); // was currentMeterOffset see MSP_SET_CURRENT_METER_CONFIG
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break;
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case MSP_SET_CF_SERIAL_CONFIG:
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{
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uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint16_t) + (sizeof(uint8_t) * 4);
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