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Fix disabling sensor configuration (when device needs battery power) (#13177)
* Fix sensor config * Encapsulate code * Add new message for detectedSensors * Add SENSOR_NOT_AVAILABLE * Move comment * Add gyro
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5 changed files with 49 additions and 15 deletions
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@ -2049,24 +2049,21 @@ case MSP_NAME:
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sbufWriteU8(dst, currentPidProfile->tpa_rate);
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sbufWriteU16(dst, currentPidProfile->tpa_breakpoint); // was currentControlRateProfile->tpa_breakpoint
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break;
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case MSP_SENSOR_CONFIG:
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// if sensor name is default setting, use name in runtime config
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// use sensorIndex_e index: 0:GyroHardware, 1:AccHardware, 2:BaroHardware, 3:MagHardware, 4:RangefinderHardware
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#if defined(USE_ACC)
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// Changed with API 1.46
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sbufWriteU8(dst, accelerometerConfig()->acc_hardware == ACC_DEFAULT ? detectedSensors[1] : accelerometerConfig()->acc_hardware);
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sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, ACC_NONE);
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#endif
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#ifdef USE_BARO
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// Changed with API 1.46
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sbufWriteU8(dst, barometerConfig()->baro_hardware == BARO_DEFAULT ? detectedSensors[2] : barometerConfig()->baro_hardware);
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sbufWriteU8(dst, barometerConfig()->baro_hardware);
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#else
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sbufWriteU8(dst, BARO_NONE);
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#endif
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#ifdef USE_MAG
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// Changed with API 1.46
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sbufWriteU8(dst, compassConfig()->mag_hardware == MAG_DEFAULT ? detectedSensors[3] : compassConfig()->mag_hardware);
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sbufWriteU8(dst, compassConfig()->mag_hardware);
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#else
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sbufWriteU8(dst, MAG_NONE);
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#endif
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@ -2078,6 +2075,38 @@ case MSP_NAME:
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#endif
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break;
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// Added in MSP API 1.46
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case MSP2_SENSOR_CONFIG_ACTIVE:
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#define SENSOR_NOT_AVAILABLE 0xFF
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#if defined(USE_GYRO)
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sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_GYRO]);
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#else
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sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
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#endif
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#if defined(USE_ACC)
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sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_ACC]);
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#else
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sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
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#endif
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#ifdef USE_BARO
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sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_BARO]);
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#else
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sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
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#endif
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#ifdef USE_MAG
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sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_MAG]);
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#else
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sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
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#endif
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#ifdef USE_RANGEFINDER
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sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_RANGEFINDER]);
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#else
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sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
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#endif
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break;
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#if defined(USE_VTX_COMMON)
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case MSP_VTX_CONFIG:
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{
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