Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Merge pull request #9946 from limonspb/motor_mapping

Browse source 
Motor output reordering feature for CLI and MSP (Firmware part)
This commit is contained in:
Michael Keller 2020-08-16 09:47:51 +12:00 • committed by GitHub
commit 7b255c866e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
17 changed files with 185 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/msp/msp.c
View file

@ -1190,6 +1190,16 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
}
break;
case MSP2_MOTOR_OUTPUT_REORDERING:
{
sbufWriteU8(dst, MAX_SUPPORTED_MOTORS);
for (unsigned i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU8(dst, motorConfig()->dev.motorOutputReordering[i]);
}
}
break;
case MSP_RC:
for (int i = 0; i < rxRuntimeState.channelCount; i++) {
sbufWriteU16(dst, rcData[i]);
@ -2966,6 +2976,22 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
#endif
case MSP2_SET_MOTOR_OUTPUT_REORDERING:
{
const uint8_t arraySize = sbufReadU8(src);
for (unsigned i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
uint8_t value = i;
if (i < arraySize) {
value = sbufReadU8(src);
}
motorConfigMutable()->dev.motorOutputReordering[i] = value;
}
}
break;
#ifdef USE_CAMERA_CONTROL
case MSP_CAMERA_CONTROL:
{