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Rebased on to master

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This commit is contained in:
jflyper 2016-10-29 02:01:48 +09:00
commit 8816678333
48 changed files with 205 additions and 371 deletions
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16
src/main/fc/fc_msp.c
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@ -35,18 +35,13 @@
#include "common/streambuf.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/io.h"
#include "drivers/flash.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/sdcard.h"
#include "drivers/buf_writer.h"
#include "drivers/max7456.h"
#include "drivers/vtx_soft_spi_rtc6705.h"
#include "drivers/pwm_output.h"
@ -651,10 +646,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, 0);
continue;
}
if (isMotorProtocolDshot())
sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
else
sbufWriteU16(dst, motor[i]);
sbufWriteU16(dst, convertMotorToExternal(motor[i]));
}
break;
case MSP_RC:
@ -1323,8 +1316,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = sbufReadU16(src);
for (i = 0; i < 8; i++) { // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = convertExternalToMotor(sbufReadU16(src));
}
break;
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS