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Failsafe - Add rxfail auto mode. Allow rxfail to be used for all

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channels, not just aux channel.
This commit is contained in:
Dominic Clifton 2015-08-20 01:25:32 +01:00
parent 5142ff032a
commit a030d4dd9e
6 changed files with 105 additions and 61 deletions
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16
src/main/io/serial_msp.c
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@ -1171,10 +1171,10 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_RXFAIL_CONFIG:
headSerialReply(3 * (rxRuntimeConfig.channelCount - NON_AUX_CHANNEL_COUNT));
for (i = NON_AUX_CHANNEL_COUNT; i < rxRuntimeConfig.channelCount; i++) {
serialize8(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode);
serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step));
headSerialReply(3 * (rxRuntimeConfig.channelCount));
for (i = 0; i < rxRuntimeConfig.channelCount; i++) {
serialize8(masterConfig.rxConfig.failsafe_channel_configurations[i].mode);
serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_channel_configurations[i].step));
}
break;
@ -1606,12 +1606,12 @@ static bool processInCommand(void)
case MSP_SET_RXFAIL_CONFIG:
{
uint8_t channelCount = currentPort->dataSize / 3;
if (channelCount > MAX_AUX_CHANNEL_COUNT) {
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
headSerialError(0);
} else {
for (i = NON_AUX_CHANNEL_COUNT; i < channelCount; i++) {
masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode = read8();
masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
for (i = 0; i < channelCount; i++) {
masterConfig.rxConfig.failsafe_channel_configurations[i].mode = read8();
masterConfig.rxConfig.failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
}
}
}