Remove serial_cli.c's dependency on mw.h/board.h.

Rename yawdeadband to yaw_deadband to match other variables/cli
commands.

Fix a couple of usages of MAX_MOTORS where MAX_SUPPORTED_MOTORS should
be used instead.

src/battery.h

@@ -6,6 +6,8 @@ typedef struct batteryConfig_s {
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
 } batteryConfig_t;
 
+extern uint8_t vbat;
+extern uint8_t batteryCellCount;
 extern uint16_t batteryWarningVoltage;
 
 uint16_t batteryAdcToVoltage(uint16_t src);

src/common/typeconversion.c

@@ -1,4 +1,8 @@
+#include <stdint.h>
+#include <string.h>
+#include <math.h>
 #include "build_config.h"
+#include "maths.h"
 
 #ifdef REQUIRE_PRINTF_LONG_SUPPORT
 
@@ -85,3 +89,176 @@ char a2i(char ch, char **src, int base, int *nump)
     *nump = num;
     return ch;
 }
+
+#ifndef HAVE_ITOA_FUNCTION
+
+/*
+** The following two functions together make up an itoa()
+** implementation. Function i2a() is a 'private' function
+** called by the public itoa() function.
+**
+** itoa() takes three arguments:
+**        1) the integer to be converted,
+**        2) a pointer to a character conversion buffer,
+**        3) the radix for the conversion
+**           which can range between 2 and 36 inclusive
+**           range errors on the radix default it to base10
+** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
+*/
+
+static char *_i2a(unsigned i, char *a, unsigned r)
+{
+    if (i / r > 0)
+        a = _i2a(i / r, a, r);
+    *a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
+    return a + 1;
+}
+
+char *itoa(int i, char *a, int r)
+{
+    if ((r < 2) || (r > 36))
+        r = 10;
+    if (i < 0) {
+        *a = '-';
+        *_i2a(-(unsigned)i, a + 1, r) = 0;
+    } else
+        *_i2a(i, a, r) = 0;
+    return a;
+}
+
+#endif
+
+char *ftoa(float x, char *floatString)
+{
+    int32_t value;
+    char intString1[12];
+    char intString2[12] = { 0, };
+    char *decimalPoint = ".";
+    uint8_t dpLocation;
+
+    if (x > 0)                  // Rounding for x.xxx display format
+        x += 0.0005f;
+    else
+        x -= 0.0005f;
+
+    value = (int32_t) (x * 1000.0f);    // Convert float * 1000 to an integer
+
+    itoa(abs(value), intString1, 10);   // Create string from abs of integer value
+
+    if (value >= 0)
+        intString2[0] = ' ';    // Positive number, add a pad space
+    else
+        intString2[0] = '-';    // Negative number, add a negative sign
+
+    if (strlen(intString1) == 1) {
+        intString2[1] = '0';
+        intString2[2] = '0';
+        intString2[3] = '0';
+        strcat(intString2, intString1);
+    } else if (strlen(intString1) == 2) {
+        intString2[1] = '0';
+        intString2[2] = '0';
+        strcat(intString2, intString1);
+    } else if (strlen(intString1) == 3) {
+        intString2[1] = '0';
+        strcat(intString2, intString1);
+    } else {
+        strcat(intString2, intString1);
+    }
+
+    dpLocation = strlen(intString2) - 3;
+
+    strncpy(floatString, intString2, dpLocation);
+    floatString[dpLocation] = '\0';
+    strcat(floatString, decimalPoint);
+    strcat(floatString, intString2 + dpLocation);
+
+    return floatString;
+}
+
+
+// Simple and fast atof (ascii to float) function.
+//
+// - Executes about 5x faster than standard MSCRT library atof().
+// - An attractive alternative if the number of calls is in the millions.
+// - Assumes input is a proper integer, fraction, or scientific format.
+// - Matches library atof() to 15 digits (except at extreme exponents).
+// - Follows atof() precedent of essentially no error checking.
+//
+// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
+#define white_space(c) ((c) == ' ' || (c) == '\t')
+#define valid_digit(c) ((c) >= '0' && (c) <= '9')
+float fastA2F(const char *p)
+{
+    int frac = 0;
+    float sign, value, scale;
+
+    // Skip leading white space, if any.
+    while (white_space(*p) ) {
+        p += 1;
+    }
+
+    // Get sign, if any.
+    sign = 1.0f;
+    if (*p == '-') {
+        sign = -1.0f;
+        p += 1;
+
+    } else if (*p == '+') {
+        p += 1;
+    }
+
+    // Get digits before decimal point or exponent, if any.
+    value = 0.0f;
+    while (valid_digit(*p)) {
+        value = value * 10.0f + (*p - '0');
+        p += 1;
+    }
+
+    // Get digits after decimal point, if any.
+    if (*p == '.') {
+        float pow10 = 10.0f;
+        p += 1;
+
+        while (valid_digit(*p)) {
+            value += (*p - '0') / pow10;
+            pow10 *= 10.0f;
+            p += 1;
+        }
+    }
+
+    // Handle exponent, if any.
+    scale = 1.0f;
+    if ((*p == 'e') || (*p == 'E')) {
+        unsigned int expon;
+        p += 1;
+
+        // Get sign of exponent, if any.
+        frac = 0;
+        if (*p == '-') {
+            frac = 1;
+            p += 1;
+
+        } else if (*p == '+') {
+            p += 1;
+        }
+
+        // Get digits of exponent, if any.
+        expon = 0;
+        while (valid_digit(*p)) {
+            expon = expon * 10 + (*p - '0');
+            p += 1;
+        }
+        if (expon > 308)
+            expon = 308;
+
+        // Calculate scaling factor.
+        // while (expon >= 50) { scale *= 1E50f; expon -= 50; }
+        while (expon >=  8) { scale *= 1E8f;  expon -=  8; }
+        while (expon >   0) { scale *= 10.0f; expon -=  1; }
+    }
+
+    // Return signed and scaled floating point result.
+    return sign * (frac ? (value / scale) : (value * scale));
+}
+

src/common/typeconversion.h

@@ -5,3 +5,9 @@ void li2a(long num, char *bf);
 void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
 void i2a(int num, char *bf);
 char a2i(char ch, char **src, int base, int *nump);
+char *ftoa(float x, char *floatString);
+float fastA2F(const char *p);
+
+#ifndef HAVE_ITOA_FUNCTION
+char *itoa(int i, char *a, int r);
+#endif

src/config.c

@@ -345,7 +345,7 @@ static void resetConf(void)
     // Radio
     parseRcChannels("AETR1234", &masterConfig.rxConfig);
     currentProfile.deadband = 0;
-    currentProfile.yawdeadband = 0;
+    currentProfile.yaw_deadband = 0;
     currentProfile.alt_hold_throttle_neutral = 40;
     currentProfile.alt_hold_fast_change = 1;
     currentProfile.throttle_correction_value = 0;      // could 10 with althold or 40 for fpv

src/config_profile.h

@@ -29,7 +29,7 @@ typedef struct profile_s {
 
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
-    uint8_t yawdeadband;                    // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
+    uint8_t yaw_deadband;                    // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
     uint8_t alt_hold_throttle_neutral;      // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
     uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_throttle_neutral; when enabled, altitude changes slowly proportional to stick movement
     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg

src/flight_mixer.c

@@ -8,13 +8,13 @@
 #include "flight_common.h"
 
 static uint8_t numberMotor = 0;
-int16_t motor[MAX_MOTORS];
+int16_t motor[MAX_SUPPORTED_MOTORS];
-int16_t motor_disarmed[MAX_MOTORS];
+int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
 
 static int useServo;
 
-static motorMixer_t currentMixer[MAX_MOTORS];
+static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 
 static const motorMixer_t mixerTri[] = {
     { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
@@ -198,7 +198,7 @@ void mixerInit(void)
 
     if (masterConfig.mixerConfiguration == MULTITYPE_CUSTOM) {
         // load custom mixer into currentMixer
-        for (i = 0; i < MAX_MOTORS; i++) {
+        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             // check if done
             if (masterConfig.customMixer[i].throttle == 0.0f)
                 break;
@@ -239,7 +239,7 @@ void mixerResetMotors(void)
 {
     int i;
     // set disarmed motor values
-    for (i = 0; i < MAX_MOTORS; i++)
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
         motor_disarmed[i] = feature(FEATURE_3D) ? masterConfig.neutral3d : masterConfig.mincommand;
 }
 
@@ -250,7 +250,7 @@ void mixerLoadMix(int index)
     // we're 1-based
     index++;
     // clear existing
-    for (i = 0; i < MAX_MOTORS; i++)
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
         masterConfig.customMixer[i].throttle = 0.0f;
 
     // do we have anything here to begin with?

src/flight_mixer.h

@@ -59,3 +59,9 @@ typedef struct servoParam_t {
 bool isMixerUsingServos(void);
 void mixerInit(void);
 void writeAllMotors(int16_t mc);
+void mixerLoadMix(int index);
+void mixerResetMotors(void);
+
+// from mixer.c
+extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
+

src/mw.c

@@ -84,9 +84,9 @@ void annexCode(void)
             prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
         } else {                // YAW
-            if (currentProfile.yawdeadband) {
+            if (currentProfile.yaw_deadband) {
-                if (tmp > currentProfile.yawdeadband) {
+                if (tmp > currentProfile.yaw_deadband) {
-                    tmp -= currentProfile.yawdeadband;
+                    tmp -= currentProfile.yaw_deadband;
                 } else {
                     tmp = 0;
                 }

src/mw.h

@@ -51,10 +51,9 @@ extern int32_t BaroPID;
 extern int32_t vario;
 extern int16_t throttleAngleCorrection;
 extern int16_t headFreeModeHold;
-extern int16_t motor[MAX_MOTORS];
+extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t servo[MAX_SERVOS];
 extern uint16_t rssi;                  // range: [0;1023]
-extern uint8_t vbat;
 extern int16_t telemTemperature1;      // gyro sensor temperature
 extern uint8_t toggleBeep;
 

src/rx_common.h

@@ -18,6 +18,8 @@ typedef enum {
 #define MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT 8
 #define MAX_SUPPORTED_RC_CHANNEL_COUNT (18)
 
+extern const char rcChannelLetters[];
+
 extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2000]
 
 typedef struct rxConfig_s {

src/serial_cli.c

@@ -1,16 +1,42 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
 #include <stdarg.h>
+#include <string.h>
+#include <math.h>
+#include <ctype.h>
 
-#include "board.h"
+#include "platform.h"
-#include "mw.h"
 
+#include "common/axis.h"
 #include "common/printf.h"
+#include "common/typeconversion.h"
 
+#include "drivers/system_common.h"
+#include "drivers/accgyro_common.h"
 #include "drivers/serial_common.h"
+#include "drivers/bus_i2c.h"
 #include "serial_common.h"
-
+#include "flight_common.h"
+#include "flight_mixer.h"
+#include "rc_controls.h"
+#include "boardalignment.h"
 #include "telemetry_common.h"
 #include "gps_common.h"
+#include "rx_common.h"
+#include "battery.h"
+#include "sensors_common.h"
 #include "sensors_acceleration.h"
+#include "sensors_gyro.h"
+#include "sensors_barometer.h"
+#include "failsafe.h"
+
+#include "runtime_config.h"
+#include "config.h"
+#include "config_profile.h"
+#include "config_master.h"
+
+#include "serial_cli.h"
 
 // we unset this on 'exit'
 extern uint8_t cliMode;
@@ -31,14 +57,7 @@ static void cliSet(char *cmdline);
 static void cliStatus(char *cmdline);
 static void cliVersion(char *cmdline);
 
-// from sensors.c
+uint16_t cycleTime; // FIXME dependency on mw.c
-extern uint8_t batteryCellCount;
-
-// from config.c RC Channel mapping
-extern const char rcChannelLetters[];
-
-// from mixer.c
-extern int16_t motor_disarmed[MAX_MOTORS];
 
 // signal that we're in cli mode
 uint8_t cliMode = 0;
@@ -47,9 +66,6 @@ uint8_t cliMode = 0;
 static char cliBuffer[48];
 static uint32_t bufferIndex = 0;
 
-static float _atof(const char *p);
-static char *ftoa(float x, char *floatString);
-
 // sync this with MultiType enum from mw.h
 static const char * const mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
@@ -169,7 +185,7 @@ const clivalue_t valueTable[] = {
     { "gyro_cmpfm_factor", VAR_UINT16, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
     { "pid_controller", VAR_UINT8, &currentProfile.pidController, 0, 1 },
     { "deadband", VAR_UINT8, &currentProfile.deadband, 0, 32 },
-    { "yawdeadband", VAR_UINT8, &currentProfile.yawdeadband, 0, 100 },
+    { "yawdeadband", VAR_UINT8, &currentProfile.yaw_deadband, 0, 100 },
     { "alt_hold_throttle_neutral", VAR_UINT8, &currentProfile.alt_hold_throttle_neutral, 1, 250 },
     { "alt_hold_fast_change", VAR_UINT8, &currentProfile.alt_hold_fast_change, 0, 1 },
     { "throttle_correction_value", VAR_UINT8, &currentProfile.throttle_correction_value, 0, 150 },
@@ -248,184 +264,6 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full);
 static void cliPrint(const char *str);
 static void cliWrite(uint8_t ch);
 
-#ifndef HAVE_ITOA_FUNCTION
-
-/*
-** The following two functions together make up an itoa()
-** implementation. Function i2a() is a 'private' function
-** called by the public itoa() function.
-**
-** itoa() takes three arguments:
-**        1) the integer to be converted,
-**        2) a pointer to a character conversion buffer,
-**        3) the radix for the conversion
-**           which can range between 2 and 36 inclusive
-**           range errors on the radix default it to base10
-** Code from http://groups.google.com/group/comp.lang.c/msg/66552ef8b04fe1ab?pli=1
-*/
-
-static char *i2a(unsigned i, char *a, unsigned r)
-{
-    if (i / r > 0)
-        a = i2a(i / r, a, r);
-    *a = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"[i % r];
-    return a + 1;
-}
-
-char *itoa(int i, char *a, int r)
-{
-    if ((r < 2) || (r > 36))
-        r = 10;
-    if (i < 0) {
-        *a = '-';
-        *i2a(-(unsigned)i, a + 1, r) = 0;
-    } else
-        *i2a(i, a, r) = 0;
-    return a;
-}
-
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// String to Float Conversion
-///////////////////////////////////////////////////////////////////////////////
-// Simple and fast atof (ascii to float) function.
-//
-// - Executes about 5x faster than standard MSCRT library atof().
-// - An attractive alternative if the number of calls is in the millions.
-// - Assumes input is a proper integer, fraction, or scientific format.
-// - Matches library atof() to 15 digits (except at extreme exponents).
-// - Follows atof() precedent of essentially no error checking.
-//
-// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
-//
-#define white_space(c) ((c) == ' ' || (c) == '\t')
-#define valid_digit(c) ((c) >= '0' && (c) <= '9')
-static float _atof(const char *p)
-{
-    int frac = 0;
-    float sign, value, scale;
-
-    // Skip leading white space, if any.
-    while (white_space(*p) ) {
-        p += 1;
-    }
-
-    // Get sign, if any.
-    sign = 1.0f;
-    if (*p == '-') {
-        sign = -1.0f;
-        p += 1;
-
-    } else if (*p == '+') {
-        p += 1;
-    }
-
-    // Get digits before decimal point or exponent, if any.
-    value = 0.0f;
-    while (valid_digit(*p)) {
-        value = value * 10.0f + (*p - '0');
-        p += 1;
-    }
-
-    // Get digits after decimal point, if any.
-    if (*p == '.') {
-        float pow10 = 10.0f;
-        p += 1;
-
-        while (valid_digit(*p)) {
-            value += (*p - '0') / pow10;
-            pow10 *= 10.0f;
-            p += 1;
-        }
-    }
-
-    // Handle exponent, if any.
-    scale = 1.0f;
-    if ((*p == 'e') || (*p == 'E')) {
-        unsigned int expon;
-        p += 1;
-
-        // Get sign of exponent, if any.
-        frac = 0;
-        if (*p == '-') {
-            frac = 1;
-            p += 1;
-
-        } else if (*p == '+') {
-            p += 1;
-        }
-
-        // Get digits of exponent, if any.
-        expon = 0;
-        while (valid_digit(*p)) {
-            expon = expon * 10 + (*p - '0');
-            p += 1;
-        }
-        if (expon > 308) 
-            expon = 308;
-
-        // Calculate scaling factor.
-        // while (expon >= 50) { scale *= 1E50f; expon -= 50; }
-        while (expon >=  8) { scale *= 1E8f;  expon -=  8; }
-        while (expon >   0) { scale *= 10.0f; expon -=  1; }
-    }
-
-    // Return signed and scaled floating point result.
-    return sign * (frac ? (value / scale) : (value * scale));
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// FTOA
-///////////////////////////////////////////////////////////////////////////////
-static char *ftoa(float x, char *floatString)
-{
-    int32_t value;
-    char intString1[12];
-    char intString2[12] = { 0, };
-    char *decimalPoint = ".";
-    uint8_t dpLocation;
-
-    if (x > 0)                  // Rounding for x.xxx display format
-        x += 0.0005f;
-    else
-        x -= 0.0005f;
-
-    value = (int32_t) (x * 1000.0f);    // Convert float * 1000 to an integer
-
-    itoa(abs(value), intString1, 10);   // Create string from abs of integer value
-
-    if (value >= 0)
-        intString2[0] = ' ';    // Positive number, add a pad space
-    else
-        intString2[0] = '-';    // Negative number, add a negative sign
-
-    if (strlen(intString1) == 1) {
-        intString2[1] = '0';
-        intString2[2] = '0';
-        intString2[3] = '0';
-        strcat(intString2, intString1);
-    } else if (strlen(intString1) == 2) {
-        intString2[1] = '0';
-        intString2[2] = '0';
-        strcat(intString2, intString1);
-    } else if (strlen(intString1) == 3) {
-        intString2[1] = '0';
-        strcat(intString2, intString1);
-    } else {
-        strcat(intString2, intString1);
-    }
-
-    dpLocation = strlen(intString2) - 3;
-
-    strncpy(floatString, intString2, dpLocation);
-    floatString[dpLocation] = '\0';
-    strcat(floatString, decimalPoint);
-    strcat(floatString, intString2 + dpLocation);
-
-    return floatString;
-}
-
 static void cliPrompt(void)
 {
     cliPrint("\r\n# ");
@@ -474,7 +312,7 @@ static void cliCMix(char *cmdline)
 
     if (len == 0) {
         cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
-        for (i = 0; i < MAX_MOTORS; i++) {
+        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             if (masterConfig.customMixer[i].throttle == 0.0f)
                 break;
             num_motors++;
@@ -497,7 +335,7 @@ static void cliCMix(char *cmdline)
         return;
     } else if (strncasecmp(cmdline, "reset", 5) == 0) {
         // erase custom mixer
-        for (i = 0; i < MAX_MOTORS; i++)
+        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
             masterConfig.customMixer[i].throttle = 0.0f;
     } else if (strncasecmp(cmdline, "load", 4) == 0) {
         ptr = strchr(cmdline, ' ');
@@ -519,25 +357,25 @@ static void cliCMix(char *cmdline)
     } else {
         ptr = cmdline;
         i = atoi(ptr); // get motor number
-        if (--i < MAX_MOTORS) {
+        if (--i < MAX_SUPPORTED_MOTORS) {
             ptr = strchr(ptr, ' ');
             if (ptr) {
-                masterConfig.customMixer[i].throttle = _atof(++ptr);
+                masterConfig.customMixer[i].throttle = fastA2F(++ptr);
                 check++;
             }
             ptr = strchr(ptr, ' ');
             if (ptr) {
-                masterConfig.customMixer[i].roll = _atof(++ptr);
+                masterConfig.customMixer[i].roll = fastA2F(++ptr);
                 check++;
             }
             ptr = strchr(ptr, ' ');
             if (ptr) {
-                masterConfig.customMixer[i].pitch = _atof(++ptr);
+                masterConfig.customMixer[i].pitch = fastA2F(++ptr);
                 check++;
             }
             ptr = strchr(ptr, ' ');
             if (ptr) {
-                masterConfig.customMixer[i].yaw = _atof(++ptr);
+                masterConfig.customMixer[i].yaw = fastA2F(++ptr);
                 check++;
             }
             if (check != 4) {
@@ -546,7 +384,7 @@ static void cliCMix(char *cmdline)
                 cliCMix("");
             }
         } else {
-            printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
+            printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
         }
     }
 }
@@ -569,7 +407,7 @@ static void cliDump(char *cmdline)
 
     // print custom mix if exists
     if (masterConfig.customMixer[0].throttle != 0.0f) {
-        for (i = 0; i < MAX_MOTORS; i++) {
+        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             if (masterConfig.customMixer[i].throttle == 0.0f)
                 break;
             thr = masterConfig.customMixer[i].throttle;
@@ -795,8 +633,8 @@ static void cliMotor(char *cmdline)
         pch = strtok(NULL, " ");
     }
 
-    if (motor_index < 0 || motor_index >= MAX_MOTORS) {
+    if (motor_index < 0 || motor_index >= MAX_SUPPORTED_MOTORS) {
-        printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
+        printf("No such motor, use a number [0, %d]\r\n", MAX_SUPPORTED_MOTORS);
         return;
     }
 
@@ -952,7 +790,7 @@ static void cliSet(char *cmdline)
         eqptr++;
         len--;
         value = atoi(eqptr);
-        valuef = _atof(eqptr);
+        valuef = fastA2F(eqptr);
         for (i = 0; i < VALUE_COUNT; i++) {
             val = &valueTable[i];
             if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {

src/serial_msp.c

@@ -108,7 +108,7 @@ static uint8_t availableBoxes[CHECKBOX_ITEM_COUNT];
 // this is the number of filled indexes in above array
 static uint8_t numberBoxItems = 0;
 // from mixer.c
-extern int16_t motor_disarmed[MAX_MOTORS];
+extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
 static const char pidnames[] =
     "ROLL;"
@@ -348,7 +348,7 @@ static void evaluateCommand(void)
         headSerialReply(0);
         break;
     case MSP_SET_MOTOR:
-        for (i = 0; i < 8; i++)
+        for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
             motor_disarmed[i] = read16();
         headSerialReply(0);
         break;