From ac0df42a05ef7226aad62ee4d60794d285af7851 Mon Sep 17 00:00:00 2001 From: jflyper Date: Fri, 30 Jun 2017 22:28:04 +0900 Subject: [PATCH] Abondon the extension bit, rely on API version for switching --- src/main/fc/fc_msp.c | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 7fceff3f36..97a562c854 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -912,14 +912,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn #else sbufWriteU16(dst, 0); #endif - - // Lower 5-bits (bits 0-4) are traditional sensor flags. - // If bit 5 is on, then bit 6 indicates gyro detection status. - uint16_t sensorBits = sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4; - sensorBits |= (1 << 5); // Extention indicator bit - sensorBits |= sensors(SENSOR_GYRO) << 6; - sbufWriteU16(dst, sensorBits); - + sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_GYRO) << 5); sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits sbufWriteU8(dst, getCurrentPidProfileIndex()); sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));