Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 11:29:58 +03:00
Code Issues Wiki Activity

MSP Range finder added (#13980)

Browse source 
* MSP Range Finder added (configured and tested on the MTF-01P Lidar)

* MSP Range Finder added (configured and tested on the MTF-01P Lidar)

* fix the license of the added files from INAV

* Update src/main/drivers/rangefinder/rangefinder_virtual.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/msp/msp.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/io/rangefinder.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/msp/msp.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* refactored the code of INAV for the MSP rangefinder, to be extendable to other MSP rangefinder and more specific about the parameters of the supported ones

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactored the code for readability

* mt lidar msp address

* us the delay MS from the dev directly

* todo

* MT device type datatype

* refactored the code for readability

* spacing

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* after the edits fix

* rm idx

* typo fixed

* i think this shouldn't be here

* spacing

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* fix mt models ranges

* remove mt01p model, it doesn't map

* rm "MT01P", it doesn't support map

* rm mt01p, it doesn't support msp

* Update rangefinder_lidarmt.h

* update mt lidar deadzone

* Update rangefinder_lidarmt.c

* Update rangefinder_lidarmt.c

* rm unused variable mtfConnected

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
ahmedsalah52 2024-11-11 22:42:20 +01:00 • committed by GitHub
parent 778f93f119
commit b70e98ed5a
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
8 changed files with 177 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

13
src/main/msp/msp.c
View file

@ -71,6 +71,7 @@
#include "drivers/usb_msc.h"
#include "drivers/vtx_common.h"
#include "drivers/vtx_table.h"
#include "drivers/rangefinder/rangefinder_lidarmt.h"
#include "fc/board_info.h"
#include "fc/controlrate_profile.h"
@ -3294,8 +3295,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#else
sbufReadU8(src);
#endif
break;
#ifdef USE_RANGEFINDER
rangefinderConfigMutable()->rangefinder_hardware = sbufReadU8(src);
#else
sbufReadU8(src); // rangefinder hardware
#endif
break;
#ifdef USE_ACC
case MSP_ACC_CALIBRATION:
if (!ARMING_FLAG(ARMED))
@ -3646,6 +3652,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
#endif
#if defined(USE_RANGEFINDER_MT)
case MSP2_SENSOR_RANGEFINDER_LIDARMT:
mtRangefinderReceiveNewData(sbufPtr(src));
break;
#endif
#ifdef USE_GPS
case MSP2_SENSOR_GPS:
(void)sbufReadU8(src); // instance