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Fix servo middle/channel forwarding variable re-use. Adds a new

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capability flag which is returned by MSP IDENT (CAP_CHANNEL_FORWARDING).
Adds two new MSP commands that are specifically for configuring channel
forwarding (MSP_CHANNEL_FORWARDING/MSP_SET_CHANNEL_FORWARDING).  Servo
'middle' and 'forward from channel' are now stored independently, as
they probably should always have been.
This commit is contained in:
Dominic Clifton 2014-04-18 19:11:25 +01:00
parent 43258c045d
commit b8e7c2d14f
5 changed files with 52 additions and 24 deletions
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9
src/config.c
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@ -39,7 +39,7 @@ void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 62;
static const uint8_t EEPROM_CONF_VERSION = 63;
static void resetConf(void);
static uint8_t validEEPROM(void)
@ -291,10 +291,11 @@ static void resetConf(void)
// servos
for (i = 0; i < 8; i++) {
cfg.servoConf[i].min = 1020;
cfg.servoConf[i].max = 2000;
cfg.servoConf[i].middle = 1500;
cfg.servoConf[i].min = DEFAULT_SERVO_MIN;
cfg.servoConf[i].max = DEFAULT_SERVO_MAX;
cfg.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
cfg.servoConf[i].rate = servoRates[i];
cfg.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
cfg.yaw_direction = 1;