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Add gyro flag to MSP_STATUS_EX

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In detected sensor field (16-bits), lower 5-bits (bits 0-4)  represents
traditional sensors (ACC, BARO, MAG, GPS and SONAR).
Bit 5 is an extension bit, and if on, bit 6 indicates gyro detection
status.
This commit is contained in:
jflyper 2017-06-30 14:08:40 +09:00
parent b9f533abe3
commit bdeb004bd0
1 changed files with 8 additions and 1 deletions
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9
src/main/fc/fc_msp.c
View file

@ -912,7 +912,14 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
// 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);
sbufWriteData(dst, &flightModeFlags, 4); // unconditional part of flags, first 32 bits
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));