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Code Issues Wiki Activity

Added MSP_EXTRA_ESC_DATA MSP (#4140)

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awolf78 2017-09-14 06:22:07 -04:00 • committed by Martin Budden
parent 2b10a7ff01
commit f4af2da6e8
2 changed files with 12 additions and 0 deletions
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11
src/main/fc/fc_msp.c
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@ -108,6 +108,7 @@
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#include "sensors/sonar.h"
#include "sensors/esc_sensor.h"
#include "telemetry/telemetry.h"
@ -930,6 +931,16 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
#endif
#ifdef USE_DSHOT
case MSP_ESC_SENSOR_DATA:
sbufWriteU8(dst, getMotorCount());
for (int i = 0; i < getMotorCount(); i++) {
sbufWriteU8(dst, getEscSensorData(i)->temperature);
sbufWriteU16(dst, getEscSensorData(i)->rpm);
}
break;
#endif
#ifdef GPS
case MSP_GPS_CONFIG:
sbufWriteU8(dst, gpsConfig()->provider);

1
src/main/msp/msp_protocol.h
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@ -271,6 +271,7 @@
#define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc)
#define MSP_GPS_CONFIG 132 //out message GPS configuration
#define MSP_COMPASS_CONFIG 133 //out message Compass configuration
#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed