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Update MSPHelper.js

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This commit is contained in:
breadoven 2021-10-31 22:58:17 +00:00
parent bfeb8ff33d
commit 075e4a6f3d
1 changed files with 27 additions and 28 deletions
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55
js/msp/MSPHelper.js
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@ -519,7 +519,7 @@ var mspHelper = (function (gui) {
)); ));
} }
} }
break; break;
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS: case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS:
@ -1297,7 +1297,7 @@ var mspHelper = (function (gui) {
CALIBRATION_DATA.magZero.Y = data.getInt16(15, true); CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
CALIBRATION_DATA.magZero.Z = data.getInt16(17, true); CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0); CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) { if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
CALIBRATION_DATA.magGain.X = data.getInt16(21, true); CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
CALIBRATION_DATA.magGain.Y = data.getInt16(23, true); CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
@ -1513,8 +1513,8 @@ var mspHelper = (function (gui) {
break; break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME: case MSPCodes.MSP2_INAV_SET_SAFEHOME:
console.log('Safehome points saved'); console.log('Safehome points saved');
break; break;
default: default:
console.log('Unknown code detected: ' + dataHandler.code); console.log('Unknown code detected: ' + dataHandler.code);
} else { } else {
@ -2125,7 +2125,7 @@ var mspHelper = (function (gui) {
buffer.push(SENSOR_CONFIG.opflow); buffer.push(SENSOR_CONFIG.opflow);
break; break;
case MSPCodes.MSP_WP_MISSION_SAVE: case MSPCodes.MSP_WP_MISSION_SAVE:
// buffer.push(0); // buffer.push(0);
console.log(buffer); console.log(buffer);
@ -2985,51 +2985,50 @@ var mspHelper = (function (gui) {
self.getMissionInfo = function (callback) { self.getMissionInfo = function (callback) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback); MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
}; };
self.loadWaypoints = function (callback) { self.loadWaypoints = function (callback) {
MISSION_PLANER.reinit(); MISSION_PLANER.reinit();
let waypointId = 1; let waypointId = 0;
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP); let startTime = new Date().getTime();
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, loadWaypoint);
function getFirstWP() {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint) function loadWaypoint() {
};
function nextWaypoint() {
waypointId++; waypointId++;
if (waypointId < MISSION_PLANER.getCountBusyPoints()) { if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint); MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, loadWaypoint);
} } else {
else { GUI.log('Receive time: ' + (new Date().getTime() - startTime) + 'ms');
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback); MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
} }
}; };
}; };
self.saveWaypoints = function (callback) {
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
function nextWaypoint() { self.saveWaypoints = function (callback) {
let waypointId = 0;
let startTime = new Date().getTime();
sendWaypoint();
function sendWaypoint() {
waypointId++; waypointId++;
if (waypointId < MISSION_PLANER.get().length) { if (waypointId < MISSION_PLANER.get().length) {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint); MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, sendWaypoint);
} }
else { else {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission); MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission);
} }
}; };
function endMission() { function endMission() {
GUI.log('Send time: ' + (new Date().getTime() - startTime) + 'ms');
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback); MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
} }
}; };
self.loadSafehomes = function (callback) { self.loadSafehomes = function (callback) {
SAFEHOMES.flush(); SAFEHOMES.flush();
let safehomeId = 0; let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome); MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
function nextSafehome() { function nextSafehome() {
safehomeId++; safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) { if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
@ -3040,11 +3039,11 @@ var mspHelper = (function (gui) {
} }
}; };
}; };
self.saveSafehomes = function (callback) { self.saveSafehomes = function (callback) {
let safehomeId = 0; let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome); MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
function nextSendSafehome() { function nextSendSafehome() {
safehomeId++; safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) { if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {