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backend for MSP_POSITION_ESTIMATION_CONFIG

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-01-23 21:03:29 +01:00
parent 638cf92048
commit 31dad7a826
3 changed files with 48 additions and 0 deletions
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11
js/fc.js
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@ -44,6 +44,7 @@ var FILTER_CONFIG;
var SENSOR_STATUS;
var SENSOR_CONFIG;
var NAV_POSHOLD;
var POSITION_ESTIMATOR;
var FC = {
isRatesInDps: function () {
@ -337,6 +338,16 @@ var FC = {
nrf24rx_id: 0
};
POSITION_ESTIMATOR = {
w_z_baro_p: null,
w_z_gps_p: null,
w_z_gps_v: null,
w_xy_gps_p: null,
w_xy_gps_v: null,
gps_min_sats: null,
use_gps_velned: null
};
FAILSAFE_CONFIG = {
failsafe_delay: 0,
failsafe_off_delay: 0,

3
js/msp/MSPCodes.js
View file

@ -13,6 +13,9 @@ var MSPCodes = {
MSP_NAV_POSHOLD: 12,
MSP_SET_NAV_POSHOLD: 13,
MSP_POSITION_ESTIMATION_CONFIG: 16,
MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
// MSP commands for Cleanflight original features
MSP_CHANNEL_FORWARDING: 32,
MSP_SET_CHANNEL_FORWARDING: 33,

34
js/msp/MSPHelper.js
View file

@ -900,6 +900,20 @@ var mspHelper = (function (gui) {
console.log('NAV_POSHOLD saved');
break;
case MSPCodes.MSP_POSITION_ESTIMATION_CONFIG:
POSITION_ESTIMATOR.w_z_baro_p = data.getUint16(0, true);
POSITION_ESTIMATOR.w_z_gps_p = data.getUint16(2, true);
POSITION_ESTIMATOR.w_z_gps_v = data.getUint16(4, true);
POSITION_ESTIMATOR.w_xy_gps_p = data.getUint16(6, true);
POSITION_ESTIMATOR.w_xy_gps_v = data.getUint16(8, true);
POSITION_ESTIMATOR.gps_min_sats = data.getUint8(10);
POSITION_ESTIMATOR.use_gps_velned = data.getUint8(11);
break;
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
console.log('POSITION_ESTIMATOR saved');
break;
case MSPCodes.MSP_SET_MODE_RANGE:
console.log('Mode range saved');
break;
@ -1219,6 +1233,26 @@ var mspHelper = (function (gui) {
buffer.push(highByte(NAV_POSHOLD.hoverThrottle));
break;
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_baro_p));
buffer.push(highByte(POSITION_ESTIMATOR.w_z_baro_p));
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_p));
buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_p));
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_v));
buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_v));
buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_p));
buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_p));
buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_v));
buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_v));
buffer.push(POSITION_ESTIMATOR.gps_min_sats);
buffer.push(POSITION_ESTIMATOR.use_gps_velned);
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push(FILTER_CONFIG.gyroSoftLpfHz);