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waypoint OOP version 1.8

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This commit is contained in:
ArnoTlse 2021-04-13 22:43:35 +02:00
parent 30c3b043a3
commit 3265158791
7 changed files with 193 additions and 175 deletions
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60
js/msp/MSPHelper.js
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@ -440,7 +440,6 @@ var mspHelper = (function (gui) {
}
break;
case MSPCodes.MSP_WP:
console.log("data : ", data);
MISSION_PLANER.put(new Waypoint(
data.getUint8(0),
data.getUint8(1),
@ -1467,9 +1466,12 @@ var mspHelper = (function (gui) {
SAFEHOMES.put(new Safehome(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true) / 1e7,
data.getInt32(6, true) / 1e7
data.getInt32(2, true),
data.getInt32(6, true)
));
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
console.log('Safehome points saved');
break;
default:
@ -2148,13 +2150,6 @@ var mspHelper = (function (gui) {
buffer.push(BRAKING_CONFIG.bankAngle);
break;
/* case MSPCodes.MSP2_INAV_SAFEHOME:
console.log("SAFEHOME.bufferPoint.number : ",SAFEHOME.bufferPoint.number);
buffer.push(SAFEHOME.bufferPoint.number+1);
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
break; */
default:
return false;
@ -2925,33 +2920,36 @@ var mspHelper = (function (gui) {
self.loadWaypoints = function (callback) {
MISSION_PLANER.reinit();
mspHelper.getMissionInfo();
console.log("MISSION_PLANER.getCountBusyPoints() ", MISSION_PLANER.getCountBusyPoints());
let waypointId = 0;
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP);
function getFirstWP() {
console.log("MISSION_PLANER.getCountBusyPoints() ", MISSION_PLANER.getCountBusyPoints());
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint)
};
function nextWaypoint() {
waypointId++;
console.log("Display for LoadInternal");
MISSION_PLANER.missionDisplayDebug();
if (waypointId < MISSION_PLANER.get().length-1) {
console.log("waypointId if ", waypointId);
if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
}
else {
console.log("waypointId else ", waypointId);
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
}
};
function endMission() {
console.log("End");
};
};
self.saveWaypoints = function (callback) {
let waypointId = 0;
let waypointId = 1;
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
function nextWaypoint() {
waypointId++;
if (waypointId < MISSION_PLANER.get().length-1) {
if (waypointId < MISSION_PLANER.get().length) {
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint);
}
else {
@ -2960,7 +2958,6 @@ var mspHelper = (function (gui) {
};
function endMission() {
GUI.log('End send point');
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
}
};
@ -2980,6 +2977,25 @@ var mspHelper = (function (gui) {
}
};
};
self.saveSafehomes = function (callback) {
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
function nextSendSafehome() {
safehomeId++;
if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, callback);
}
};
function endSendSafehome() {
console.log("end sending safehome");
};
};
self._getSetting = function (name) {
if (SETTINGS[name]) {