mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-15 04:15:28 +03:00
Convert to CommonJS Modules - Part 2
This commit is contained in:
Scavanger
parent
91f1699659
commit
38727c54a8
21 changed files with 729 additions and 694 deletions
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@ -9,6 +9,10 @@ const MSP = require('./../msp');
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const MSPCodes = require('./MSPCodes');
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const FC = require('./../fc');
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const mspQueue = require('./../serial_queue');
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const ServoMixRule = require('./../servoMixRule');
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const MotorMixRule = require('./../motorMixRule');
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const LogicCondition = require('./../logicCondition');
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const BitHelper = require('../bitHelper');
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var mspHelper = (function () {
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var self = {};
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@ -178,7 +182,7 @@ var mspHelper = (function () {
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case MSPCodes.MSP_RC:
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FC.RC.active_channels = dataHandler.message_length_expected / 2;
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for (let i = 0; i < RC.active_channels; i++) {
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for (let i = 0; i < FC.RC.active_channels; i++) {
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FC.RC.channels[i] = data.getUint16((i * 2), true);
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}
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break;
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@ -1698,29 +1702,29 @@ var mspHelper = (function () {
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switch (code) {
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case MSPCodes.MSP_SET_FEATURE:
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buffer.push(specificByte(FC.FEATURESS, 0));
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buffer.push(specificByte(FC.FEATURESS, 1));
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buffer.push(specificByte(FC.FEATURESS, 2));
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buffer.push(specificByte(FC.FEATURESS, 3));
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buffer.push(BitHelper.specificByte(FC.FEATURESS, 0));
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buffer.push(BitHelper.specificByte(FC.FEATURESS, 1));
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buffer.push(BitHelper.specificByte(FC.FEATURESS, 2));
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buffer.push(BitHelper.specificByte(FC.FEATURESS, 3));
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break;
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case MSPCodes.MSP_SET_BOARD_ALIGNMENT:
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.roll, 0));
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.roll, 1));
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.pitch, 0));
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.pitch, 1));
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.yaw, 0));
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buffer.push(specificByte(FC.BOARD_ALIGNMENT.yaw, 1));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.roll, 0));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.roll, 1));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.pitch, 0));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.pitch, 1));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.yaw, 0));
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buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.yaw, 1));
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break;
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case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.scale, 0));
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.scale, 1));
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.offset, 0));
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.offset, 1));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.scale, 0));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.scale, 1));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.offset, 0));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.offset, 1));
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buffer.push(FC.CURRENT_METER_CONFIG.type);
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.capacity, 0));
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buffer.push(specificByte(FC.CURRENT_METER_CONFIG.capacity, 1));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.capacity, 0));
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buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.capacity, 1));
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break;
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case MSPCodes.MSP_SET_VTX_CONFIG:
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@ -1752,8 +1756,8 @@ var mspHelper = (function () {
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buffer.push(FC.RC_tuning.dynamic_THR_PID);
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buffer.push(Math.round(FC.RC_tuning.throttle_MID * 100));
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buffer.push(Math.round(FC.RC_tuning.throttle_EXPO * 100));
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buffer.push(lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(BitHelper.lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(BitHelper.highByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(Math.round(FC.RC_tuning.RC_YAW_EXPO * 100));
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break;
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case MSPCodes.MSPV2_INAV_SET_RATE_PROFILE:
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@ -1761,8 +1765,8 @@ var mspHelper = (function () {
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buffer.push(Math.round(FC.RC_tuning.throttle_MID * 100));
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buffer.push(Math.round(FC.RC_tuning.throttle_EXPO * 100));
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buffer.push(FC.RC_tuning.dynamic_THR_PID);
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buffer.push(lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(highByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(BitHelper.lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
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buffer.push(BitHelper.highByte(FC.RC_tuning.dynamic_THR_breakpoint));
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// stabilized
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buffer.push(Math.round(FC.RC_tuning.RC_EXPO * 100));
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@ -1785,119 +1789,119 @@ var mspHelper = (function () {
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}
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break;
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case MSPCodes.MSP_SET_ACC_TRIM:
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buffer.push(lowByte(FC.CONFIG.accelerometerTrims[0]));
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buffer.push(highByte(FC.CONFIG.accelerometerTrims[0]));
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buffer.push(lowByte(FC.CONFIG.accelerometerTrims[1]));
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buffer.push(highByte(FC.CONFIG.accelerometerTrims[1]));
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buffer.push(BitHelper.lowByte(FC.CONFIG.accelerometerTrims[0]));
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buffer.push(BitHelper.highByte(FC.CONFIG.accelerometerTrims[0]));
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buffer.push(BitHelper.lowByte(FC.CONFIG.accelerometerTrims[1]));
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buffer.push(BitHelper.highByte(FC.CONFIG.accelerometerTrims[1]));
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break;
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case MSPCodes.MSP_SET_ARMING_CONFIG:
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buffer.push(FC.ARMING_CONFIG.auto_disarm_delay);
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buffer.push(FC.ARMING_CONFIG.disarm_kill_switch);
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break;
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case MSPCodes.MSP_SET_LOOP_TIME:
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buffer.push(lowByte(FC.FC_CONFIG.loopTime));
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buffer.push(highByte(FC.FC_CONFIG.loopTime));
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buffer.push(BitHelper.lowByte(FC.FC_CONFIG.loopTime));
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buffer.push(BitHelper.highByte(FC.FC_CONFIG.loopTime));
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break;
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case MSPCodes.MSP_SET_MISC:
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buffer.push(lowByte(FC.MISC.midrc));
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buffer.push(highByte(FC.MISC.midrc));
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buffer.push(lowByte(FC.MISC.minthrottle));
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buffer.push(highByte(FC.MISC.minthrottle));
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buffer.push(lowByte(FC.MISC.maxthrottle));
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buffer.push(highByte(FC.MISC.maxthrottle));
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buffer.push(lowByte(FC.MISC.mincommand));
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buffer.push(highByte(FC.MISC.mincommand));
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buffer.push(lowByte(FC.MISC.failsafe_throttle));
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buffer.push(highByte(FC.MISC.failsafe_throttle));
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buffer.push(BitHelper.lowByte(FC.MISC.midrc));
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buffer.push(BitHelper.highByte(FC.MISC.midrc));
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buffer.push(BitHelper.lowByte(FC.MISC.minthrottle));
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buffer.push(BitHelper.highByte(FC.MISC.minthrottle));
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buffer.push(BitHelper.lowByte(FC.MISC.maxthrottle));
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buffer.push(BitHelper.highByte(FC.MISC.maxthrottle));
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buffer.push(BitHelper.lowByte(FC.MISC.mincommand));
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buffer.push(BitHelper.highByte(FC.MISC.mincommand));
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buffer.push(BitHelper.lowByte(FC.MISC.failsafe_throttle));
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buffer.push(BitHelper.highByte(FC.MISC.failsafe_throttle));
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buffer.push(FC.MISC.gps_type);
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buffer.push(FC.MISC.sensors_baudrate);
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buffer.push(FC.MISC.gps_ubx_sbas);
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buffer.push(FC.MISC.multiwiicurrentoutput);
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buffer.push(FC.MISC.rssi_channel);
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buffer.push(FC.MISC.placeholder2);
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buffer.push(lowByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(highByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(FC.MISC.vbatscale);
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buffer.push(Math.round(FC.MISC.vbatmincellvoltage * 10));
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buffer.push(Math.round(FC.MISC.vbatmaxcellvoltage * 10));
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buffer.push(Math.round(FC.MISC.vbatwarningcellvoltage * 10));
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break;
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case MSPCodes.MSPV2_INAV_SET_MISC:
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buffer.push(lowByte(FC.MISC.midrc));
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buffer.push(highByte(FC.MISC.midrc));
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buffer.push(lowByte(FC.MISC.minthrottle));
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buffer.push(highByte(FC.MISC.minthrottle));
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buffer.push(lowByte(FC.MISC.maxthrottle));
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buffer.push(highByte(FC.MISC.maxthrottle));
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buffer.push(lowByte(FC.MISC.mincommand));
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buffer.push(highByte(FC.MISC.mincommand));
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buffer.push(lowByte(FC.MISC.failsafe_throttle));
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buffer.push(highByte(FC.MISC.failsafe_throttle));
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buffer.push(BitHelper.lowByte(FC.MISC.midrc));
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buffer.push(BitHelper.highByte(FC.MISC.midrc));
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buffer.push(BitHelper.lowByte(FC.MISC.minthrottle));
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buffer.push(BitHelper.highByte(FC.MISC.minthrottle));
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buffer.push(BitHelper.lowByte(FC.MISC.maxthrottle));
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buffer.push(BitHelper.highByte(FC.MISC.maxthrottle));
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buffer.push(BitHelper.lowByte(FC.MISC.mincommand));
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buffer.push(BitHelper.highByte(FC.MISC.mincommand));
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buffer.push(BitHelper.lowByte(FC.MISC.failsafe_throttle));
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buffer.push(BitHelper.highByte(FC.MISC.failsafe_throttle));
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buffer.push(FC.MISC.gps_type);
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buffer.push(FC.MISC.sensors_baudrate);
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buffer.push(FC.MISC.gps_ubx_sbas);
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buffer.push(FC.MISC.rssi_channel);
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buffer.push(lowByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(highByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(lowByte(FC.MISC.vbatscale));
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buffer.push(highByte(FC.MISC.vbatscale));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.mag_declination * 10)));
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buffer.push(BitHelper.lowByte(FC.MISC.vbatscale));
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buffer.push(BitHelper.highByte(FC.MISC.vbatscale));
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buffer.push(FC.MISC.voltage_source);
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buffer.push(FC.MISC.battery_cells);
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buffer.push(lowByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.MISC.battery_capacity, byte_index));
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buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity, byte_index));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.MISC.battery_capacity_warning, byte_index));
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buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity_warning, byte_index));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.MISC.battery_capacity_critical, byte_index));
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buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity_critical, byte_index));
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buffer.push((FC.MISC.battery_capacity_unit == 'mAh') ? 0 : 1);
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break;
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case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
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buffer.push(lowByte(FC.BATTERY_CONFIG.vbatscale));
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buffer.push(highByte(FC.BATTERY_CONFIG.vbatscale));
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buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.vbatscale));
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buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.vbatscale));
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buffer.push(FC.BATTERY_CONFIG.voltage_source);
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buffer.push(FC.BATTERY_CONFIG.battery_cells);
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buffer.push(lowByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
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buffer.push(lowByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
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buffer.push(highByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
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buffer.push(lowByte(FC.BATTERY_CONFIG.current_offset));
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buffer.push(highByte(FC.BATTERY_CONFIG.current_offset));
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buffer.push(lowByte(FC.BATTERY_CONFIG.current_scale));
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buffer.push(highByte(FC.BATTERY_CONFIG.current_scale));
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buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
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buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
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buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.current_offset));
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buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.current_offset));
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buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.current_scale));
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buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.current_scale));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.BATTERY_CONFIG.capacity, byte_index));
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buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity, byte_index));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.BATTERY_CONFIG.capacity_warning, byte_index));
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buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity_warning, byte_index));
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for (let byte_index = 0; byte_index < 4; ++byte_index)
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buffer.push(specificByte(FC.BATTERY_CONFIG.capacity_critical, byte_index));
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buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity_critical, byte_index));
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buffer.push(FC.BATTERY_CONFIG.capacity_unit);
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break;
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case MSPCodes.MSP_SET_RX_CONFIG:
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buffer.push(FC.RX_CONFIG.serialrx_provider);
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buffer.push(lowByte(FC.RX_CONFIG.maxcheck));
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buffer.push(highByte(FC.RX_CONFIG.maxcheck));
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buffer.push(lowByte(FC.RX_CONFIG.midrc));
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buffer.push(highByte(FC.RX_CONFIG.midrc));
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buffer.push(lowByte(FC.RX_CONFIG.mincheck));
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buffer.push(highByte(FC.RX_CONFIG.mincheck));
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buffer.push(BitHelper.lowByte(FC.RX_CONFIG.maxcheck));
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buffer.push(BitHelper.highByte(FC.RX_CONFIG.maxcheck));
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buffer.push(BitHelper.lowByte(FC.RX_CONFIG.midrc));
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buffer.push(BitHelper.highByte(FC.RX_CONFIG.midrc));
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buffer.push(BitHelper.lowByte(FC.RX_CONFIG.mincheck));
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buffer.push(BitHelper.highByte(FC.RX_CONFIG.mincheck));
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buffer.push(FC.RX_CONFIG.spektrum_sat_bind);
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buffer.push(lowByte(FC.RX_CONFIG.rx_min_usec));
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buffer.push(highByte(FC.RX_CONFIG.rx_min_usec));
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buffer.push(lowByte(FC.RX_CONFIG.rx_max_usec));
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buffer.push(highByte(FC.RX_CONFIG.rx_max_usec));
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buffer.push(BitHelper.lowByte(FC.RX_CONFIG.rx_min_usec));
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buffer.push(BitHelper.highByte(FC.RX_CONFIG.rx_min_usec));
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buffer.push(BitHelper.lowByte(FC.RX_CONFIG.rx_max_usec));
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buffer.push(BitHelper.highByte(FC.RX_CONFIG.rx_max_usec));
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buffer.push(0); // 4 null bytes for betaflight compatibility
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buffer.push(0);
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buffer.push(0);
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@ -1915,23 +1919,23 @@ var mspHelper = (function () {
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case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
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buffer.push(FC.FAILSAFE_CONFIG.failsafe_delay);
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buffer.push(FC.FAILSAFE_CONFIG.failsafe_off_delay);
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buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
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buffer.push(FC.FAILSAFE_CONFIG.failsafe_kill_switch);
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buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
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buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
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buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
|
||||
buffer.push(FC.FAILSAFE_CONFIG.failsafe_procedure);
|
||||
buffer.push(FC.FAILSAFE_CONFIG.failsafe_recovery_delay);
|
||||
buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
||||
buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
||||
buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
||||
buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
||||
buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
||||
buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
||||
buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
||||
buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
||||
buffer.push(lowByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
|
||||
buffer.push(highByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
|
||||
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
||||
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
||||
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
||||
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
||||
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
|
||||
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
|
||||
buffer.push(FC.FAILSAFE_CONFIG.failsafe_min_distance_procedure);
|
||||
break;
|
||||
|
||||
|
|
@ -1952,10 +1956,10 @@ var mspHelper = (function () {
|
|||
buffer.push(serialPort.identifier);
|
||||
|
||||
var functionMask = mspHelper.SERIAL_PORT_FUNCTIONSToMask(serialPort.functions);
|
||||
buffer.push(specificByte(functionMask, 0));
|
||||
buffer.push(specificByte(functionMask, 1));
|
||||
buffer.push(specificByte(functionMask, 2));
|
||||
buffer.push(specificByte(functionMask, 3));
|
||||
buffer.push(BitHelper.specificByte(functionMask, 0));
|
||||
buffer.push(BitHelper.specificByte(functionMask, 1));
|
||||
buffer.push(BitHelper.specificByte(functionMask, 2));
|
||||
buffer.push(BitHelper.specificByte(functionMask, 3));
|
||||
|
||||
var BAUD_RATES = mspHelper.BAUD_RATES_post1_6_3;
|
||||
buffer.push(BAUD_RATES.indexOf(serialPort.msp_baudrate));
|
||||
|
|
@ -1966,20 +1970,20 @@ var mspHelper = (function () {
|
|||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_3D:
|
||||
buffer.push(lowByte(FC.REVERSIBLE_MOTORS.deadband_low));
|
||||
buffer.push(highByte(FC.REVERSIBLE_MOTORS.deadband_low));
|
||||
buffer.push(lowByte(FC.REVERSIBLE_MOTORS.deadband_high));
|
||||
buffer.push(highByte(FC.REVERSIBLE_MOTORS.deadband_high));
|
||||
buffer.push(lowByte(FC.REVERSIBLE_MOTORS.neutral));
|
||||
buffer.push(highByte(FC.REVERSIBLE_MOTORS.neutral));
|
||||
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_low));
|
||||
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_low));
|
||||
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_high));
|
||||
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_high));
|
||||
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.neutral));
|
||||
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.neutral));
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_RC_DEADBAND:
|
||||
buffer.push(FC.RC_deadband.deadband);
|
||||
buffer.push(FC.RC_deadband.yaw_deadband);
|
||||
buffer.push(FC.RC_deadband.alt_hold_deadband);
|
||||
buffer.push(lowByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
|
||||
buffer.push(highByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
|
||||
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
|
||||
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
|
||||
|
|
@ -1995,11 +1999,11 @@ var mspHelper = (function () {
|
|||
buffer.push(FC.ADVANCED_CONFIG.useUnsyncedPwm);
|
||||
buffer.push(FC.ADVANCED_CONFIG.motorPwmProtocol);
|
||||
|
||||
buffer.push(lowByte(FC.ADVANCED_CONFIG.motorPwmRate));
|
||||
buffer.push(highByte(FC.ADVANCED_CONFIG.motorPwmRate));
|
||||
buffer.push(BitHelper.lowByte(FC.ADVANCED_CONFIG.motorPwmRate));
|
||||
buffer.push(BitHelper.highByte(FC.ADVANCED_CONFIG.motorPwmRate));
|
||||
|
||||
buffer.push(lowByte(FC.ADVANCED_CONFIG.servoPwmRate));
|
||||
buffer.push(highByte(FC.ADVANCED_CONFIG.servoPwmRate));
|
||||
buffer.push(BitHelper.lowByte(FC.ADVANCED_CONFIG.servoPwmRate));
|
||||
buffer.push(BitHelper.highByte(FC.ADVANCED_CONFIG.servoPwmRate));
|
||||
|
||||
buffer.push(FC.ADVANCED_CONFIG.gyroSync);
|
||||
break;
|
||||
|
|
@ -2007,17 +2011,17 @@ var mspHelper = (function () {
|
|||
case MSPCodes.MSP_SET_INAV_PID:
|
||||
buffer.push(FC.INAV_PID_CONFIG.asynchronousMode);
|
||||
|
||||
buffer.push(lowByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
|
||||
buffer.push(highByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
|
||||
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
|
||||
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
|
||||
|
||||
buffer.push(lowByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
|
||||
buffer.push(highByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
|
||||
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
|
||||
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
|
||||
|
||||
buffer.push(FC.INAV_PID_CONFIG.magHoldRateLimit);
|
||||
buffer.push(FC.INAV_PID_CONFIG.magHoldErrorLpfFrequency);
|
||||
|
||||
buffer.push(lowByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
|
||||
buffer.push(highByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
|
||||
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
|
||||
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
|
||||
|
||||
buffer.push(FC.INAV_PID_CONFIG.gyroscopeLpf);
|
||||
buffer.push(FC.INAV_PID_CONFIG.accSoftLpfHz);
|
||||
|
|
@ -2031,91 +2035,91 @@ var mspHelper = (function () {
|
|||
case MSPCodes.MSP_SET_NAV_POSHOLD:
|
||||
buffer.push(FC.NAV_POSHOLD.userControlMode);
|
||||
|
||||
buffer.push(lowByte(FC.NAV_POSHOLD.maxSpeed));
|
||||
buffer.push(highByte(FC.NAV_POSHOLD.maxSpeed));
|
||||
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxSpeed));
|
||||
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxSpeed));
|
||||
|
||||
buffer.push(lowByte(FC.NAV_POSHOLD.maxClimbRate));
|
||||
buffer.push(highByte(FC.NAV_POSHOLD.maxClimbRate));
|
||||
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxClimbRate));
|
||||
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxClimbRate));
|
||||
|
||||
buffer.push(lowByte(FC.NAV_POSHOLD.maxManualSpeed));
|
||||
buffer.push(highByte(FC.NAV_POSHOLD.maxManualSpeed));
|
||||
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxManualSpeed));
|
||||
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxManualSpeed));
|
||||
|
||||
buffer.push(lowByte(FC.NAV_POSHOLD.maxManualClimbRate));
|
||||
buffer.push(highByte(FC.NAV_POSHOLD.maxManualClimbRate));
|
||||
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxManualClimbRate));
|
||||
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxManualClimbRate));
|
||||
|
||||
buffer.push(FC.NAV_POSHOLD.maxBankAngle);
|
||||
buffer.push(FC.NAV_POSHOLD.useThrottleMidForAlthold);
|
||||
|
||||
buffer.push(lowByte(FC.NAV_POSHOLD.hoverThrottle));
|
||||
buffer.push(highByte(FC.NAV_POSHOLD.hoverThrottle));
|
||||
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.hoverThrottle));
|
||||
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.hoverThrottle));
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_CALIBRATION_DATA:
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accZero.X));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accZero.X));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.X));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.X));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accZero.Y));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accZero.Y));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.Y));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.Y));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accZero.Z));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accZero.Z));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.Z));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.Z));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accGain.X));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accGain.X));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.X));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.X));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accGain.Y));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accGain.Y));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.Y));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.Y));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.accGain.Z));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.accGain.Z));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.Z));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.Z));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magZero.X));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magZero.X));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.X));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.X));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magZero.Y));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magZero.Y));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.Y));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.Y));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magZero.Z));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magZero.Z));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.Z));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.Z));
|
||||
|
||||
buffer.push(lowByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
|
||||
buffer.push(highByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
|
||||
buffer.push(BitHelper.lowByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
|
||||
buffer.push(BitHelper.highByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magGain.X));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magGain.X));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.X));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.X));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magGain.Y));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magGain.Y));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.Y));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.Y));
|
||||
|
||||
buffer.push(lowByte(FC.CALIBRATION_DATA.magGain.Z));
|
||||
buffer.push(highByte(FC.CALIBRATION_DATA.magGain.Z));
|
||||
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.Z));
|
||||
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.Z));
|
||||
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
|
||||
buffer.push(lowByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
|
||||
buffer.push(highByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
|
||||
buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
|
||||
buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
|
||||
|
||||
buffer.push(lowByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
|
||||
buffer.push(highByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
|
||||
buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
|
||||
buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
|
||||
|
||||
buffer.push(lowByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
|
||||
buffer.push(highByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
|
||||
buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
|
||||
buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
|
||||
|
||||
buffer.push(lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
||||
buffer.push(highByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
||||
buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
||||
buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
||||
|
||||
buffer.push(lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
||||
buffer.push(highByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
||||
buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
||||
buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
||||
|
||||
buffer.push(FC.POSITION_ESTIMATOR.gps_min_sats);
|
||||
buffer.push(FC.POSITION_ESTIMATOR.use_gps_velned);
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
|
||||
|
||||
buffer.push(FC.RTH_AND_LAND_CONFIG.rthClimbFirst);
|
||||
buffer.push(FC.RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
|
||||
|
|
@ -2123,112 +2127,112 @@ var mspHelper = (function () {
|
|||
buffer.push(FC.RTH_AND_LAND_CONFIG.rthAllowLanding);
|
||||
buffer.push(FC.RTH_AND_LAND_CONFIG.rthAltControlMode);
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
||||
|
||||
buffer.push(lowByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||
buffer.push(highByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_FW_CONFIG:
|
||||
|
||||
buffer.push(lowByte(FC.FW_CONFIG.cruiseThrottle));
|
||||
buffer.push(highByte(FC.FW_CONFIG.cruiseThrottle));
|
||||
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.cruiseThrottle));
|
||||
buffer.push(BitHelper.highByte(FC.FW_CONFIG.cruiseThrottle));
|
||||
|
||||
buffer.push(lowByte(FC.FW_CONFIG.minThrottle));
|
||||
buffer.push(highByte(FC.FW_CONFIG.minThrottle));
|
||||
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.minThrottle));
|
||||
buffer.push(BitHelper.highByte(FC.FW_CONFIG.minThrottle));
|
||||
|
||||
buffer.push(lowByte(FC.FW_CONFIG.maxThrottle));
|
||||
buffer.push(highByte(FC.FW_CONFIG.maxThrottle));
|
||||
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.maxThrottle));
|
||||
buffer.push(BitHelper.highByte(FC.FW_CONFIG.maxThrottle));
|
||||
|
||||
buffer.push(FC.FW_CONFIG.maxBankAngle);
|
||||
buffer.push(FC.FW_CONFIG.maxClimbAngle);
|
||||
buffer.push(FC.FW_CONFIG.maxDiveAngle);
|
||||
buffer.push(FC.FW_CONFIG.pitchToThrottle);
|
||||
|
||||
buffer.push(lowByte(FC.FW_CONFIG.loiterRadius));
|
||||
buffer.push(highByte(FC.FW_CONFIG.loiterRadius));
|
||||
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.loiterRadius));
|
||||
buffer.push(BitHelper.highByte(FC.FW_CONFIG.loiterRadius));
|
||||
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_FILTER_CONFIG:
|
||||
buffer.push(FC.FILTER_CONFIG.gyroSoftLpfHz);
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.dtermLpfHz));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.dtermLpfHz));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermLpfHz));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermLpfHz));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.yawLpfHz));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.yawLpfHz));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.yawLpfHz));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.yawLpfHz));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.gyroNotchHz1));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.gyroNotchHz1));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchHz1));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchHz1));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.dtermNotchHz));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.dtermNotchHz));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermNotchHz));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermNotchHz));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.dtermNotchCutoff));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.dtermNotchCutoff));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermNotchCutoff));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermNotchCutoff));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.gyroNotchHz2));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.gyroNotchHz2));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchHz2));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchHz2));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.accNotchHz));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.accNotchHz));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.accNotchHz));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.accNotchHz));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.accNotchCutoff));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.accNotchCutoff));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.accNotchCutoff));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.accNotchCutoff));
|
||||
|
||||
buffer.push(lowByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
|
||||
buffer.push(highByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
|
||||
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
|
||||
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
|
||||
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_PID_ADVANCED:
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
|
||||
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.yawItermIgnoreRate));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.yawItermIgnoreRate));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.yawItermIgnoreRate));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.yawItermIgnoreRate));
|
||||
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.yawPLimit));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.yawPLimit));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.yawPLimit));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.yawPLimit));
|
||||
|
||||
buffer.push(0); //BF: currentProfile->pidProfile.deltaMethod
|
||||
buffer.push(0); //BF: currentProfile->pidProfile.vbatPidCompensation
|
||||
buffer.push(0); //BF: currentProfile->pidProfile.setpointRelaxRatio
|
||||
|
||||
buffer.push(FC.PID_ADVANCED.dtermSetpointWeight);
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.pidSumLimit));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.pidSumLimit));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.pidSumLimit));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.pidSumLimit));
|
||||
|
||||
buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
|
||||
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
|
||||
|
||||
buffer.push(lowByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
|
||||
buffer.push(highByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
|
||||
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
|
||||
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP_SET_SENSOR_CONFIG:
|
||||
|
|
@ -2255,28 +2259,28 @@ var mspHelper = (function () {
|
|||
buffer.push(FC.MIXER_CONFIG.motorStopOnLow);
|
||||
buffer.push(FC.MIXER_CONFIG.platformType);
|
||||
buffer.push(FC.MIXER_CONFIG.hasFlaps);
|
||||
buffer.push(lowByte(FC.MIXER_CONFIG.appliedMixerPreset));
|
||||
buffer.push(highByte(FC.MIXER_CONFIG.appliedMixerPreset));
|
||||
buffer.push(BitHelper.lowByte(FC.MIXER_CONFIG.appliedMixerPreset));
|
||||
buffer.push(BitHelper.highByte(FC.MIXER_CONFIG.appliedMixerPreset));
|
||||
buffer.push(0); //Filler byte to match expect payload length
|
||||
buffer.push(0); //Filler byte to match expect payload length
|
||||
break;
|
||||
|
||||
case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.speedThreshold));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.speedThreshold));
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.disengageSpeed));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.disengageSpeed));
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.timeout));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.timeout));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.speedThreshold));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.speedThreshold));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.disengageSpeed));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.disengageSpeed));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.timeout));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.timeout));
|
||||
|
||||
buffer.push(FC.BRAKING_CONFIG.boostFactor);
|
||||
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.boostTimeout));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.boostTimeout));
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
|
||||
buffer.push(lowByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
|
||||
buffer.push(highByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostTimeout));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostTimeout));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
|
||||
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
|
||||
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
|
||||
|
||||
buffer.push(FC.BRAKING_CONFIG.bankAngle);
|
||||
break;
|
||||
|
|
@ -2293,8 +2297,8 @@ var mspHelper = (function () {
|
|||
case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
|
||||
|
||||
buffer.push(FC.EZ_TUNE.enabled);
|
||||
buffer.push(lowByte(FC.EZ_TUNE.filterHz));
|
||||
buffer.push(highByte(FC.EZ_TUNE.filterHz));
|
||||
buffer.push(BitHelper.lowByte(FC.EZ_TUNE.filterHz));
|
||||
buffer.push(BitHelper.highByte(FC.EZ_TUNE.filterHz));
|
||||
buffer.push(FC.EZ_TUNE.axisRatio);
|
||||
buffer.push(FC.EZ_TUNE.response);
|
||||
buffer.push(FC.EZ_TUNE.damping);
|
||||
|
|
@ -2322,8 +2326,8 @@ var mspHelper = (function () {
|
|||
var buffer = [];
|
||||
|
||||
for (var i = 0; i < channels.length; i++) {
|
||||
buffer.push(specificByte(channels[i], 0));
|
||||
buffer.push(specificByte(channels[i], 1));
|
||||
buffer.push(BitHelper.specificByte(channels[i], 0));
|
||||
buffer.push(BitHelper.specificByte(channels[i], 1));
|
||||
}
|
||||
|
||||
MSP.send_message(MSPCodes.MSP_SET_RAW_RC, buffer, false);
|
||||
|
|
@ -2334,10 +2338,10 @@ var mspHelper = (function () {
|
|||
var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
|
||||
buffer.push(FC.BLACKBOX.blackboxDevice & 0xFF);
|
||||
messageId = MSPCodes.MSP2_SET_BLACKBOX_CONFIG;
|
||||
buffer.push(lowByte(FC.BLACKBOX.blackboxRateNum));
|
||||
buffer.push(highByte(FC.BLACKBOX.blackboxRateNum));
|
||||
buffer.push(lowByte(FC.BLACKBOX.blackboxRateDenom));
|
||||
buffer.push(highByte(FC.BLACKBOX.blackboxRateDenom));
|
||||
buffer.push(BitHelper.lowByte(FC.BLACKBOX.blackboxRateNum));
|
||||
buffer.push(BitHelper.highByte(FC.BLACKBOX.blackboxRateNum));
|
||||
buffer.push(BitHelper.lowByte(FC.BLACKBOX.blackboxRateDenom));
|
||||
buffer.push(BitHelper.highByte(FC.BLACKBOX.blackboxRateDenom));
|
||||
buffer.push32(FC.BLACKBOX.blackboxIncludeFlags);
|
||||
//noinspection JSUnusedLocalSymbols
|
||||
MSP.send_message(messageId, buffer, false, function (response) {
|
||||
|
|
@ -2366,16 +2370,16 @@ var mspHelper = (function () {
|
|||
|
||||
buffer.push(servoIndex);
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.min));
|
||||
buffer.push(highByte(servoConfiguration.min));
|
||||
buffer.push(BitHelper.lowByte(servoConfiguration.min));
|
||||
buffer.push(BitHelper.highByte(servoConfiguration.min));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.max));
|
||||
buffer.push(highByte(servoConfiguration.max));
|
||||
buffer.push(BitHelper.lowByte(servoConfiguration.max));
|
||||
buffer.push(BitHelper.highByte(servoConfiguration.max));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.middle));
|
||||
buffer.push(highByte(servoConfiguration.middle));
|
||||
buffer.push(BitHelper.lowByte(servoConfiguration.middle));
|
||||
buffer.push(BitHelper.highByte(servoConfiguration.middle));
|
||||
|
||||
buffer.push(lowByte(servoConfiguration.rate));
|
||||
buffer.push(BitHelper.lowByte(servoConfiguration.rate));
|
||||
|
||||
buffer.push(0);
|
||||
buffer.push(0);
|
||||
|
|
@ -2423,8 +2427,8 @@ var mspHelper = (function () {
|
|||
buffer.push(servoIndex);
|
||||
buffer.push(servoRule.getTarget());
|
||||
buffer.push(servoRule.getInput());
|
||||
buffer.push(lowByte(servoRule.getRate()));
|
||||
buffer.push(highByte(servoRule.getRate()));
|
||||
buffer.push(BitHelper.lowByte(servoRule.getRate()));
|
||||
buffer.push(BitHelper.highByte(servoRule.getRate()));
|
||||
buffer.push(servoRule.getSpeed());
|
||||
buffer.push(servoRule.getConditionId());
|
||||
|
||||
|
|
@ -2460,17 +2464,17 @@ var mspHelper = (function () {
|
|||
|
||||
buffer.push(servoIndex);
|
||||
|
||||
buffer.push(lowByte(rule.getThrottleForMsp()));
|
||||
buffer.push(highByte(rule.getThrottleForMsp()));
|
||||
buffer.push(BitHelper.lowByte(rule.getThrottleForMsp()));
|
||||
buffer.push(BitHelper.highByte(rule.getThrottleForMsp()));
|
||||
|
||||
buffer.push(lowByte(rule.getRollForMsp()));
|
||||
buffer.push(highByte(rule.getRollForMsp()));
|
||||
buffer.push(BitHelper.lowByte(rule.getRollForMsp()));
|
||||
buffer.push(BitHelper.highByte(rule.getRollForMsp()));
|
||||
|
||||
buffer.push(lowByte(rule.getPitchForMsp()));
|
||||
buffer.push(highByte(rule.getPitchForMsp()));
|
||||
buffer.push(BitHelper.lowByte(rule.getPitchForMsp()));
|
||||
buffer.push(BitHelper.highByte(rule.getPitchForMsp()));
|
||||
|
||||
buffer.push(lowByte(rule.getYawForMsp()));
|
||||
buffer.push(highByte(rule.getYawForMsp()));
|
||||
buffer.push(BitHelper.lowByte(rule.getYawForMsp()));
|
||||
buffer.push(BitHelper.highByte(rule.getYawForMsp()));
|
||||
|
||||
// prepare for next iteration
|
||||
servoIndex++;
|
||||
|
|
@ -2526,15 +2530,15 @@ var mspHelper = (function () {
|
|||
buffer.push(condition.getActivatorId());
|
||||
buffer.push(condition.getOperation());
|
||||
buffer.push(condition.getOperandAType());
|
||||
buffer.push(specificByte(condition.getOperandAValue(), 0));
|
||||
buffer.push(specificByte(condition.getOperandAValue(), 1));
|
||||
buffer.push(specificByte(condition.getOperandAValue(), 2));
|
||||
buffer.push(specificByte(condition.getOperandAValue(), 3));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 0));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 1));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 2));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 3));
|
||||
buffer.push(condition.getOperandBType());
|
||||
buffer.push(specificByte(condition.getOperandBValue(), 0));
|
||||
buffer.push(specificByte(condition.getOperandBValue(), 1));
|
||||
buffer.push(specificByte(condition.getOperandBValue(), 2));
|
||||
buffer.push(specificByte(condition.getOperandBValue(), 3));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 0));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 1));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 2));
|
||||
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 3));
|
||||
buffer.push(condition.getFlags());
|
||||
|
||||
// prepare for next iteration
|
||||
|
|
@ -2571,23 +2575,23 @@ var mspHelper = (function () {
|
|||
buffer.push(pidIndex);
|
||||
buffer.push(pid.getEnabled());
|
||||
buffer.push(pid.getSetpointType());
|
||||
buffer.push(specificByte(pid.getSetpointValue(), 0));
|
||||
buffer.push(specificByte(pid.getSetpointValue(), 1));
|
||||
buffer.push(specificByte(pid.getSetpointValue(), 2));
|
||||
buffer.push(specificByte(pid.getSetpointValue(), 3));
|
||||
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 2));
|
||||
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 3));
|
||||
buffer.push(pid.getMeasurementType());
|
||||
buffer.push(specificByte(pid.getMeasurementValue(), 0));
|
||||
buffer.push(specificByte(pid.getMeasurementValue(), 1));
|
||||
buffer.push(specificByte(pid.getMeasurementValue(), 2));
|
||||
buffer.push(specificByte(pid.getMeasurementValue(), 3));
|
||||
buffer.push(specificByte(pid.getGainP(), 0));
|
||||
buffer.push(specificByte(pid.getGainP(), 1));
|
||||
buffer.push(specificByte(pid.getGainI(), 0));
|
||||
buffer.push(specificByte(pid.getGainI(), 1));
|
||||
buffer.push(specificByte(pid.getGainD(), 0));
|
||||
buffer.push(specificByte(pid.getGainD(), 1));
|
||||
buffer.push(specificByte(pid.getGainFF(), 0));
|
||||
buffer.push(specificByte(pid.getGainFF(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 2));
|
||||
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 3));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainP(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainP(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainI(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainI(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainD(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainD(), 1));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainFF(), 0));
|
||||
buffer.push(BitHelper.specificByte(pid.getGainFF(), 1));
|
||||
|
||||
// prepare for next iteration
|
||||
pidIndex++;
|
||||
|
|
@ -2643,8 +2647,8 @@ var mspHelper = (function () {
|
|||
|
||||
// For API > 2.0.0 we support requesting payload size - request 4KiB and let firmware decide what actual size to send
|
||||
if (FC.CONFIG.apiVersion && semver.gte(FC.CONFIG.apiVersion, "2.0.0")) {
|
||||
buffer.push(lowByte(4096));
|
||||
buffer.push(highByte(4096));
|
||||
buffer.push(BitHelper.lowByte(4096));
|
||||
buffer.push(BitHelper.highByte(4096));
|
||||
}
|
||||
|
||||
MSP.send_message(MSPCodes.MSP_DATAFLASH_READ, buffer, false, function (response) {
|
||||
|
|
@ -2681,8 +2685,8 @@ var mspHelper = (function () {
|
|||
var buffer = [];
|
||||
buffer.push(rxFailIndex);
|
||||
buffer.push(rxFail.mode);
|
||||
buffer.push(lowByte(rxFail.value));
|
||||
buffer.push(highByte(rxFail.value));
|
||||
buffer.push(BitHelper.lowByte(rxFail.value));
|
||||
buffer.push(BitHelper.highByte(rxFail.value));
|
||||
|
||||
// prepare for next iteration
|
||||
rxFailIndex++;
|
||||
|
|
@ -2772,8 +2776,8 @@ var mspHelper = (function () {
|
|||
for (var colorIndex = 0; colorIndex < FC.LED_COLORS.length; colorIndex++) {
|
||||
var color = FC.LED_COLORS[colorIndex];
|
||||
|
||||
buffer.push(specificByte(color.h, 0));
|
||||
buffer.push(specificByte(color.h, 1));
|
||||
buffer.push(BitHelper.specificByte(color.h, 0));
|
||||
buffer.push(BitHelper.specificByte(color.h, 1));
|
||||
buffer.push(color.s);
|
||||
buffer.push(color.v);
|
||||
}
|
||||
|
|
@ -2857,11 +2861,11 @@ var mspHelper = (function () {
|
|||
|
||||
extra |= (0 << 2); // parameters
|
||||
|
||||
buffer.push(specificByte(mask, 0));
|
||||
buffer.push(specificByte(mask, 1));
|
||||
buffer.push(specificByte(mask, 2));
|
||||
buffer.push(specificByte(mask, 3));
|
||||
buffer.push(specificByte(extra, 0));
|
||||
buffer.push(BitHelper.specificByte(mask, 0));
|
||||
buffer.push(BitHelper.specificByte(mask, 1));
|
||||
buffer.push(BitHelper.specificByte(mask, 2));
|
||||
buffer.push(BitHelper.specificByte(mask, 3));
|
||||
buffer.push(BitHelper.specificByte(extra, 0));
|
||||
|
||||
// prepare for next iteration
|
||||
ledIndex++;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue