Load and save of mmix over MSP

gulpfile.js

@@ -66,6 +66,7 @@ sources.js = [
     './js/libraries/jbox/jBox.min.js',
     './js/libraries/switchery/switchery.js',
     './js/libraries/jquery.ba-throttle-debounce.js',
+    './js/helpers.js',
     './node_modules/inflection/inflection.min.js',
     './node_modules/bluebird/js/browser/bluebird.min.js',
     './js/injected_methods.js',

js/helpers.js

@@ -0,0 +1,15 @@
+/*global $*/
+'use strict';
+
+function constrain(input, min, max) {
+
+    if (input < min) {
+        return min;
+    }
+
+    if (input > max) {
+        return max;
+    }
+
+    return input;
+}

js/motorMixRule.js

@@ -1,4 +1,4 @@
-/*global $*/
+/*global $,constrain*/
 'use strict';
 
 var MotorMixRule = function (throttle, roll, pitch, yaw) {
@@ -17,15 +17,23 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
     };
 
     self.getThrottle = function () {
-        return throttle;
+        return constrain(throttle, 0, 1);
     };
 
+    self.getThrottleForMsp = function () {
+        return self.getThrottle() * 1000;
+    }
+
     self.setThrottle = function (data) {
         throttle = data;
     };
 
     self.getRoll = function () {
-        return roll;
+        return constrain(roll, -1, 1);
+    };
+
+    self.getRollForMsp = function () {
+        return (self.getRoll() + 1) * 1000;
     };
 
     self.setRoll = function (data) {
@@ -33,7 +41,11 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
     };
 
     self.getPitch = function () {
-        return pitch;
+        return constrain(pitch, -1, 1);
+    };
+
+    self.getPitchForMsp = function () {
+        return (self.getPitch() + 1) * 1000;
     };
 
     self.setPitch = function (data) {
@@ -41,7 +53,11 @@ var MotorMixRule = function (throttle, roll, pitch, yaw) {
     };
 
     self.getYaw = function () {
-        return yaw;
+        return constrain(yaw, -1, 1);
+    };
+
+    self.getYawForMsp = function () {
+        return (self.getYaw() + 1) * 1000;
     };
 
     self.setYaw = function (data) {

js/msp/MSPHelper.js

@@ -373,12 +373,14 @@ var mspHelper = (function (gui) {
                     for (i = 0; i < data.byteLength; i += 8) {
                         var rule = new MotorMixRule(0, 0, 0, 0);
 
-                        MOTOR_RULES.put(rule.fromMsp(
+                        rule.fromMsp(
                             data.getUint16(i + 0, true),
                             data.getUint16(i + 2, true),
                             data.getUint16(i + 4, true),
                             data.getUint16(i + 6, true)
-                        ));
+                        )
+
+                        MOTOR_RULES.put(rule);
                     }
                 }
                 MOTOR_RULES.cleanup();
@@ -1751,6 +1753,52 @@ var mspHelper = (function (gui) {
         }
     };
 
+    self.sendMotorMixer = function (onCompleteCallback) {
+        var nextFunction = sendMixer,
+            servoIndex = 0;
+
+        if (MOTOR_RULES.length == 0) {
+            onCompleteCallback();
+        } else {
+            nextFunction();
+        }
+
+        function sendMixer() {
+
+            var buffer = [];
+
+            // send one at a time, with index
+
+            var rule = MOTOR_RULES.get()[servoIndex];
+
+            if (rule) {
+
+                buffer.push(servoIndex);
+
+                buffer.push(lowByte(rule.getThrottleForMsp()));
+                buffer.push(highByte(rule.getThrottleForMsp()));
+
+                buffer.push(lowByte(rule.getRollForMsp()));
+                buffer.push(highByte(rule.getRollForMsp()));
+
+                buffer.push(lowByte(rule.getPitchForMsp()));
+                buffer.push(highByte(rule.getPitchForMsp()));
+
+                buffer.push(lowByte(rule.getYawForMsp()));
+                buffer.push(highByte(rule.getYawForMsp()));
+
+                // prepare for next iteration
+                servoIndex++;
+                if (servoIndex == MOTOR_RULES.length) { //This is the last rule. Not pretty, but we have to send all rules
+                    nextFunction = onCompleteCallback;
+                }
+                MSP.send_message(MSPCodes.MSP2_COMMON_SET_MOTOR_MIXER, buffer, false, nextFunction);
+            } else {
+                onCompleteCallback();
+            }
+        }
+    };
+
     self.sendModeRanges = function (onCompleteCallback) {
         var nextFunction = send_next_mode_range;
 
@@ -2540,7 +2588,11 @@ var mspHelper = (function (gui) {
 
     self.loadServoMixRules = function (callback) {
         MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, callback);
-    }
+    };
+
+    self.loadMotorMixRules = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_COMMON_MOTOR_MIXER, false, false, callback);
+    };
 
     self.getCraftName = function(callback) {
         if (semver.gt(CONFIG.flightControllerVersion, "1.8.0")) {

package.json

@@ -29,9 +29,9 @@
     "inflection": "1.12.0",
     "jquery": "2.1.4",
     "jquery-ui-npm": "1.12.0",
-    "nw": "^0.25.4-sdk",
-    "nw-builder": "^3.4.1",
-    "openlayers": "^4.3.3",
+    "nw": "^0.25.4",
+    "nw-builder": "^3.5.1",
+    "openlayers": "^4.6.4",
     "run-sequence": "^2.2.0",
     "temp": "^0.8.3",
     "three": "0.72.0"