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accel trim support

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This commit is contained in:
cTn 2013-04-15 10:03:34 +02:00
parent 0a1b8c5d03
commit 53eecaba14
4 changed files with 134 additions and 30 deletions
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47
js/serial_backend.js
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@ -38,7 +38,12 @@ var MSP_codes = {
MSP_EEPROM_WRITE: 250,
MSP_DEBUGMSG: 253,
MSP_DEBUG: 254
MSP_DEBUG: 254,
// Additional baseflight commands that are not compatible with MultiWii
MSP_UID: 160,
MSP_ACC_TRIM: 240,
MSP_SET_ACC_TRIM: 239
}
var CONFIG = {
@ -47,7 +52,10 @@ var CONFIG = {
cycleTime: 0,
i2cError: 0,
activeSensors: 0,
mode: 0
mode: 0,
uid: [0, 0, 0],
accelerometerTrims: [0, 0]
}
var PIDs = new Array(10);
@ -207,7 +215,11 @@ function onOpen(openInfo) {
// start polling
serial_poll = setInterval(readPoll, 10);
port_usage_poll = setInterval(port_usage, 1000);
// baseflight specific
send_message(MSP_codes.MSP_UID, MSP_codes.MSP_UID);
send_message(MSP_codes.MSP_ACC_TRIM, MSP_codes.MSP_ACC_TRIM);
// request configuration data
send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT);
send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS);
@ -603,13 +615,19 @@ function process_message(code, data) {
send_message(MSP_codes.MSP_RC_TUNING, MSP_codes.MSP_RC_TUNING);
send_message(MSP_codes.MSP_BOXNAMES, MSP_codes.MSP_BOXNAMES);
send_message(MSP_codes.MSP_BOX, MSP_codes.MSP_BOX);
// baseflight specific
send_message(MSP_codes.MSP_UID, MSP_codes.MSP_UID);
send_message(MSP_codes.MSP_ACC_TRIM, MSP_codes.MSP_ACC_TRIM);
break;
case MSP_codes.MSP_SELECT_SETTING:
console.log(data);
break;
break;
/* disabled (find out why ???)
case MSP_codes.MSP_BIND:
console.log(data);
break;
break;
*/
case MSP_codes.MSP_EEPROM_WRITE:
console.log('Settings Saved in EEPROM');
break;
@ -618,7 +636,24 @@ function process_message(code, data) {
break;
case MSP_codes.MSP_DEBUG:
console.log(data);
break;
break;
// Additional baseflight commands that are not compatible with MultiWii
case MSP_codes.MSP_UID:
if (data.byteLength > 0) {
CONFIG.uid[0] = view.getUint32(0, 1);
CONFIG.uid[1] = view.getUint32(4, 1);
CONFIG.uid[2] = view.getUint32(8, 1);
}
break;
case MSP_codes.MSP_ACC_TRIM:
if (data.byteLength > 0) {
CONFIG.accelerometerTrims[0] = view.getInt16(0, 1); // pitch
CONFIG.accelerometerTrims[1] = view.getInt16(2, 1); // roll
}
break;
case MSP_codes.MSP_SET_ACC_TRIM:
console.log('Accelerometer trimms saved.');
break;
}
}