From 5c26f60e8b209503549e92fde6c67fc8fb5b27f4 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 17 Dec 2016 10:27:39 +0100
Subject: [PATCH] sensor status fix

---
 js/msp/MSPHelper.js  | 18 +++++++++++++++---
 js/serial_backend.js |  9 +++++++++
 2 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 782301f0..93710f2d 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -55,7 +55,15 @@ var mspHelper = (function (gui) {
                 CONFIG.profile = data.getUint8(10);
                 gui.updateProfileChange();
                 gui.updateStatusBar();
-                sensor_status(CONFIG.activeSensors);
+
+                /*
+                 * Update sensor status only for older firmwares
+                 * Newer firmwares use MSP_STATUS_EX instead
+                 */
+                if (semver.lt(CONFIG.flightControllerVersion, "1.5.0")) {
+                    sensor_status(CONFIG.activeSensors);
+                }
+
                 break;
             case MSPCodes.MSP_STATUS_EX:
                 CONFIG.cycleTime = data.getUint16(0, 1);
@@ -65,7 +73,9 @@ var mspHelper = (function (gui) {
                 CONFIG.profile = data.getUint8(10);
                 CONFIG.cpuload = data.getUint16(11, 1);
 
-                sensor_status(CONFIG.activeSensors);
+                if (semver.lt(CONFIG.flightControllerVersion, "1.5.0")) {
+                    sensor_status(CONFIG.activeSensors);
+                }
                 gui.updateStatusBar();
                 break;
 
@@ -79,7 +89,9 @@ var mspHelper = (function (gui) {
                 SENSOR_STATUS.rangeHwStatus     = data.getUint8(6);
                 SENSOR_STATUS.speedHwStatus     = data.getUint8(7);
                 SENSOR_STATUS.flowHwStatus      = data.getUint8(8);
-                sensor_status_ex(SENSOR_STATUS);
+                if (semver.gte(CONFIG.flightControllerVersion, "1.5.0")) {
+                    sensor_status_ex(SENSOR_STATUS);
+                }
                 break;
 
             case MSPCodes.MSP_RAW_IMU:
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 265f2930..0b4225bc 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -308,6 +308,10 @@ function read_serial(info) {
     }
 }
 
+/**
+ * Sensor handler used in INAV >= 1.5
+ * @param hw_status
+ */
 function sensor_status_ex(hw_status)
 {
     var statusHash = sensor_status_hash(hw_status);
@@ -363,6 +367,11 @@ function sensor_status_hash(hw_status)
            hw_status.flowHwStatus;
 }
 
+/**
+ * Legacy sensor handler used in INAV < 1.5 versions
+ * @param sensors_detected
+ * @deprecated
+ */
 function sensor_status(sensors_detected) {
     SENSOR_STATUS.isHardwareHealthy = 1;
     SENSOR_STATUS.gyroHwStatus      = have_sensor(sensors_detected, 'gyro') ? 1 : 0;