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Switch to MSP2_INAV_SERVO_MIXER when possible

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-03-10 12:07:30 +01:00
parent fa3d57749f
commit 6306f53da6
3 changed files with 35 additions and 2 deletions
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5
js/msp/MSPCodes.js
View file

@ -203,6 +203,11 @@ var MSPCodes = {
MSP2_INAV_SET_TEMP_SENSOR_CONFIG: 0x201D,
MSP2_INAV_TEMPERATURES: 0x201E,
MSP2_INAV_SERVO_MIXER: 0x2020,
MSP2_INAV_SET_SERVO_MIXER: 0x2021,
MSP2_INAV_LOGIC_CONDITIONS: 0x2022,
MSP2_INAV_SET_LOGIC_CONDITIONS: 0x2023,
MSP2_PID: 0x2030,
MSP2_SET_PID: 0x2031
};

20
js/msp/MSPHelper.js
View file

@ -519,6 +519,22 @@ var mspHelper = (function (gui) {
}
SERVO_RULES.cleanup();
break;
case MSPCodes.MSP2_INAV_SERVO_MIXER:
SERVO_RULES.flush();
if (data.byteLength % 6 === 0) {
for (i = 0; i < data.byteLength; i += 6) {
SERVO_RULES.put(new ServoMixRule(
data.getInt8(i),
data.getInt8(i + 1),
data.getInt16(i + 2, true),
data.getInt8(i + 4),
data.getInt8(i + 5)
));
}
}
SERVO_RULES.cleanup();
break;
case MSPCodes.MSP_SET_SERVO_MIX_RULE:
@ -3115,7 +3131,11 @@ var mspHelper = (function (gui) {
};
self.loadServoMixRules = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) {
MSP.send_message(MSPCodes.MSP2_INAV_SERVO_MIXER, false, false, callback);
} else {
MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, callback);
}
};
self.loadMotorMixRules = function (callback) {

10
js/servoMixRule.js
View file

@ -1,7 +1,7 @@
/*global $*/
'use strict';
var ServoMixRule = function (target, input, rate, speed) {
var ServoMixRule = function (target, input, rate, speed, condition) {
var self = {};
@ -41,5 +41,13 @@ var ServoMixRule = function (target, input, rate, speed) {
return rate !== 0;
};
self.getConditionId = function () {
return (condition == undefined) ? -1 : condition;
}
self.setConditionId = function (data) {
condition = data;
};
return self;
};