Increase vbat resolution

js/fc.js

@@ -28,6 +28,7 @@ var CONFIG,
     ARMING_CONFIG,
     FC_CONFIG,
     MISC,
+    VOLTMETER_CONFIG,
     _3D,
     DATAFLASH,
     SDCARD,
@@ -215,8 +216,12 @@ var FC = {
         ANALOG = {
             voltage: 0,
             mAhdrawn: 0,
+            mWhdrawn: 0,
             rssi: 0,
-            amperage: 0
+            amperage: 0,
+            power: 0,
+            cell_count: 0,
+            battery_percentage: 0
         };
 
         ARMING_CONFIG = {
@@ -244,7 +249,24 @@ var FC = {
             vbatscale: 0,
             vbatmincellvoltage: 0,
             vbatmaxcellvoltage: 0,
-            vbatwarningcellvoltage: 0
+            vbatwarningcellvoltage: 0,
+            battery_capacity: 0,
+            battery_capacity_warning: 0,
+            battery_capacity_critical: 0,
+            battery_capacity_unit: 0
+        };
+
+        BATTERY_CONFIG = {
+            vbatscale: 0,
+            vbatmincellvoltage: 0,
+            vbatmaxcellvoltage: 0,
+            vbatwarningcellvoltage: 0,
+            current_offset: 0,
+            current_scale: 0,
+            capacity: 0,
+            capacity_warning: 0,
+            capacity_critical: 0,
+            capacity_unit: 0
         };
 
         ADVANCED_CONFIG = {

js/msp/MSPCodes.js

@@ -153,6 +153,14 @@ var MSPCodes = {
     MSP_BF_BUILD_INFO:          69,  // build date as well as some space for future expansion
 
     // INAV specific codes
-    MSPV2_SETTING:          0x1003,
+    MSPV2_SETTING:                      0x1003,
-    MSPV2_SET_SETTING:      0x1004,
+    MSPV2_SET_SETTING:                  0x1004,
+    MSPV2_INAV_STATUS:                  0x2000,
+    MSPV2_INAV_OPTICAL_FLOW:            0x2001,
+    MSPV2_INAV_ANALOG:                  0x2002,
+    MSPV2_INAV_MISC:                    0x2003,
+    MSPV2_INAV_SET_MISC:                0x2004,
+    MSPV2_INAV_BATTERY_CONFIG:          0x2005,
+    MSPV2_INAV_SET_BATTERY_CONFIG:      0x2006
+
 };

js/msp/MSPHelper.js

@@ -235,6 +235,22 @@ var mspHelper = (function (gui) {
                 ANALOG.mAhdrawn = data.getUint16(1, true);
                 ANALOG.rssi = data.getUint16(3, true); // 0-1023
                 ANALOG.amperage = data.getInt16(5, true) / 100; // A
+                break;
+            case MSPCodes.MSPV2_INAV_ANALOG:
+                ANALOG.voltage = data.getUint16(offset, true) / 100.0;
+                offset += 2;
+                ANALOG.cell_count = data.getUint8(offset++);
+                ANALOG.battery_percentage = data.getUint8(offset++);
+                ANALOG.power = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.mAhdrawn = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.mWhdrawn = data.getUint16(offset, true);
+                offset += 2;
+                ANALOG.rssi = data.getUint16(offset, true); // 0-1023
+                offset += 2;
+                ANALOG.amperage = data.getInt16(offset, true) / 100; // A
+                offset += 2;
                 //noinspection JSValidateTypes
                 dataHandler.analog_last_received_timestamp = Date.now();
                 break;
@@ -299,6 +315,61 @@ var mspHelper = (function (gui) {
                 MISC.vbatmaxcellvoltage = data.getUint8(offset++) / 10; // 10-50
                 MISC.vbatwarningcellvoltage = data.getUint8(offset++) / 10; // 10-50
                 break;
+            case MSPCodes.MSPV2_INAV_MISC:
+                MISC.midrc = data.getInt16(offset, true);
+                offset += 2;
+                MISC.minthrottle = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.mincommand = data.getUint16(offset, true); // 0-2000
+                offset += 2;
+                MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
+                offset += 2;
+                MISC.gps_type = data.getUint8(offset++);
+                MISC.sensors_baudrate = data.getUint8(offset++);
+                MISC.gps_ubx_sbas = data.getInt8(offset++);
+                MISC.rssi_channel = data.getUint8(offset++);
+                MISC.placeholder2 = data.getUint8(offset++);
+                MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
+                offset += 2;
+                MISC.vbatscale = data.getUint16(offset, true);
+                offset += 2;
+                MISC.vbatmincellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                MISC.battery_capacity = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_warning = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_critical = data.getUint32(offset, true);
+                offset += 4;
+                MISC.battery_capacity_unit = data.getUint8(offset++);
+                break;
+            case MSPCodes.MSPV2_INAV_BATTERY_CONFIG:
+                BATTERY_CONFIG.vbatscale = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.vbatmincellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
+                offset += 2;
+                BATTERY_CONFIG.current_offset = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.current_scale = data.getUint16(offset, true);
+                offset += 2;
+                BATTERY_CONFIG.capacity = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.capacity_warning = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.capacity_critical = data.getUint32(offset, true);
+                offset += 4;
+                BATTERY_CONFIG.capacity_unit = data.getUint8(offset++);
+                break;
             case MSPCodes.MSP_3D:
                 _3D.deadband3d_low = data.getUint16(offset, true);
                 offset += 2;
@@ -1294,6 +1365,62 @@ var mspHelper = (function (gui) {
                 buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
                 buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
                 break;
+            case MSPCodes.MSPV2_INAV_SET_MISC:
+                buffer.push(lowByte(MISC.midrc));
+                buffer.push(highByte(MISC.midrc));
+                buffer.push(lowByte(MISC.minthrottle));
+                buffer.push(highByte(MISC.minthrottle));
+                buffer.push(lowByte(MISC.maxthrottle));
+                buffer.push(highByte(MISC.maxthrottle));
+                buffer.push(lowByte(MISC.mincommand));
+                buffer.push(highByte(MISC.mincommand));
+                buffer.push(lowByte(MISC.failsafe_throttle));
+                buffer.push(highByte(MISC.failsafe_throttle));
+                buffer.push(MISC.gps_type);
+                buffer.push(MISC.sensors_baudrate);
+                buffer.push(MISC.gps_ubx_sbas);
+                buffer.push(MISC.multiwiicurrentoutput);
+                buffer.push(MISC.rssi_channel);
+                buffer.push(MISC.placeholder2);
+                buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
+                buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
+                buffer.push(lowByte(MISC.vbatscale));
+                buffer.push(highByte(MISC.vbatscale));
+                buffer.push(lowByte(Math.round(MISC.vbatmincellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatmincellvoltage * 100)));
+                buffer.push(lowByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
+                buffer.push(lowByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
+                buffer.push(highByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity_warning, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(MISC.battery_capacity_critical, byte_index));
+                buffer.push(MISC.battery_capacity_unit);
+                break;
+            case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
+                buffer.push(lowByte(BATTERY_CONFIG.vbatscale));
+                buffer.push(highByte(BATTERY_CONFIG.vbatscale));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
+                buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
+                buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
+                buffer.push(lowByte(BATTERY_CONFIG.current_offset));
+                buffer.push(highByte(BATTERY_CONFIG.current_offset));
+                buffer.push(lowByte(BATTERY_CONFIG.current_scale));
+                buffer.push(highByte(BATTERY_CONFIG.current_scale));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity_warning, byte_index));
+                for (byte_index = 0; byte_index < 4; ++byte_index)
+                    buffer.push(specificByte(BATTERY_CONFIG.capacity_critical, byte_index));
+                buffer.push(BATTERY_CONFIG.capacity_unit);
+                break;
 
             case MSPCodes.MSP_SET_RX_CONFIG:
                 buffer.push(RX_CONFIG.serialrx_provider);
@@ -2219,6 +2346,14 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_MISC, false, false, callback);
     };
 
+    self.loadMiscV2 = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_MISC, false, false, callback);
+    };
+
+    self.loadBatteryConfig = function (callback) {
+	MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
+    };
+
     self.loadArmingConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, callback);
     };
@@ -2331,6 +2466,14 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, callback);
     };
 
+    self.saveMiscV2 = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_INAV_SET_MISC, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_MISC), false, callback);
+    };
+
+    self.saveBatteryConfig = function (callback) {
+        MSP.send_message(MSPCodes.MSPV2_SET_BATTERY_CONFIG, mspHelper.crunch(MSPCodes.MSPV2_SET_BATTERY_CONFIG), false, callback);
+    };
+
     self.save3dConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, callback);
     };

js/periodicStatusUpdater.js

@@ -61,18 +61,31 @@ helper.periodicStatusUpdater = (function () {
         }
 
         if (ANALOG != undefined) {
-            var nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
+            var nbCells;
-            if (ANALOG.voltage == 0)
+
-                nbCells = 1;
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                nbCells = ANALOG.cell_count;
+            } else {
+                nbCells = Math.floor(ANALOG.voltage / MISC.vbatmaxcellvoltage) + 1;
+                if (ANALOG.voltage == 0)
+                    nbCells = 1;
+            }
 
             var min = MISC.vbatmincellvoltage * nbCells;
             var max = MISC.vbatmaxcellvoltage * nbCells;
             var warn = MISC.vbatwarningcellvoltage * nbCells;
 
-            $(".battery-status").css({
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
-                width: ((ANALOG.voltage - min) / (max - min) * 100) + "%",
+                $(".battery-status").css({
-                display: 'inline-block'
+                    width: ANALOG.battery_percentage + "%",
-            });
+                    display: 'inline-block'
+                });
+            } else {
+                $(".battery-status").css({
+                    width: ((ANALOG.voltage - min) / (max - min) * 100) + "%",
+                    display: 'inline-block'
+                });
+            }
 
             if (active) {
                 $(".linkicon").css({
@@ -123,11 +136,15 @@ helper.periodicStatusUpdater = (function () {
                 MSP.send_message(MSPCodes.MSP_STATUS, false, false);
             }
 
-            MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                MSP.send_message(MSPCodes.MSPV2_INAV_ANALOG, false, false);
+            } else {
+                MSP.send_message(MSPCodes.MSP_ANALOG, false, false);
+            }
 
             privateScope.updateView();
         }
     };
 
     return publicScope;
-})();
+})();

main.css

@@ -1669,7 +1669,7 @@ dialog {
     color: white;
     font-size: 10px;
     margin-top: 20px;
-    width: 90px;
+    width: 100px;
     float: right;
     margin-right: 20px;
     line-height: 12px;
@@ -1761,6 +1761,7 @@ dialog {
 .bottomStatusIcons {
     background-color: #272727;
     height: 31px;
+    margin-left: 5px;
     margin-top: 2px;
     border-bottom-left-radius: 5px;
     border-bottom-right-radius: 5px;

tabs/configuration.html

@@ -382,23 +382,23 @@
                     <!--list of generated features goes here-->
 
                     <div class="number">
-                        <input type="number" id="mincellvoltage" name="mincellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="mincellvoltage" name="mincellvoltage" step="0.01" min="1" max="5" />
                         <label for="mincellvoltage"><span data-i18n="configurationBatteryMinimum"></span></label>
                     </div>
                     <div class="number">
-                        <input type="number" id="maxcellvoltage" name="maxcellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="maxcellvoltage" name="maxcellvoltage" step="0.01" min="1" max="5" />
                         <label for="maxcellvoltage">
                             <span data-i18n="configurationBatteryMaximum"></span>
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="warningcellvoltage" name="warningcellvoltage" step="0.1" min="1" max="5" />
+                        <input type="number" id="warningcellvoltage" name="warningcellvoltage" step="0.01" min="1" max="5" />
                         <label for="warningcellvoltage">
                             <span data-i18n="configurationBatteryWarning"></span>
                         </label>
                     </div>
                     <div class="number">
-                        <input type="number" id="voltagescale" name="voltagescale" step="1" min="10" max="255" />
+                        <input type="number" id="voltagescale" name="voltagescale" step="1" min="10" max="65535" />
                         <label for="voltagescale">
                             <span data-i18n="configurationBatteryScale"></span>
                         </label>

tabs/configuration.js

@@ -24,9 +24,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
     var loadChainer = new MSPChainerClass();
 
-    loadChainer.setChain([
+    var loadChain = [
         mspHelper.loadBfConfig,
-        mspHelper.loadMisc,
         mspHelper.loadArmingConfig,
         mspHelper.loadLoopTime,
         mspHelper.loadRxConfig,
@@ -36,15 +35,22 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.loadINAVPidConfig,
         mspHelper.loadSensorConfig,
         loadCraftName
-    ]);
+    ];
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        loadChain.push(mspHelper.loadMiscV2);
+    } else {
+        loadChain.push(mspHelper.loadMisc);
+    }
+
+    loadChainer.setChain(loadChain);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
 
     var saveChainer = new MSPChainerClass();
 
-    saveChainer.setChain([
+    var saveChain = [
         mspHelper.saveBfConfig,
-        mspHelper.saveMisc,
         mspHelper.save3dConfig,
         mspHelper.saveSensorAlignment,
         mspHelper.saveAccTrim,
@@ -55,8 +61,17 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.saveINAVPidConfig,
         mspHelper.saveSensorConfig,
         saveCraftName,
-        mspHelper.saveToEeprom
+    ];
-    ]);
+
+    if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+        saveChain.push(mspHelper.saveMiscV2);
+    } else {
+        saveChain.push(mspHelper.saveMisc);
+    }
+
+    saveChain.push(mspHelper.saveToEeprom);
+
+    saveChainer.setChain(saveChain);
     saveChainer.setExitPoint(reboot);
 
     function reboot() {
@@ -309,6 +324,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         $('#maxthrottle').val(MISC.maxthrottle);
         $('#mincommand').val(MISC.mincommand);
 
+        // Battery thresholds resolution is 100mV and voltage scale max is 255 before 1.8.1
+        if (semver.lt(CONFIG.flightControllerVersion, '1.8.1')) {
+            $('#mincellvoltage').attr('step', '0.1');
+            $('#maxcellvoltage').attr('step', '0.1');
+            $('#warningcellvoltage').attr('step', '0.1');
+            $('#voltagescale').attr('max', '255');
+        }
+
         // fill battery
         $('#mincellvoltage').val(MISC.vbatmincellvoltage);
         $('#maxcellvoltage').val(MISC.vbatmaxcellvoltage);
@@ -713,7 +736,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         });
 
         helper.interval.add('config_load_analog', function () {
-            $('#batteryvoltage').val([ANALOG.voltage.toFixed(1)]);
+            if (semver.gte(CONFIG.flightControllerVersion, '1.8.1')) {
+                $('#batteryvoltage').val([ANALOG.voltage.toFixed(2)]);
+            } else {
+                $('#batteryvoltage').val([ANALOG.voltage.toFixed(1)]);
+            }
             $('#batterycurrent').val([ANALOG.amperage.toFixed(2)]);
         }, 100, true); // 10 fps
         GUI.content_ready(callback);