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Merge branch 'master' into arntlse_safehome_mp

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ArnoTlse 2021-04-17 20:50:11 +02:00 • committed by GitHub
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37 changed files with 2114 additions and 1430 deletions
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94
js/msp/MSPHelper.js
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@ -43,6 +43,7 @@ var mspHelper = (function (gui) {
'FRSKY_OSD': 20,
'DJI_FPV': 21,
'SMARTPORT_MASTER': 23,
'IMU2': 24,
};
// Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
@ -539,6 +540,39 @@ var mspHelper = (function (gui) {
console.log("Logic conditions saved");
break;
case MSPCodes.MSP2_INAV_PROGRAMMING_PID:
PROGRAMMING_PID.flush();
if (data.byteLength % 19 === 0) {
for (i = 0; i < data.byteLength; i += 19) {
PROGRAMMING_PID.put(new ProgrammingPid(
data.getInt8(i), // enabled
data.getInt8(i + 1), // setpointType
data.getInt32(i + 2, true), // setpointValue
data.getInt8(i + 6), // measurementType
data.getInt32(i + 7, true), // measurementValue
data.getInt16(i + 11, true), // gainP
data.getInt16(i + 13, true), // gainI
data.getInt16(i + 15, true), // gainD
data.getInt16(i + 17, true) // gainFF
));
}
}
break;
case MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS:
if (data.byteLength % 4 === 0) {
let index = 0;
for (i = 0; i < data.byteLength; i += 4) {
PROGRAMMING_PID_STATUS.set(index, data.getInt32(i, true));
index++;
}
}
break;
case MSPCodes.MSP2_INAV_SET_PROGRAMMING_PID:
console.log("Programming PID saved");
break;
case MSPCodes.MSP2_COMMON_MOTOR_MIXER:
MOTOR_RULES.flush();
@ -2349,6 +2383,58 @@ var mspHelper = (function (gui) {
}
};
self.loadProgrammingPid = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID, false, false, callback);
}
self.sendProgrammingPid = function (onCompleteCallback) {
let nextFunction = sendPid,
pidIndex = 0;
if (PROGRAMMING_PID.getCount() == 0) {
onCompleteCallback();
} else {
nextFunction();
}
function sendPid() {
let buffer = [];
// send one at a time, with index, 20 bytes per one condition
let pid = PROGRAMMING_PID.get()[pidIndex];
buffer.push(pidIndex);
buffer.push(pid.getEnabled());
buffer.push(pid.getSetpointType());
buffer.push(specificByte(pid.getSetpointValue(), 0));
buffer.push(specificByte(pid.getSetpointValue(), 1));
buffer.push(specificByte(pid.getSetpointValue(), 2));
buffer.push(specificByte(pid.getSetpointValue(), 3));
buffer.push(pid.getMeasurementType());
buffer.push(specificByte(pid.getMeasurementValue(), 0));
buffer.push(specificByte(pid.getMeasurementValue(), 1));
buffer.push(specificByte(pid.getMeasurementValue(), 2));
buffer.push(specificByte(pid.getMeasurementValue(), 3));
buffer.push(specificByte(pid.getGainP(), 0));
buffer.push(specificByte(pid.getGainP(), 1));
buffer.push(specificByte(pid.getGainI(), 0));
buffer.push(specificByte(pid.getGainI(), 1));
buffer.push(specificByte(pid.getGainD(), 0));
buffer.push(specificByte(pid.getGainD(), 1));
buffer.push(specificByte(pid.getGainFF(), 0));
buffer.push(specificByte(pid.getGainFF(), 1));
// prepare for next iteration
pidIndex++;
if (pidIndex == PROGRAMMING_PID.getCount()) { //This is the last rule. Not pretty, but we have to send all rules
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_PROGRAMMING_PID, buffer, false, nextFunction);
}
};
self.sendModeRanges = function (onCompleteCallback) {
var nextFunction = send_next_mode_range;
@ -3227,5 +3313,13 @@ var mspHelper = (function (gui) {
}
};
self.loadProgrammingPidStatus = function (callback) {
if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
} else {
callback();
}
};
return self;
})(GUI);