From dc74f95efdc70af7bcdacb14bf1ed1b7e8a21cdb Mon Sep 17 00:00:00 2001
From: "Konstantin Sharlaimov (DigitalEntity)"
 <konstantin.sharlaimov@gmail.com>
Date: Sun, 6 May 2018 10:41:29 +1000
Subject: [PATCH] Opflow alignment support in MSP API

---
 js/fc.js            | 3 ++-
 js/msp/MSPHelper.js | 6 ++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/js/fc.js b/js/fc.js
index 376ad4ee..c50fdaa2 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -435,7 +435,8 @@ var FC = {
         SENSOR_ALIGNMENT = {
             align_gyro: 0,
             align_acc: 0,
-            align_mag: 0
+            align_mag: 0,
+            align_opflow: 0
         };
 
         RX_CONFIG = {
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index e1e60fe6..090b551e 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -543,6 +543,9 @@ var mspHelper = (function (gui) {
                 SENSOR_ALIGNMENT.align_gyro = data.getUint8(offset++);
                 SENSOR_ALIGNMENT.align_acc = data.getUint8(offset++);
                 SENSOR_ALIGNMENT.align_mag = data.getUint8(offset++);
+                if (semver.gte(CONFIG.flightControllerVersion, "2.0.0")) {
+                    SENSOR_ALIGNMENT.align_opflow = data.getUint8(offset++);
+                }
                 break;
             case MSPCodes.MSP_SET_RAW_RC:
                 break;
@@ -1652,6 +1655,9 @@ var mspHelper = (function (gui) {
                 buffer.push(SENSOR_ALIGNMENT.align_gyro);
                 buffer.push(SENSOR_ALIGNMENT.align_acc);
                 buffer.push(SENSOR_ALIGNMENT.align_mag);
+                if (semver.gte(CONFIG.flightControllerVersion, "2.0.0")) {
+                    buffer.push(SENSOR_ALIGNMENT.align_opflow);
+                }
                 break;
 
             case MSPCodes.MSP_SET_ADVANCED_CONFIG: