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backend layer for MSP_NAV_POSHOLD

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U-PAWEL-X220\pawel 2017-01-04 19:37:59 +01:00
parent 429075efa5
commit e59726e204
3 changed files with 53 additions and 1 deletions
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14
js/fc.js
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@ -43,6 +43,7 @@ var PID_ADVANCED;
var FILTER_CONFIG;
var SENSOR_STATUS;
var SENSOR_CONFIG;
var NAV_POSHOLD;
var FC = {
isRatesInDps: function () {
@ -258,6 +259,17 @@ var FC = {
accSoftLpfHz: null
};
NAV_POSHOLD = {
userControlMode: null,
maxSpeed: null,
maxClimbRate: null,
maxManualSpeed: null,
maxManualClimbRate: null,
maxBankAngle: null,
useThrottleMidForAlthold: null,
hoverThrottle: null
};
_3D = {
deadband3d_low: 0,
deadband3d_high: 0,
@ -677,5 +689,5 @@ var FC = {
}
return retVal;
},
}
};

3
js/msp/MSPCodes.js
View file

@ -10,6 +10,9 @@ var MSPCodes = {
MSP_INAV_PID: 6,
MSP_SET_INAV_PID: 7,
MSP_NAV_POSHOLD: 12,
MSP_SET_NAV_POSHOLD: 13,
// MSP commands for Cleanflight original features
MSP_CHANNEL_FORWARDING: 32,
MSP_SET_CHANNEL_FORWARDING: 33,

37
js/msp/MSPHelper.js
View file

@ -866,6 +866,21 @@ var mspHelper = (function (gui) {
console.log("MSP_INAV_PID saved");
break;
case MSPCodes.MSP_NAV_POSHOLD:
NAV_POSHOLD.userControlMode = data.getUint8(0);
NAV_POSHOLD.maxSpeed = data.getUint16(1, true);
NAV_POSHOLD.maxClimbRate = data.getUint16(3, true);
NAV_POSHOLD.maxManualSpeed = data.getUint16(5, true);
NAV_POSHOLD.maxManualClimbRate = data.getUint16(7, true);
NAV_POSHOLD.maxBankAngle = data.getUint8(9);
NAV_POSHOLD.useThrottleMidForAlthold = data.getUint8(10);
NAV_POSHOLD.hoverThrottle = data.getUint16(11, true);
break;
case MSPCodes.MSP_SET_NAV_POSHOLD:
console.log('NAV_POSHOLD saved');
break;
case MSPCodes.MSP_SET_MODE_RANGE:
console.log('Mode range saved');
break;
@ -1172,6 +1187,28 @@ var mspHelper = (function (gui) {
buffer.push(0); //reserved
break;
case MSPCodes.MSP_SET_NAV_POSHOLD:
buffer.push(NAV_POSHOLD.userControlMode);
buffer.push(lowByte(NAV_POSHOLD.maxSpeed));
buffer.push(highByte(NAV_POSHOLD.maxSpeed));
buffer.push(lowByte(NAV_POSHOLD.maxClimbRate));
buffer.push(highByte(NAV_POSHOLD.maxClimbRate));
buffer.push(lowByte(NAV_POSHOLD.maxManualSpeed));
buffer.push(highByte(NAV_POSHOLD.maxManualSpeed));
buffer.push(lowByte(NAV_POSHOLD.maxManualClimbRate));
buffer.push(highByte(NAV_POSHOLD.maxManualClimbRate));
buffer.push(NAV_POSHOLD.maxBankAngle);
buffer.push(NAV_POSHOLD.useThrottleMidForAlthold);
buffer.push(lowByte(NAV_POSHOLD.hoverThrottle));
buffer.push(highByte(NAV_POSHOLD.hoverThrottle));
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push(FILTER_CONFIG.gyroSoftLpfHz);