Servo output in Servo tab

_locales/en/messages.json

@@ -1226,6 +1226,9 @@
     "servosReverse": {
         "message": "Reverse"
     },
+    "servoOutput": {
+        "message": "Output"
+    },
     "servosRate": {
         "message": "Rate (%)"
     },

gulpfile.js

@@ -84,6 +84,7 @@ sources.js = [
     './js/serial.js',
     './js/servoMixRule.js',
     './js/motorMixRule.js',
+    './js/outputMapping.js',
     './js/model.js',
     './js/serial_backend.js',
     './js/data_storage.js',

js/fc.js

@@ -495,7 +495,7 @@ var FC = {
 
         RXFAIL_CONFIG = [];
 
-        OUTPUT_MAPPING = [];
+        OUTPUT_MAPPING = new OutputMappingCollection();
     },
     getOutputUsages: function() {
         return {

js/msp/MSPHelper.js

@@ -1339,9 +1339,9 @@ var mspHelper = (function (gui) {
                 console.log('OSD preferences saved');
                 break;
             case MSPCodes.MSPV2_INAV_OUTPUT_MAPPING:
-                OUTPUT_MAPPING = [];
+                OUTPUT_MAPPING.flush();
                 for (i = 0; i < data.byteLength; ++i)
-                    OUTPUT_MAPPING.push(data.getUint8(i));
+                    OUTPUT_MAPPING.put(data.getUint8(i));
                 break;
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
@@ -2546,7 +2546,7 @@ var mspHelper = (function (gui) {
         if (semver.gte(CONFIG.flightControllerVersion, '2.0.0'))
             MSP.send_message(MSPCodes.MSPV2_INAV_OUTPUT_MAPPING, false, false, callback);
         else {
-            OUTPUT_MAPPING = [];
+            OUTPUT_MAPPING.flush();
             return false;
         }
     };

js/outputMapping.js

@@ -0,0 +1,77 @@
+/*global bit_check*/
+'use strict';
+
+let OutputMappingCollection = function () {
+    let self = {},
+        data = [];
+
+    const TIM_USE_ANY = 0;
+    const TIM_USE_PPM = 0;
+    const TIM_USE_PWM = 1;
+    const TIM_USE_MC_MOTOR = 2;     // Multicopter motor output
+    const TIM_USE_MC_SERVO = 3;     // Multicopter servo output (i.e. TRI)
+    const TIM_USE_MC_CHNFW = 4;     // Deprecated and not used after removal of CHANNEL_FORWARDING feature
+    const TIM_USE_FW_MOTOR = 5;
+    const TIM_USE_FW_SERVO = 6;
+    const TIM_USE_LED = 24;
+    const TIM_USE_BEEPER = 25;
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.put = function (element) {
+        data.push(element);
+    };
+
+    function getFirstOutputOffset() {
+        for (let i = 0; i < data.length; i++) {
+            if (
+                bit_check(data[i], TIM_USE_MC_MOTOR) ||
+                bit_check(data[i], TIM_USE_MC_SERVO) ||
+                bit_check(data[i], TIM_USE_FW_MOTOR) ||
+                bit_check(data[i], TIM_USE_FW_SERVO)
+            ) {
+                return i;
+            }
+        }
+        return 0;
+    }
+
+    function getOutput(servoIndex, bit) {
+
+        let offset = getFirstOutputOffset();
+
+        let lastFound = 0;
+
+        for (let i = offset; i < data.length; i++) {
+            if (bit_check(data[i], bit)) {
+                if (lastFound == servoIndex) {
+                    return i - offset + 1;
+                } else {
+                    lastFound++;
+                }
+            }
+        }
+
+        return null;
+    }
+
+    self.getFwServoOutput = function (servoIndex) {
+        return getOutput(servoIndex, TIM_USE_FW_SERVO);
+    };
+
+    self.getFwMotorOutput = function (index) {
+        return getOutput(index, TIM_USE_FW_MOTOR);
+    };
+
+    self.getMrMotorOutput = function (index) {
+        return getOutput(index, TIM_USE_MC_MOTOR);
+    };
+
+    self.getMrServoOutput = function (index) {
+        return getOutput(index, TIM_USE_MC_SERVO);
+    };
+
+    return self;
+}

js/servoMixerRuleCollection.js

@@ -1,4 +1,4 @@
-/*global $, ServoMixRule*/
+/*global ServoMixRule*/
 'use strict';
 
 var ServoMixerRuleCollection = function () {

tabs/servos.js

@@ -1,4 +1,4 @@
-/*global fc,mspHelper,TABS*/
+/*global $,fc,mspHelper,TABS*/
 'use strict';
 
 TABS.servos = {};
@@ -14,6 +14,8 @@ TABS.servos.initialize = function (callback) {
     loadChainer.setChain([
         mspHelper.loadServoMixRules,
         mspHelper.loadServoConfiguration,
+        mspHelper.loadOutputMapping,
+        mspHelper.loadMixerConfig,
         mspHelper.loadRcData,
         mspHelper.loadBfConfig,
     ]);
@@ -74,6 +76,7 @@ TABS.servos.initialize = function (callback) {
                     <th data-i18n="servosMax"></th>\
                     <th data-i18n="servosRate"></th>\
                     <th data-i18n="servosReverse"></th>\
+                    <th data-i18n="servoOutput"></th>\
                 ');
         }
 
@@ -118,9 +121,30 @@ TABS.servos.initialize = function (callback) {
                     }
                 });
             } else {
+
+                $currentRow.append('<td class="text-center output"></td>');
+
+                let output,
+                    outputString;
+
+                if (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER) {
+                    output = OUTPUT_MAPPING.getMrServoOutput(usedServoIndex);
+                } else {
+                    output = OUTPUT_MAPPING.getFwServoOutput(usedServoIndex);
+                }
+
+                if (output === null) {
+                    outputString = "-";
+                } else {
+                    outputString = "S" + output;
+                }
+
+                $currentRow.find('.output').html(outputString);
                 //For 2.0 and above hide a row when servo is not configured
                 if (!SERVO_RULES.isServoConfigured(obj)) {
-                    $servoConfigTable.find('tr:last').hide();
+                    $currentRow.hide();
+                } else {
+                    usedServoIndex++;
                 }
             }
         }
@@ -154,8 +178,10 @@ TABS.servos.initialize = function (callback) {
         // drop previous table
         $servoConfigTable.find('tr:not(:first)').remove();
 
+        let usedServoIndex = 0;
+
         for (let servoIndex = 0; servoIndex < 8; servoIndex++) {
-            process_servos('Servo ' + servoIndex, '', servoIndex, false);
+            process_servos('Servo ' + servoIndex, '', servoIndex);
         }
 
         // UI hooks for dynamically generated elements