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inav-configurator/js/msp/MSPHelper.js
Scavanger f7cf01091e RC2 Fixses
2024-11-16 18:59:36 -03:00

3539 lines
152 KiB
JavaScript
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'use strict';
const semver = require('semver');
require('./../injected_methods');
const { GUI } = require('./../gui');
const MSP = require('./../msp');
const MSPCodes = require('./MSPCodes');
const FC = require('./../fc');
const VTX = require('./../vtx');
const mspQueue = require('./../serial_queue');
const ServoMixRule = require('./../servoMixRule');
const MotorMixRule = require('./../motorMixRule');
const LogicCondition = require('./../logicCondition');
const BitHelper = require('../bitHelper');
const serialPortHelper = require('./../serialPortHelper');
const ProgrammingPid = require('./../programmingPid');
const Safehome = require('./../safehome');
const { FwApproach } = require('./../fwApproach');
const Waypoint = require('./../waypoint');
const mspDeduplicationQueue = require('./mspDeduplicationQueue');
const mspStatistics = require('./mspStatistics');
const settingsCache = require('./../settingsCache');
const {Geozone, GeozoneVertex, GeozoneShapes } = require('./../geozone');
var mspHelper = (function () {
var self = {};
self.sensorStatusEx = null;
self.setSensorStatusEx = function (cb) {
self.sensorStatusEx = cb;
}
self.BAUD_RATES_post1_6_3 = [
'AUTO',
'1200',
'2400',
'4800',
'9600',
'19200',
'38400',
'57600',
'115200',
'230400',
'250000',
'460800',
'921600'
];
// Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
// the newline at the end, so we keep the pending message here until we find a
// '\0', then print it. Messages sent by MSP_DEBUGMSG are guaranteed to
// always finish with a '\0'.
var debugMsgBuffer = '';
self.init = function() {
MSP.setProcessData(this.processData);
}
/**
*
* @param {MSP} dataHandler
*/
self.processData = function (dataHandler) {
var data = new DataView(dataHandler.message_buffer, 0), // DataView (allowing us to view arrayBuffer as struct/union)
offset = 0,
needle = 0,
i = 0,
buff = [],
identifier = '',
flags,
colorCount,
color;
if (!dataHandler.unsupported || dataHandler.unsupported) switch (dataHandler.code) {
case MSPCodes.MSPV2_INAV_STATUS:
let profile_changed = 0;
FC.CONFIG.cycleTime = data.getUint16(offset, true);
offset += 2;
FC.CONFIG.i2cError = data.getUint16(offset, true);
offset += 2;
FC.CONFIG.activeSensors = data.getUint16(offset, true);
offset += 2;
FC.CONFIG.cpuload = data.getUint16(offset, true);
offset += 2;
let profile_byte = data.getUint8(offset++)
let profile = profile_byte & 0x0F;
if (profile !== FC.CONFIG.profile) {
profile_changed |= GUI.PROFILES_CHANGED.CONTROL;
}
FC.CONFIG.profile = profile;
let battery_profile = (profile_byte & 0xF0) >> 4;
if (battery_profile !== FC.CONFIG.battery_profile) {
profile_changed |= GUI.PROFILES_CHANGED.BATTERY;
}
FC.CONFIG.battery_profile = battery_profile;
FC.CONFIG.armingFlags = data.getUint32(offset, true);
offset += 4;
//As there are 8 bytes for mspBoxModeFlags (number of bytes is actually variable)
//read mixer profile as the last byte in the the message
profile_byte = data.getUint8(dataHandler.message_length_expected - 1);
let mixer_profile = profile_byte & 0x0F;
if (mixer_profile !== FC.CONFIG.mixer_profile) {
profile_changed |= GUI.PROFILES_CHANGED.MIXER;
}
FC.CONFIG.mixer_profile = mixer_profile;
GUI.updateStatusBar();
if (profile_changed > 0) {
GUI.updateProfileChange(profile_changed);
}
break;
case MSPCodes.MSP_ACTIVEBOXES:
var words = dataHandler.message_length_expected / 4;
FC.CONFIG.mode = [];
for (let i = 0; i < words; ++i)
FC.CONFIG.mode.push(data.getUint32(i * 4, true));
break;
case MSPCodes.MSP_SENSOR_STATUS:
FC.SENSOR_STATUS.isHardwareHealthy = data.getUint8(0);
FC.SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
FC.SENSOR_STATUS.accHwStatus = data.getUint8(2);
FC.SENSOR_STATUS.magHwStatus = data.getUint8(3);
FC.SENSOR_STATUS.baroHwStatus = data.getUint8(4);
FC.SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
FC.SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
FC.SENSOR_STATUS.speedHwStatus = data.getUint8(7);
FC.SENSOR_STATUS.flowHwStatus = data.getUint8(8);
self.sensorStatusEx(FC.SENSOR_STATUS);
break;
case MSPCodes.MSP_RAW_IMU:
// 512 for mpu6050, 256 for mma
// currently we are unable to differentiate between the sensor types, so we are goign with 512
FC.SENSOR_DATA.accelerometer[0] = data.getInt16(0, true) / 512;
FC.SENSOR_DATA.accelerometer[1] = data.getInt16(2, true) / 512;
FC.SENSOR_DATA.accelerometer[2] = data.getInt16(4, true) / 512;
// properly scaled
FC.SENSOR_DATA.gyroscope[0] = data.getInt16(6, true) * (4 / 16.4);
FC.SENSOR_DATA.gyroscope[1] = data.getInt16(8, true) * (4 / 16.4);
FC.SENSOR_DATA.gyroscope[2] = data.getInt16(10, true) * (4 / 16.4);
// no clue about scaling factor
FC.SENSOR_DATA.magnetometer[0] = data.getInt16(12, true) / 1090;
FC.SENSOR_DATA.magnetometer[1] = data.getInt16(14, true) / 1090;
FC.SENSOR_DATA.magnetometer[2] = data.getInt16(16, true) / 1090;
break;
case MSPCodes.MSP_SERVO:
var servoCount = dataHandler.message_length_expected / 2;
for (let i = 0; i < servoCount; i++) {
FC.SERVO_DATA[i] = data.getUint16(needle, true);
needle += 2;
}
break;
case MSPCodes.MSP_MOTOR:
var motorCount = dataHandler.message_length_expected / 2;
for (let i = 0; i < motorCount; i++) {
FC.MOTOR_DATA[i] = data.getUint16(needle, true);
needle += 2;
}
break;
case MSPCodes.MSP_RC:
FC.RC.active_channels = dataHandler.message_length_expected / 2;
for (let i = 0; i < FC.RC.active_channels; i++) {
FC.RC.channels[i] = data.getUint16((i * 2), true);
}
break;
case MSPCodes.MSP_RAW_GPS:
FC.GPS_DATA.fix = data.getUint8(0);
FC.GPS_DATA.numSat = data.getUint8(1);
FC.GPS_DATA.lat = data.getInt32(2, true);
FC.GPS_DATA.lon = data.getInt32(6, true);
FC.GPS_DATA.alt = data.getInt16(10, true);
FC.GPS_DATA.speed = data.getUint16(12, true);
FC.GPS_DATA.ground_course = data.getUint16(14, true);
FC.GPS_DATA.hdop = data.getUint16(16, true);
break;
case MSPCodes.MSP_COMP_GPS:
FC.GPS_DATA.distanceToHome = data.getUint16(0, 1);
FC.GPS_DATA.directionToHome = data.getUint16(2, 1);
FC.GPS_DATA.update = data.getUint8(4);
break;
case MSPCodes.MSP_GPSSTATISTICS:
FC.GPS_DATA.messageDt = data.getUint16(0, true);
FC.GPS_DATA.errors = data.getUint32(2, true);
FC.GPS_DATA.timeouts = data.getUint32(6, true);
FC.GPS_DATA.packetCount = data.getUint32(10, true);
FC.GPS_DATA.hdop = data.getUint16(14, true);
FC.GPS_DATA.eph = data.getUint16(16, true);
FC.GPS_DATA.epv = data.getUint16(18, true);
break;
case MSPCodes.MSP2_ADSB_VEHICLE_LIST:
var byteOffsetCounter = 0;
FC.ADSB_VEHICLES.vehicles = [];
FC.ADSB_VEHICLES.vehiclesCount = data.getUint8(byteOffsetCounter++);
FC.ADSB_VEHICLES.callsignLength = data.getUint8(byteOffsetCounter++);
FC.ADSB_VEHICLES.vehiclePacketCount = data.getUint32(byteOffsetCounter, true); byteOffsetCounter += 4;
FC.ADSB_VEHICLES.heartbeatPacketCount = data.getUint32(byteOffsetCounter, true); byteOffsetCounter += 4;
for(i = 0; i < FC.ADSB_VEHICLES.vehiclesCount; i++){
var vehicle = {callSignByteArray: [], callsign: "", icao: 0, lat: 0, lon: 0, alt: 0, heading: 0, ttl: 0, tslc: 0, emitterType: 0};
for(ii = 0; ii < FC.ADSB_VEHICLES.callsignLength; ii++){
vehicle.callSignByteArray.push(data.getUint8(byteOffsetCounter++));
}
vehicle.callsign = (String.fromCharCode(...vehicle.callSignByteArray)).replace(/[^\x20-\x7E]/g, '');
vehicle.icao = data.getUint32(byteOffsetCounter, true); byteOffsetCounter += 4;
vehicle.lat = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
vehicle.lon = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
vehicle.altCM = data.getInt32(byteOffsetCounter, true); byteOffsetCounter += 4;
vehicle.headingDegrees = data.getUint16(byteOffsetCounter, true); byteOffsetCounter += 2;
vehicle.tslc = data.getUint8(byteOffsetCounter++);
vehicle.emitterType = data.getUint8(byteOffsetCounter++);
vehicle.ttl = data.getUint8(byteOffsetCounter++);
FC.ADSB_VEHICLES.vehicles.push(vehicle);
}
break;
case MSPCodes.MSP_ATTITUDE:
FC.SENSOR_DATA.kinematics[0] = data.getInt16(0, true) / 10.0; // x
FC.SENSOR_DATA.kinematics[1] = data.getInt16(2, true) / 10.0; // y
FC.SENSOR_DATA.kinematics[2] = data.getInt16(4, true); // z
break;
case MSPCodes.MSP_ALTITUDE:
FC.SENSOR_DATA.altitude = parseFloat((data.getInt32(0, true) / 100.0).toFixed(2)); // correct scale factor
FC.SENSOR_DATA.barometer = parseFloat((data.getInt32(6, true) / 100.0).toFixed(2)); // correct scale factor
break;
case MSPCodes.MSP_SONAR:
FC.SENSOR_DATA.sonar = data.getInt32(0, true);
break;
case MSPCodes.MSPV2_INAV_AIR_SPEED:
FC.SENSOR_DATA.air_speed = data.getInt32(0, true);
break;
case MSPCodes.MSPV2_INAV_ANALOG:
let tmp = data.getUint8(offset++);
FC.ANALOG.battery_full_when_plugged_in = (tmp & 1 ? true : false);
FC.ANALOG.use_capacity_thresholds = ((tmp & 2) >> 1 ? true : false);
FC.ANALOG.battery_state = (tmp & 12) >> 2;
FC.ANALOG.cell_count = (tmp & 0xF0) >> 4;
FC.ANALOG.voltage = data.getUint16(offset, true) / 100.0;
offset += 2;
FC.ANALOG.amperage = data.getInt16(offset, true) / 100; // A
offset += 2;
FC.ANALOG.power = data.getInt32(offset, true) / 100.0;
offset += 4;
FC.ANALOG.mAhdrawn = data.getInt32(offset, true);
offset += 4;
FC.ANALOG.mWhdrawn = data.getInt32(offset, true);
offset += 4;
FC.ANALOG.battery_remaining_capacity = data.getUint32(offset, true);
offset += 4;
FC.ANALOG.battery_percentage = data.getUint8(offset++);
FC.ANALOG.rssi = data.getUint16(offset, true); // 0-1023
offset += 2;
//noinspection JSValidateTypes
dataHandler.analog_last_received_timestamp = Date.now();
break;
case MSPCodes.MSP_RC_TUNING:
FC.RC_tuning.RC_RATE = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.roll_pitch_rate = 0;
FC.RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) * 10));
FC.RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) * 10));
FC.RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) * 10));
FC.RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
FC.RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
offset += 2;
FC.RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
break;
case MSPCodes.MSPV2_INAV_RATE_PROFILE:
// compat
FC.RC_tuning.RC_RATE = 100;
FC.RC_tuning.roll_pitch_rate = 0;
// throttle
FC.RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
FC.RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
offset += 2;
// stabilized
FC.RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.roll_rate = data.getUint8(offset++) * 10;
FC.RC_tuning.pitch_rate = data.getUint8(offset++) * 10;
FC.RC_tuning.yaw_rate = data.getUint8(offset++) * 10;
// manual
FC.RC_tuning.manual_RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.manual_RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
FC.RC_tuning.manual_roll_rate = data.getUint8(offset++);
FC.RC_tuning.manual_pitch_rate = data.getUint8(offset++);
FC.RC_tuning.manual_yaw_rate = data.getUint8(offset++);
break;
case MSPCodes.MSP2_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
for (let i = 0, needle = 0; i < (dataHandler.message_length_expected / 4); i++, needle += 4) {
FC.PIDs[i][0] = data.getUint8(needle);
FC.PIDs[i][1] = data.getUint8(needle + 1);
FC.PIDs[i][2] = data.getUint8(needle + 2);
FC.PIDs[i][3] = data.getUint8(needle + 3);
}
break;
case MSPCodes.MSP_LOOP_TIME:
FC.FC_CONFIG.loopTime = data.getInt16(0, true);
break;
case MSPCodes.MSPV2_INAV_MISC:
FC.MISC.midrc = data.getInt16(offset, true);
offset += 2;
FC.MISC.minthrottle = data.getUint16(offset, true); // 0-2000
offset += 2;
FC.MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
offset += 2;
FC.MISC.mincommand = data.getUint16(offset, true); // 0-2000
offset += 2;
FC.MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
offset += 2;
FC.MISC.gps_type = data.getUint8(offset++);
FC.MISC.sensors_baudrate = data.getUint8(offset++);
FC.MISC.gps_ubx_sbas = data.getInt8(offset++);
FC.MISC.rssi_channel = data.getUint8(offset++);
FC.MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
offset += 2;
FC.MISC.vbatscale = data.getUint16(offset, true);
offset += 2;
FC.MISC.voltage_source = data.getUint8(offset++);
FC.MISC.battery_cells = data.getUint8(offset++);
FC.MISC.vbatdetectcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.MISC.vbatmincellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.MISC.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.MISC.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.MISC.battery_capacity = data.getUint32(offset, true);
offset += 4;
FC.MISC.battery_capacity_warning = data.getUint32(offset, true);
offset += 4;
FC.MISC.battery_capacity_critical = data.getUint32(offset, true);
offset += 4;
FC.MISC.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
break;
case MSPCodes.MSPV2_INAV_SET_MISC:
console.log('MISC INAV Configuration saved');
break;
case MSPCodes.MSPV2_INAV_BATTERY_CONFIG:
FC.BATTERY_CONFIG.vbatscale = data.getUint16(offset, true);
offset += 2;
FC.BATTERY_CONFIG.voltage_source = data.getUint8(offset++);
FC.BATTERY_CONFIG.battery_cells = data.getUint8(offset++);
FC.BATTERY_CONFIG.vbatdetectcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.BATTERY_CONFIG.vbatmincellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
offset += 2;
FC.BATTERY_CONFIG.current_offset = data.getUint16(offset, true);
offset += 2;
FC.BATTERY_CONFIG.current_scale = data.getUint16(offset, true);
offset += 2;
FC.BATTERY_CONFIG.capacity = data.getUint32(offset, true);
offset += 4;
FC.BATTERY_CONFIG.capacity_warning = data.getUint32(offset, true);
offset += 4;
FC.BATTERY_CONFIG.capacity_critical = data.getUint32(offset, true);
offset += 4;
FC.BATTERY_CONFIG.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
break;
case MSPCodes.MSP_3D:
FC.REVERSIBLE_MOTORS.deadband_low = data.getUint16(offset, true);
offset += 2;
FC.REVERSIBLE_MOTORS.deadband_high = data.getUint16(offset, true);
offset += 2;
FC.REVERSIBLE_MOTORS.neutral = data.getUint16(offset, true);
break;
case MSPCodes.MSP_MOTOR_PINS:
console.log(data);
break;
case MSPCodes.MSP_PIDNAMES:
//noinspection JSUndeclaredVariable
FC.PID_names = []; // empty the array as new data is coming in
buff = [];
for (let i = 0; i < data.byteLength; i++) {
if (data.getUint8(i) == 0x3B) { // ; (delimiter char)
FC.PID_names.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
// empty buffer
buff = [];
} else {
buff.push(data.getUint8(i));
}
}
break;
case MSPCodes.MSP_WP:
FC.MISSION_PLANNER.put(new Waypoint(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true),
data.getInt32(6, true),
data.getInt32(10, true),
data.getInt16(14, true),
data.getInt16(16, true),
data.getInt16(18, true),
data.getUint8(20)
));
break;
case MSPCodes.MSP_BOXIDS:
//noinspection JSUndeclaredVariable
FC.AUX_CONFIG_IDS = []; // empty the array as new data is coming in
for (let i = 0; i < data.byteLength; i++) {
FC.AUX_CONFIG_IDS.push(data.getUint8(i));
}
break;
case MSPCodes.MSP2_INAV_SERVO_MIXER:
FC.SERVO_RULES.flush();
if (data.byteLength % 6 === 0) {
for (let i = 0; i < data.byteLength; i += 6) {
FC.SERVO_RULES.put(new ServoMixRule(
data.getInt8(i),
data.getInt8(i + 1),
data.getInt16(i + 2, true),
data.getInt8(i + 4),
data.getInt8(i + 5)
));
}
}
FC.SERVO_RULES.cleanup();
break;
case MSPCodes.MSP2_INAV_SET_SERVO_MIXER:
console.log("Servo mix saved");
break;
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS:
FC.LOGIC_CONDITIONS.flush();
if (data.byteLength % 14 === 0) {
for (let i = 0; i < data.byteLength; i += 14) {
FC.LOGIC_CONDITIONS.put(new LogicCondition(
data.getInt8(i),
data.getInt8(i + 1),
data.getUint8(i + 2),
data.getUint8(i + 3),
data.getInt32(i + 4, true),
data.getUint8(i + 8),
data.getInt32(i + 9, true),
data.getInt8(i + 13)
));
}
}
break;
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
FC.LOGIC_CONDITIONS.put(new LogicCondition(
data.getInt8(0),
data.getInt8(1),
data.getUint8(2),
data.getUint8(3),
data.getInt32(4, true),
data.getUint8(8),
data.getInt32(9, true),
data.getInt8(13)
));
break;
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS:
if (data.byteLength % 4 === 0) {
let index = 0;
for (let i = 0; i < data.byteLength; i += 4) {
FC.LOGIC_CONDITIONS_STATUS.set(index, data.getInt32(i, true));
index++;
}
}
break;
case MSPCodes.MSP2_INAV_GVAR_STATUS:
if (data.byteLength % 4 === 0) {
let index = 0;
for (let i = 0; i < data.byteLength; i += 4) {
FC.GLOBAL_VARIABLES_STATUS.set(index, data.getInt32(i, true));
index++;
}
}
break;
case MSPCodes.MSP2_INAV_SET_LOGIC_CONDITIONS:
console.log("Logic conditions saved");
break;
case MSPCodes.MSP2_INAV_PROGRAMMING_PID:
FC.PROGRAMMING_PID.flush();
if (data.byteLength % 19 === 0) {
for (let i = 0; i < data.byteLength; i += 19) {
FC.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 (let i = 0; i < data.byteLength; i += 4) {
FC.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:
FC.MOTOR_RULES.flush();
if (data.byteLength % 8 === 0) {
for (let i = 0; i < data.byteLength; i += 8) {
var rule = new MotorMixRule(0, 0, 0, 0);
rule.fromMsp(
data.getUint16(i, true),
data.getUint16(i + 2, true),
data.getUint16(i + 4, true),
data.getUint16(i + 6, true)
);
FC.MOTOR_RULES.put(rule);
}
}
FC.MOTOR_RULES.cleanup();
break;
case MSPCodes.MSP2_COMMON_SET_MOTOR_MIXER:
console.log("motor mixer saved");
break;
case MSPCodes.MSP2_INAV_SERVO_CONFIG:
//noinspection JSUndeclaredVariable
FC.SERVO_CONFIG = []; // empty the array as new data is coming in
if (data.byteLength % 7 == 0) {
for (i = 0; i < data.byteLength; i += 7) {
var arr = {
'min': data.getInt16(i + 0, true),
'max': data.getInt16(i + 2, true),
'middle': data.getInt16(i + 4, true),
'rate': data.getInt8(i + 6),
};
FC.SERVO_CONFIG.push(arr);
}
}
break;
case MSPCodes.MSP_RC_DEADBAND:
FC.RC_deadband.deadband = data.getUint8(offset++);
FC.RC_deadband.yaw_deadband = data.getUint8(offset++);
FC.RC_deadband.alt_hold_deadband = data.getUint8(offset++);
FC.REVERSIBLE_MOTORS.deadband_throttle = data.getUint16(offset, true);
break;
case MSPCodes.MSP_SENSOR_ALIGNMENT:
FC.SENSOR_ALIGNMENT.align_gyro = data.getUint8(offset++);
FC.SENSOR_ALIGNMENT.align_acc = data.getUint8(offset++);
FC.SENSOR_ALIGNMENT.align_mag = data.getUint8(offset++);
FC.SENSOR_ALIGNMENT.align_opflow = data.getUint8(offset++);
break;
case MSPCodes.MSP_SET_RAW_RC:
break;
case MSPCodes.MSP_SET_RAW_GPS:
break;
case MSPCodes.MSP2_SET_PID:
console.log('PID settings saved');
break;
case MSPCodes.MSP_SET_RC_TUNING:
console.log('RC Tuning saved');
break;
case MSPCodes.MSP_ACC_CALIBRATION:
console.log('Accelerometer calibration executed');
break;
case MSPCodes.MSP_MAG_CALIBRATION:
console.log('Mag calibration executed');
break;
case MSPCodes.MSP2_INAV_OPFLOW_CALIBRATION:
console.log('Optic flow calibration executed');
break;
case MSPCodes.MSP_RESET_CONF:
console.log('Settings Reset');
break;
case MSPCodes.MSP_SELECT_SETTING:
console.log('Profile selected');
break;
case MSPCodes.MSP2_INAV_SET_SERVO_CONFIG:
console.log('Servo Configuration saved');
break;
case MSPCodes.MSP_RTC:
if (data.length >= 6) {
var seconds = data.getInt32(0, true);
var millis = data.getUint16(4, true);
console.log("RTC received: " + new Date(seconds * 1000 + millis));
}
break;
case MSPCodes.MSP_SET_RTC:
console.log('RTC set');
break;
case MSPCodes.MSP_EEPROM_WRITE:
console.log('Settings Saved in EEPROM');
break;
case MSPCodes.MSP_DEBUGMSG:
for (var ii = 0; ii < data.byteLength; ii++) {
var c = data.readU8();
if (c == 0) {
// End of message
if (debugMsgBuffer.length > 1) {
console.log('[DEBUG] ' + debugMsgBuffer);
FC.DEBUG_TRACE = (FC.DEBUG_TRACE || '') + debugMsgBuffer;
}
debugMsgBuffer = '';
continue;
}
debugMsgBuffer += String.fromCharCode(c);
}
break;
case MSPCodes.MSP_DEBUG:
for (let i = 0; i < 4; i++)
FC.SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
break;
case MSPCodes.MSP2_INAV_DEBUG:
for (let i = 0; i < 8; i++)
FC.SENSOR_DATA.debug[i] = data.getInt32((4 * i), 1);
break;
case MSPCodes.MSP_SET_MOTOR:
console.log('Motor Speeds Updated');
break;
// Additional baseflight commands that are not compatible with MultiWii
case MSPCodes.MSP_UID:
FC.CONFIG.uid[0] = data.getUint32(0, true);
FC.CONFIG.uid[1] = data.getUint32(4, true);
FC.CONFIG.uid[2] = data.getUint32(8, true);
break;
case MSPCodes.MSP_ACC_TRIM:
FC.CONFIG.accelerometerTrims[0] = data.getInt16(0, true); // pitch
FC.CONFIG.accelerometerTrims[1] = data.getInt16(2, true); // roll
break;
case MSPCodes.MSP_SET_ACC_TRIM:
console.log('Accelerometer trimms saved.');
break;
// Additional private MSP for baseflight configurator
case MSPCodes.MSP_RX_MAP:
//noinspection JSUndeclaredVariable
FC.RC_MAP = []; // empty the array as new data is coming in
for (let i = 0; i < data.byteLength; i++) {
FC.RC_MAP.push(data.getUint8(i));
}
break;
case MSPCodes.MSP_SET_RX_MAP:
console.log('RCMAP saved');
break;
case MSPCodes.MSP_BOARD_ALIGNMENT:
FC.BOARD_ALIGNMENT.roll = data.getInt16(0, true); // -180 - 360
FC.BOARD_ALIGNMENT.pitch = data.getInt16(2, true); // -180 - 360
FC.BOARD_ALIGNMENT.yaw = data.getInt16(4, true); // -180 - 360
break;
case MSPCodes.MSP_SET_BOARD_ALIGNMENT:
console.log('MSP_SET_BOARD_ALIGNMENT saved');
break;
case MSPCodes.MSP_CURRENT_METER_CONFIG:
FC.CURRENT_METER_CONFIG.scale = data.getInt16(0, true);
FC.CURRENT_METER_CONFIG.offset = data.getInt16(2, true);
FC.CURRENT_METER_CONFIG.type = data.getUint8(4);
FC.CURRENT_METER_CONFIG.capacity = data.getInt16(5, true);
break;
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
console.log('MSP_SET_CURRENT_METER_CONFIG saved');
break;
case MSPCodes.MSP_FEATURE:
FC.FEATURES = data.getUint32(0, true);
break;
case MSPCodes.MSP_SET_FEATURE:
console.log('MSP_SET_FEATURE saved');
break;
case MSPCodes.MSP_SET_REBOOT:
console.log('Reboot request accepted');
break;
//
// Cleanflight specific
//
case MSPCodes.MSP_API_VERSION:
FC.CONFIG.mspProtocolVersion = data.getUint8(offset++);
FC.CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.0';
break;
case MSPCodes.MSP_FC_VARIANT:
for (offset = 0; offset < 4; offset++) {
identifier += String.fromCharCode(data.getUint8(offset));
}
FC.CONFIG.flightControllerIdentifier = identifier;
break;
case MSPCodes.MSP_FC_VERSION:
FC.CONFIG.flightControllerVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.' + data.getUint8(offset++);
break;
case MSPCodes.MSP_BUILD_INFO:
var dateLength = 11;
buff = [];
for (let i = 0; i < dateLength; i++) {
buff.push(data.getUint8(offset++));
}
buff.push(32); // ascii space
var timeLength = 8;
for (let i = 0; i < timeLength; i++) {
buff.push(data.getUint8(offset++));
}
FC.CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
break;
case MSPCodes.MSP_BOARD_INFO:
for (offset = 0; offset < 4; offset++) {
identifier += String.fromCharCode(data.getUint8(offset));
}
FC.CONFIG.boardIdentifier = identifier;
FC.CONFIG.boardVersion = data.getUint16(offset, 1);
offset += 2;
if (semver.gt(FC.CONFIG.flightControllerVersion, "4.1.0")) {
FC.CONFIG.osdUsed = data.getUint8(offset++);
FC.CONFIG.commCompatability = data.getUint8(offset++);
let targetNameLen = data.getUint8(offset++);
let targetName = "";
targetNameLen += offset;
for (offset = offset; offset < targetNameLen; offset++) {
targetName += String.fromCharCode(data.getUint8(offset));
}
FC.CONFIG.target = targetName;
}
break;
case MSPCodes.MSP2_CF_SERIAL_CONFIG:
FC.SERIAL_CONFIG.ports = [];
var bytesPerPort = 1 + 4 + 4;
var serialPortCount = data.byteLength / bytesPerPort;
for (let i = 0; i < serialPortCount; i++) {
var BAUD_RATES = mspHelper.BAUD_RATES_post1_6_3;
var serialPort = {
identifier: data.getUint8(offset),
functions: serialPortHelper.maskToFunctions(data.getUint32(offset + 1, true)),
msp_baudrate: BAUD_RATES[data.getUint8(offset + 5)],
sensors_baudrate: BAUD_RATES[data.getUint8(offset + 6)],
telemetry_baudrate: BAUD_RATES[data.getUint8(offset + 7)],
peripherals_baudrate: BAUD_RATES[data.getUint8(offset + 8)]
};
offset += bytesPerPort;
FC.SERIAL_CONFIG.ports.push(serialPort);
}
break;
case MSPCodes.MSP2_SET_CF_SERIAL_CONFIG:
console.log('Serial config saved');
break;
case MSPCodes.MSP_MODE_RANGES:
//noinspection JSUndeclaredVariable
FC.MODE_RANGES = []; // empty the array as new data is coming in
var modeRangeCount = data.byteLength / 4; // 4 bytes per item.
for (let i = 0; offset < data.byteLength && i < modeRangeCount; i++) {
var modeRange = {
id: data.getUint8(offset++),
auxChannelIndex: data.getUint8(offset++),
range: {
start: 900 + (data.getUint8(offset++) * 25),
end: 900 + (data.getUint8(offset++) * 25)
}
};
FC.MODE_RANGES.push(modeRange);
}
break;
case MSPCodes.MSP_ADJUSTMENT_RANGES:
//noinspection JSUndeclaredVariable
FC.ADJUSTMENT_RANGES = []; // empty the array as new data is coming in
var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item.
for (let i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) {
var adjustmentRange = {
slotIndex: data.getUint8(offset++),
auxChannelIndex: data.getUint8(offset++),
range: {
start: 900 + (data.getUint8(offset++) * 25),
end: 900 + (data.getUint8(offset++) * 25)
},
adjustmentFunction: data.getUint8(offset++),
auxSwitchChannelIndex: data.getUint8(offset++)
};
FC.ADJUSTMENT_RANGES.push(adjustmentRange);
}
break;
case MSPCodes.MSP_RX_CONFIG:
FC.RX_CONFIG.serialrx_provider = data.getUint8(offset);
offset++;
FC.RX_CONFIG.maxcheck = data.getUint16(offset, true);
offset += 2;
FC.RX_CONFIG.midrc = data.getUint16(offset, true);
offset += 2;
FC.RX_CONFIG.mincheck = data.getUint16(offset, true);
offset += 2;
FC.RX_CONFIG.spektrum_sat_bind = data.getUint8(offset);
offset++;
FC.RX_CONFIG.rx_min_usec = data.getUint16(offset, true);
offset += 2;
FC.RX_CONFIG.rx_max_usec = data.getUint16(offset, true);
offset += 2;
offset += 4; // 4 null bytes for betaflight compatibility
FC.RX_CONFIG.spirx_protocol = data.getUint8(offset);
offset++;
FC.RX_CONFIG.spirx_id = data.getUint32(offset, true);
offset += 4;
FC.RX_CONFIG.spirx_channel_count = data.getUint8(offset);
offset += 1;
// unused byte for fpvCamAngleDegrees, for compatiblity with betaflight
offset += 1;
FC.RX_CONFIG.receiver_type = data.getUint8(offset);
offset += 1;
break;
case MSPCodes.MSP_FAILSAFE_CONFIG:
FC.FAILSAFE_CONFIG.failsafe_delay = data.getUint8(offset);
offset++;
FC.FAILSAFE_CONFIG.failsafe_off_delay = data.getUint8(offset);
offset++;
FC.FAILSAFE_CONFIG.failsafe_throttle = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_kill_switch = data.getUint8(offset);
offset++;
FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_procedure = data.getUint8(offset);
offset++;
FC.FAILSAFE_CONFIG.failsafe_recovery_delay = data.getUint8(offset);
offset++;
FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_min_distance = data.getUint16(offset, true);
offset += 2;
FC.FAILSAFE_CONFIG.failsafe_min_distance_procedure = data.getUint8(offset);
offset++;
break;
case MSPCodes.MSP_LED_STRIP_CONFIG:
//noinspection JSUndeclaredVariable
FC.LED_STRIP = [];
var ledCount = data.byteLength / 4;
var directionMask,
directions,
directionLetterIndex,
functions,
led;
for (let i = 0; offset < data.byteLength && i < ledCount; i++) {
if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) {
directionMask = data.getUint16(offset, true);
offset += 2;
directions = [];
for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
}
}
var functionMask = data.getUint16(offset, 1);
offset += 2;
functions = [];
for (var functionLetterIndex = 0; functionLetterIndex < MSP.ledFunctionLetters.length; functionLetterIndex++) {
if (BitHelper.bit_check(functionMask, functionLetterIndex)) {
functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
}
}
led = {
directions: directions,
functions: functions,
x: data.getUint8(offset++),
y: data.getUint8(offset++),
color: data.getUint8(offset++)
};
FC.LED_STRIP.push(led);
} else {
var mask = data.getUint32(offset, 1);
offset += 4;
var functionId = (mask >> 8) & 0xF;
functions = [];
for (var baseFunctionLetterIndex = 0; baseFunctionLetterIndex < MSP.ledBaseFunctionLetters.length; baseFunctionLetterIndex++) {
if (functionId == baseFunctionLetterIndex) {
functions.push(MSP.ledBaseFunctionLetters[baseFunctionLetterIndex]);
break;
}
}
var overlayMask = (mask >> 12) & 0x3F;
for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
if (BitHelper.bit_check(overlayMask, overlayLetterIndex)) {
functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
}
}
directionMask = (mask >> 22) & 0x3F;
directions = [];
for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
}
}
led = {
y: (mask) & 0xF,
x: (mask >> 4) & 0xF,
functions: functions,
color: (mask >> 18) & 0xF,
directions: directions,
parameters: (mask >> 28) & 0xF
};
FC.LED_STRIP.push(led);
}
}
break;
case MSPCodes.MSP2_INAV_LED_STRIP_CONFIG_EX:
//noinspection JSUndeclaredVariable
FC.LED_STRIP = [];
var ledCount = data.byteLength / 5;
var directionMask,
directions,
directionLetterIndex,
functions,
led;
for (let i = 0; offset < data.byteLength && i < ledCount; i++) {
var mask = data.getUint32(offset, 1);
offset += 4;
var extra = data.getUint8(offset, 1);
offset++;
var functionId = (mask >> 8) & 0xFF;
functions = [];
for (var baseFunctionLetterIndex = 0; baseFunctionLetterIndex < MSP.ledBaseFunctionLetters.length; baseFunctionLetterIndex++) {
if (functionId == baseFunctionLetterIndex) {
functions.push(MSP.ledBaseFunctionLetters[baseFunctionLetterIndex]);
break;
}
}
var overlayMask = (mask >> 16) & 0xFF;
for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
if (BitHelper.bit_check(overlayMask, overlayLetterIndex)) {
functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
}
}
directionMask = (mask >> 28) & 0xF | ((extra & 0x3) << 4);
directions = [];
for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
if (BitHelper.bit_check(directionMask, directionLetterIndex)) {
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
}
}
led = {
y: (mask) & 0xF,
x: (mask >> 4) & 0xF,
functions: functions,
color: (mask >> 24) & 0xF,
directions: directions,
parameters: (extra >> 2) & 0x3F
};
FC.LED_STRIP.push(led);
}
break;
case MSPCodes.MSP_SET_LED_STRIP_CONFIG:
console.log('Led strip config saved');
break;
case MSPCodes.MSP2_INAV_SET_LED_STRIP_CONFIG_EX:
console.log('Led strip extended config saved');
break;
case MSPCodes.MSP_LED_COLORS:
//noinspection JSUndeclaredVariable
FC.LED_COLORS = [];
colorCount = data.byteLength / 4;
for (let i = 0; offset < data.byteLength && i < colorCount; i++) {
var h = data.getUint16(offset, true);
var s = data.getUint8(offset + 2);
var v = data.getUint8(offset + 3);
offset += 4;
color = {
h: h,
s: s,
v: v
};
FC.LED_COLORS.push(color);
}
break;
case MSPCodes.MSP_SET_LED_COLORS:
console.log('Led strip colors saved');
break;
case MSPCodes.MSP_LED_STRIP_MODECOLOR:
//noinspection JSUndeclaredVariable
FC.LED_MODE_COLORS = [];
colorCount = data.byteLength / 3;
for (let i = 0; offset < data.byteLength && i < colorCount; i++) {
var mode = data.getUint8(offset++);
var direction = data.getUint8(offset++);
color = data.getUint8(offset++);
FC.LED_MODE_COLORS.push({
mode: mode,
direction: direction,
color: color
});
}
break;
case MSPCodes.MSP_SET_LED_STRIP_MODECOLOR:
console.log('Led strip mode colors saved');
break;
case MSPCodes.MSP_DATAFLASH_SUMMARY:
if (data.byteLength >= 13) {
flags = data.getUint8(0);
FC.DATAFLASH.ready = (flags & 1) != 0;
FC.DATAFLASH.supported = (flags & 2) != 0 || FC.DATAFLASH.ready;
FC.DATAFLASH.sectors = data.getUint32(1, 1);
FC.DATAFLASH.totalSize = data.getUint32(5, 1);
FC.DATAFLASH.usedSize = data.getUint32(9, 1);
} else {
// Firmware version too old to support MSP_FC.DATAFLASH_SUMMARY
FC.DATAFLASH.ready = false;
FC.DATAFLASH.supported = false;
FC.DATAFLASH.sectors = 0;
FC.DATAFLASH.totalSize = 0;
FC.DATAFLASH.usedSize = 0;
}
GUI.update_dataflash_global();
break;
case MSPCodes.MSP_DATAFLASH_READ:
// No-op, let callback handle it
break;
case MSPCodes.MSP_DATAFLASH_ERASE:
console.log("Data flash erase begun...");
break;
case MSPCodes.MSP_SDCARD_SUMMARY:
flags = data.getUint8(0);
FC.SDCARD.supported = (flags & 0x01) != 0;
FC.SDCARD.state = data.getUint8(1);
FC.SDCARD.filesystemLastError = data.getUint8(2);
FC.SDCARD.freeSizeKB = data.getUint32(3, true);
FC.SDCARD.totalSizeKB = data.getUint32(7, true);
break;
case MSPCodes.MSP_BLACKBOX_CONFIG:
FC.BLACKBOX.supported = (data.getUint8(0) & 1) != 0;
FC.BLACKBOX.blackboxDevice = data.getUint8(1);
FC.BLACKBOX.blackboxRateNum = data.getUint8(2);
FC.BLACKBOX.blackboxRateDenom = data.getUint8(3);
break;
case MSPCodes.MSP_SET_BLACKBOX_CONFIG:
console.log("Blackbox config saved");
break;
case MSPCodes.MSP_VTX_CONFIG:
FC.VTX_CONFIG.device_type = data.getUint8(offset++);
if (FC.VTX_CONFIG.device_type != VTX.DEV_UNKNOWN) {
FC.VTX_CONFIG.band = data.getUint8(offset++);
FC.VTX_CONFIG.channel = data.getUint8(offset++);
FC.VTX_CONFIG.power = data.getUint8(offset++);
FC.VTX_CONFIG.pitmode = data.getUint8(offset++);
// Ignore wether the VTX is ready for now
offset++;
FC.VTX_CONFIG.low_power_disarm = data.getUint8(offset++);
}
break;
case MSPCodes.MSP_ADVANCED_CONFIG:
FC.ADVANCED_CONFIG.gyroSyncDenominator = data.getUint8(offset);
offset++;
FC.ADVANCED_CONFIG.pidProcessDenom = data.getUint8(offset);
offset++;
FC.ADVANCED_CONFIG.useUnsyncedPwm = data.getUint8(offset);
offset++;
FC.ADVANCED_CONFIG.motorPwmProtocol = data.getUint8(offset);
offset++;
FC.ADVANCED_CONFIG.motorPwmRate = data.getUint16(offset, true);
offset += 2;
FC.ADVANCED_CONFIG.servoPwmRate = data.getUint16(offset, true);
offset += 2;
FC.ADVANCED_CONFIG.gyroSync = data.getUint8(offset);
break;
case MSPCodes.MSP_SET_VTX_CONFIG:
console.log("VTX config saved");
break;
case MSPCodes.MSP_SET_ADVANCED_CONFIG:
console.log("Advanced config saved");
break;
case MSPCodes.MSP_FILTER_CONFIG:
FC.FILTER_CONFIG.gyroSoftLpfHz = data.getUint8(0);
FC.FILTER_CONFIG.dtermLpfHz = data.getUint16(1, true);
FC.FILTER_CONFIG.yawLpfHz = data.getUint16(3, true);
FC.FILTER_CONFIG.gyroNotchHz1 = data.getUint16(5, true);
FC.FILTER_CONFIG.gyroNotchCutoff1 = data.getUint16(7, true);
FC.FILTER_CONFIG.dtermNotchHz = data.getUint16(9, true);
FC.FILTER_CONFIG.dtermNotchCutoff = data.getUint16(11, true);
FC.FILTER_CONFIG.gyroNotchHz2 = data.getUint16(13, true);
FC.FILTER_CONFIG.gyroNotchCutoff2 = data.getUint16(15, true);
FC.FILTER_CONFIG.accNotchHz = data.getUint16(17, true);
FC.FILTER_CONFIG.accNotchCutoff = data.getUint16(19, true);
FC.FILTER_CONFIG.gyroStage2LowpassHz = data.getUint16(21, true);
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
console.log("Filter config saved");
break;
case MSPCodes.MSP_PID_ADVANCED:
FC.PID_ADVANCED.rollPitchItermIgnoreRate = data.getUint16(0, true);
FC.PID_ADVANCED.yawItermIgnoreRate = data.getUint16(2, true);
FC.PID_ADVANCED.yawPLimit = data.getUint16(4, true);
FC.PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
FC.PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
FC.PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
FC.PID_ADVANCED.axisAccelerationLimitYaw = data.getUint16(15, true);
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
console.log("PID advanced saved");
break;
case MSPCodes.MSP_SENSOR_CONFIG:
FC.SENSOR_CONFIG.accelerometer = data.getUint8(0, true);
FC.SENSOR_CONFIG.barometer = data.getUint8(1, true);
FC.SENSOR_CONFIG.magnetometer = data.getUint8(2, true);
FC.SENSOR_CONFIG.pitot = data.getUint8(3, true);
FC.SENSOR_CONFIG.rangefinder = data.getUint8(4, true);
FC.SENSOR_CONFIG.opflow = data.getUint8(5, true);
break;
case MSPCodes.MSP_SET_SENSOR_CONFIG:
console.log("Sensor config saved");
break;
case MSPCodes.MSP_INAV_PID:
FC.INAV_PID_CONFIG.asynchronousMode = data.getUint8(0);
FC.INAV_PID_CONFIG.accelerometerTaskFrequency = data.getUint16(1, true);
FC.INAV_PID_CONFIG.attitudeTaskFrequency = data.getUint16(3, true);
FC.INAV_PID_CONFIG.magHoldRateLimit = data.getUint8(5);
FC.INAV_PID_CONFIG.magHoldErrorLpfFrequency = data.getUint8(6);
FC.INAV_PID_CONFIG.yawJumpPreventionLimit = data.getUint16(7, true);
FC.INAV_PID_CONFIG.gyroscopeLpf = data.getUint8(9);
FC.INAV_PID_CONFIG.accSoftLpfHz = data.getUint8(10);
break;
case MSPCodes.MSP_SET_INAV_PID:
console.log("MSP_INAV_PID saved");
break;
case MSPCodes.MSP_NAV_POSHOLD:
FC.NAV_POSHOLD.userControlMode = data.getUint8(0);
FC.NAV_POSHOLD.maxSpeed = data.getUint16(1, true);
FC.NAV_POSHOLD.maxClimbRate = data.getUint16(3, true);
FC.NAV_POSHOLD.maxManualSpeed = data.getUint16(5, true);
FC.NAV_POSHOLD.maxManualClimbRate = data.getUint16(7, true);
FC.NAV_POSHOLD.maxBankAngle = data.getUint8(9);
FC.NAV_POSHOLD.useThrottleMidForAlthold = data.getUint8(10);
FC.NAV_POSHOLD.hoverThrottle = data.getUint16(11, true);
break;
case MSPCodes.MSP_SET_NAV_POSHOLD:
console.log('NAV_POSHOLD saved');
break;
case MSPCodes.MSP_CALIBRATION_DATA:
var callibrations = data.getUint8(0);
FC.CALIBRATION_DATA.acc.Pos0 = (1 & (callibrations >> 0));
FC.CALIBRATION_DATA.acc.Pos1 = (1 & (callibrations >> 1));
FC.CALIBRATION_DATA.acc.Pos2 = (1 & (callibrations >> 2));
FC.CALIBRATION_DATA.acc.Pos3 = (1 & (callibrations >> 3));
FC.CALIBRATION_DATA.acc.Pos4 = (1 & (callibrations >> 4));
FC.CALIBRATION_DATA.acc.Pos5 = (1 & (callibrations >> 5));
FC.CALIBRATION_DATA.accZero.X = data.getInt16(1, true);
FC.CALIBRATION_DATA.accZero.Y = data.getInt16(3, true);
FC.CALIBRATION_DATA.accZero.Z = data.getInt16(5, true);
FC.CALIBRATION_DATA.accGain.X = data.getInt16(7, true);
FC.CALIBRATION_DATA.accGain.Y = data.getInt16(9, true);
FC.CALIBRATION_DATA.accGain.Z = data.getInt16(11, true);
FC.CALIBRATION_DATA.magZero.X = data.getInt16(13, true);
FC.CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
FC.CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
FC.CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
FC.CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
FC.CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
FC.CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
break;
case MSPCodes.MSP_SET_CALIBRATION_DATA:
console.log('Calibration data saved');
break;
case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
FC.RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
FC.RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
FC.RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = data.getUint8(3);
FC.RTH_AND_LAND_CONFIG.rthTailFirst = data.getUint8(4);
FC.RTH_AND_LAND_CONFIG.rthAllowLanding = data.getUint8(5);
FC.RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
FC.RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
FC.RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
FC.RTH_AND_LAND_CONFIG.landMinAltVspd = data.getUint16(11, true);
FC.RTH_AND_LAND_CONFIG.landMaxAltVspd = data.getUint16(13, true);
FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(15, true);
FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(17, true);
FC.RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(19, true);
break;
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
console.log('RTH_AND_LAND_CONFIG saved');
break;
case MSPCodes.MSP_FW_CONFIG:
FC.FW_CONFIG.cruiseThrottle = data.getUint16(0, true);
FC.FW_CONFIG.minThrottle = data.getUint16(2, true);
FC.FW_CONFIG.maxThrottle = data.getUint16(4, true);
FC.FW_CONFIG.maxBankAngle = data.getUint8(6);
FC.FW_CONFIG.maxClimbAngle = data.getUint8(7);
FC.FW_CONFIG.maxDiveAngle = data.getUint8(8);
FC.FW_CONFIG.pitchToThrottle = data.getUint8(9);
FC.FW_CONFIG.loiterRadius = data.getUint16(10, true);
break;
case MSPCodes.MSP_SET_FW_CONFIG:
console.log('FW_CONFIG saved');
break;
case MSPCodes.MSP_SET_MODE_RANGE:
console.log('Mode range saved');
break;
case MSPCodes.MSP_SET_ADJUSTMENT_RANGE:
console.log('Adjustment range saved');
break;
case MSPCodes.MSP_SET_LOOP_TIME:
console.log('Looptime saved');
break;
case MSPCodes.MSP_SET_RESET_CURR_PID:
console.log('Current Control profile reset');
break;
case MSPCodes.MSP_SET_3D:
console.log('3D settings saved');
break;
case MSPCodes.MSP_SET_RC_DEADBAND:
console.log('Rc controls settings saved');
break;
case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
console.log('Sensor alignment saved');
break;
case MSPCodes.MSP_SET_RX_CONFIG:
console.log('Rx config saved');
break;
case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
console.log('Failsafe config saved');
break;
case MSPCodes.MSP_OSD_CHAR_READ:
break;
case MSPCodes.MSP_OSD_CHAR_WRITE:
console.log('OSD char uploaded');
break;
case MSPCodes.MSP_NAME:
FC.CONFIG.name = '';
var char;
while ((char = data.readU8()) !== null) {
FC.CONFIG.name += String.fromCharCode(char);
}
break;
case MSPCodes.MSP_SET_NAME:
console.log("Craft name set");
break;
case MSPCodes.MSPV2_SETTING:
break;
case MSPCodes.MSP2_COMMON_SETTING_INFO:
break;
case MSPCodes.MSPV2_SET_SETTING:
console.log("Setting set");
break;
case MSPCodes.MSP_WP_GETINFO:
// Reserved for waypoint capabilities data.getUint8(0);
FC.MISSION_PLANNER.setMaxWaypoints(data.getUint8(1));
FC.MISSION_PLANNER.setValidMission(data.getUint8(2));
FC.MISSION_PLANNER.setCountBusyPoints(data.getUint8(3));
break;
case MSPCodes.MSP_SET_WP:
console.log('Point saved');
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
// buffer.push(0);
console.log(data);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
console.log('Mission load');
break;
case MSPCodes.MSP2_INAV_MIXER:
FC.MIXER_CONFIG.yawMotorDirection = data.getInt8(0);
FC.MIXER_CONFIG.yawJumpPreventionLimit = data.getUint8(1, true);
FC.MIXER_CONFIG.motorStopOnLow = data.getUint8(2, true);
FC.MIXER_CONFIG.platformType = data.getInt8(3);
FC.MIXER_CONFIG.hasFlaps = data.getInt8(4);
FC.MIXER_CONFIG.appliedMixerPreset = data.getInt16(5, true);
FC.MIXER_CONFIG.numberOfMotors = data.getInt8(7);
FC.MIXER_CONFIG.numberOfServos = data.getInt8(8);
FC.MOTOR_RULES.setMotorCount(FC.MIXER_CONFIG.numberOfMotors);
FC.SERVO_RULES.setServoCount(FC.MIXER_CONFIG.numberOfServos);
break;
case MSPCodes.MSP2_INAV_SET_MIXER:
console.log('Mixer config saved');
case MSPCodes.MSP2_INAV_OSD_LAYOUTS:
break;
case MSPCodes.MSP2_INAV_OSD_SET_LAYOUT_ITEM:
console.log('OSD layout item saved');
break;
case MSPCodes.MSP2_INAV_OSD_ALARMS:
break;
case MSPCodes.MSP2_INAV_OSD_SET_ALARMS:
console.log('OSD alarms saved');
break;
case MSPCodes.MSP2_INAV_OSD_PREFERENCES:
break;
case MSPCodes.MSP2_INAV_OSD_SET_PREFERENCES:
console.log('OSD preferences saved');
break;
case MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE:
console.log('Battery profile selected');
break;
case MSPCodes.MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS:
console.log('OSD custom elements preferences saved');
break;
/*
case MSPCodes.MSPV2_INAV_OUTPUT_MAPPING:
FC.OUTPUT_MAPPING.flush();
for (let i = 0; i < data.byteLength; ++i)
FC.OUTPUT_MAPPING.put({
'timerId': i,
'usageFlags': data.getUint8(i)});
break;
*/
case MSPCodes.MSPV2_INAV_OUTPUT_MAPPING_EXT2:
FC.OUTPUT_MAPPING.flush();
for (let i = 0; i < data.byteLength; i += 6) {
let timerId = data.getUint8(i);
let usageFlags = data.getUint32(i + 1, true);
let specialLabels = data.getUint8(i + 5);
FC.OUTPUT_MAPPING.put(
{
'timerId': timerId,
'usageFlags': usageFlags,
'specialLabels': specialLabels
});
}
break;
case MSPCodes.MSP2_INAV_TIMER_OUTPUT_MODE:
if(data.byteLength > 2) {
FC.OUTPUT_MAPPING.flushTimerOverrides();
}
for (let i = 0; i < data.byteLength; i += 2) {
let timerId = data.getUint8(i);
let outputMode = data.getUint8(i + 1);
FC.OUTPUT_MAPPING.setTimerOverride(timerId, outputMode);
}
break;
case MSPCodes.MSP2_INAV_MC_BRAKING:
try {
FC.BRAKING_CONFIG.speedThreshold = data.getUint16(0, true);
FC.BRAKING_CONFIG.disengageSpeed = data.getUint16(2, true);
FC.BRAKING_CONFIG.timeout = data.getUint16(4, true);
FC.BRAKING_CONFIG.boostFactor = data.getInt8(6);
FC.BRAKING_CONFIG.boostTimeout = data.getUint16(7, true);
FC.BRAKING_CONFIG.boostSpeedThreshold = data.getUint16(9, true);
FC.BRAKING_CONFIG.boostDisengageSpeed = data.getUint16(11, true);
FC.BRAKING_CONFIG.bankAngle = data.getInt8(13);
} catch (e) {
console.log("MC_BRAKING MODE is not supported by the hardware");
}
break;
case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
console.log('Braking config saved');
break;
case MSPCodes.MSP2_BLACKBOX_CONFIG:
FC.BLACKBOX.supported = (data.getUint8(0) & 1) != 0;
FC.BLACKBOX.blackboxDevice = data.getUint8(1);
FC.BLACKBOX.blackboxRateNum = data.getUint16(2);
FC.BLACKBOX.blackboxRateDenom = data.getUint16(4);
FC.BLACKBOX.blackboxIncludeFlags = data.getUint32(6,true);
break;
case MSPCodes.MSP2_SET_BLACKBOX_CONFIG:
console.log("Blackbox config saved");
break;
case MSPCodes.MSP2_INAV_TEMPERATURES:
for (let i = 0; i < 8; ++i) {
let temp_decidegrees = data.getInt16(i * 2, true);
FC.SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
}
break;
case MSPCodes.MSP2_INAV_SAFEHOME:
var safeHome = new Safehome(
data.getUint8(0),
data.getUint8(1),
data.getInt32(2, true),
data.getInt32(6, true),
);
if (safeHome.getEnabled()) {
FC.SAFEHOMES.put(safeHome);
}
break;
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
console.log('Safehome points saved');
break;
case MSPCodes.MSP2_INAV_FW_APPROACH:
FC.FW_APPROACH.put(new FwApproach(
data.getUint8(0),
data.getInt32(1, true),
data.getInt32(5, true),
data.getUint8(9, true),
data.getInt16(10, true),
data.getInt16(12, true),
data.getUint8(14, true),
));
break;
case MSPCodes.MSP2_INAV_SET_FW_APPROACH:
console.log('FW Approach saved');
break;
case MSPCodes.MSP2_INAV_RATE_DYNAMICS:
FC.RATE_DYNAMICS.sensitivityCenter = data.getUint8(0);
FC.RATE_DYNAMICS.sensitivityEnd = data.getUint8(1);
FC.RATE_DYNAMICS.correctionCenter = data.getUint8(2);
FC.RATE_DYNAMICS.correctionEnd = data.getUint8(3);
FC.RATE_DYNAMICS.weightCenter = data.getUint8(4);
FC.RATE_DYNAMICS.weightEnd = data.getUint8(5);
break;
case MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS:
console.log('Rate dynamics saved');
break;
case MSPCodes.MSP2_INAV_EZ_TUNE:
FC.EZ_TUNE.enabled = data.getUint8(0);
FC.EZ_TUNE.filterHz = data.getUint16(1, true);
FC.EZ_TUNE.axisRatio = data.getUint8(3);
FC.EZ_TUNE.response = data.getUint8(4);
FC.EZ_TUNE.damping = data.getUint8(5);
FC.EZ_TUNE.stability = data.getUint8(6);
FC.EZ_TUNE.aggressiveness = data.getUint8(7);
FC.EZ_TUNE.rate = data.getUint8(8);
FC.EZ_TUNE.expo = data.getUint8(9);
FC.EZ_TUNE.snappiness = data.getUint8(10);
break;
case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
console.log('EzTune settings saved');
break;
case MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENTS:
FC.OSD_CUSTOM_ELEMENTS.items = [];
let settingsIdx = 0;
if(data.byteLength == 0) {
FC.OSD_CUSTOM_ELEMENTS.settings.customElementsCount = 0;
FC.OSD_CUSTOM_ELEMENTS.settings.customElementTextSize = 0;
FC.OSD_CUSTOM_ELEMENTS.settings.customElementParts = 0;
return;
}
FC.OSD_CUSTOM_ELEMENTS.settings.customElementsCount = data.getUint8(settingsIdx++);
FC.OSD_CUSTOM_ELEMENTS.settings.customElementTextSize = data.getUint8(settingsIdx++);
FC.OSD_CUSTOM_ELEMENTS.settings.customElementParts = data.getUint8(settingsIdx++);
break;
case MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENT:
var customElement = {
customElementItems: [],
customElementVisibility: {type: 0, value: 0},
customElementText: [],
};
let index = 0;
for (let ii = 0; ii < FC.OSD_CUSTOM_ELEMENTS.settings.customElementParts; ii++) {
var customElementPart = {type: 0, value: 0,};
customElementPart.type = data.getUint8(index++);
customElementPart.value = data.getUint16(index, true);
index += 2;
customElement.customElementItems.push(customElementPart);
}
customElement.customElementVisibility.type = data.getUint8(index++);
customElement.customElementVisibility.value = data.getUint16(index, true);
index += 2;
for (let ii = 0; ii < FC.OSD_CUSTOM_ELEMENTS.settings.customElementTextSize; ii++) {
var char = data.getUint8(index++);
if(char === 0) {
index += (FC.OSD_CUSTOM_ELEMENTS.settings.customElementTextSize - 1) - ii;
break;
}
customElement.customElementText[ii] = char;
}
customElement.customElementText = String.fromCharCode(...customElement.customElementText);
FC.OSD_CUSTOM_ELEMENTS.items.push(customElement);
break;
case MSPCodes.MSP2_INAV_GPS_UBLOX_COMMAND:
// Just and ACK from the fc.
break;
case MSPCodes.MSP2_INAV_GEOZONE:
if (data.buffer.byteLength == 0) {
break;
}
var geozone = new Geozone(
data.getUint8(1),
data.getUint8(2),
data.getInt32(3, true),
data.getInt32(7, true),
data.getUint8(11),
0,
data.getInt8(12, true),
null,
data.getUint8(0, true),
);
let verticesCount = data.getUint8(13, true);
if (verticesCount == 0) {
break;
}
if (geozone.getShape() == GeozoneShapes.POLYGON) {
geozone.setVertices(new Array(verticesCount));
} else {
geozone.setVertices(new Array(1));
}
FC.GEOZONES.put(geozone);
break;
case MSPCodes.MSP2_INAV_GEOZONE_VERTEX:
if (data.buffer.byteLength == 0) {
break;
}
var zoneID = data.getUint8(0);
var vertexId = data.getUint8(1);
var geozone = FC.GEOZONES.at(zoneID);
if (zoneID < FC.GEOZONES.geozoneCount()) {
geozone.setVertex(
vertexId,
new GeozoneVertex(
vertexId,
data.getInt32(2, true),
data.getInt32(6, true),
)
);
if (geozone.getShape() == GeozoneShapes.CIRCULAR) {
geozone.setRadius(data.getUint32(10, true));
}
}
break;
case MSPCodes.MSP2_INAV_SET_GEOZONE_VERTICE:
console.log("Geozone vertex saved")
break;
case MSPCodes.MSP2_INAV_SET_GEOZONE:
console.log("Geozone saved")
break;
default:
console.log('Unknown code detected: 0x' + dataHandler.code.toString(16));
} else {
console.log('FC reports unsupported message error: 0x' + dataHandler.code.toString(16));
}
// trigger callbacks, cleanup/remove callback after trigger
for (let i = dataHandler.callbacks.length - 1; i >= 0; i--) { // iterating in reverse because we use .splice which modifies array length
if (i < dataHandler.callbacks.length) {
if (dataHandler.callbacks[i].code == dataHandler.code) {
// save callback reference
var callback = dataHandler.callbacks[i].onFinish;
// remove timeout
clearTimeout(dataHandler.callbacks[i].timer);
/*
* Compute roundtrip
*/
if (dataHandler.callbacks[i]) {
mspQueue.putRoundtrip(new Date().getTime() - dataHandler.callbacks[i].createdOn);
const hardwareRountrip = new Date().getTime() - dataHandler.callbacks[i].sentOn;
mspQueue.putHardwareRoundtrip(hardwareRountrip);
mspStatistics.add(dataHandler.code, hardwareRountrip);
}
//remove message from queue as received
mspDeduplicationQueue.remove(dataHandler.code);
// remove object from array
dataHandler.callbacks.splice(i, 1);
// fire callback
if (callback) {
callback({ 'command': dataHandler.code, 'data': data, 'length': dataHandler.message_length_expected });
}
break;
}
}
}
};
self.crunch = function (code) {
var buffer = [],
i;
switch (code) {
case MSPCodes.MSP_SET_FEATURE:
buffer.push(BitHelper.specificByte(FC.FEATURES, 0));
buffer.push(BitHelper.specificByte(FC.FEATURES, 1));
buffer.push(BitHelper.specificByte(FC.FEATURES, 2));
buffer.push(BitHelper.specificByte(FC.FEATURES, 3));
break;
case MSPCodes.MSP_SET_BOARD_ALIGNMENT:
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.roll, 0));
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.roll, 1));
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.pitch, 0));
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.pitch, 1));
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.yaw, 0));
buffer.push(BitHelper.specificByte(FC.BOARD_ALIGNMENT.yaw, 1));
break;
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.scale, 0));
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.scale, 1));
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.offset, 0));
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.offset, 1));
buffer.push(FC.CURRENT_METER_CONFIG.type);
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.capacity, 0));
buffer.push(BitHelper.specificByte(FC.CURRENT_METER_CONFIG.capacity, 1));
break;
case MSPCodes.MSP_SET_VTX_CONFIG:
if (FC.VTX_CONFIG.band > 0) {
buffer.push16(((FC.VTX_CONFIG.band - 1) * 8) + (FC.VTX_CONFIG.channel - 1));
} else {
// This tells the firmware to ignore this value.
buffer.push16(VTX.MAX_FREQUENCY_MHZ + 1);
}
buffer.push(FC.VTX_CONFIG.power);
// Don't enable PIT mode
buffer.push(0);
buffer.push(FC.VTX_CONFIG.low_power_disarm);
break;
case MSPCodes.MSP2_SET_PID:
for (let i = 0; i < FC.PIDs.length; i++) {
buffer.push(parseInt(FC.PIDs[i][0]));
buffer.push(parseInt(FC.PIDs[i][1]));
buffer.push(parseInt(FC.PIDs[i][2]));
buffer.push(parseInt(FC.PIDs[i][3]));
}
break;
case MSPCodes.MSP_SET_RC_TUNING:
buffer.push(Math.round(FC.RC_tuning.RC_RATE * 100));
buffer.push(Math.round(FC.RC_tuning.RC_EXPO * 100));
buffer.push(Math.round(FC.RC_tuning.roll_rate / 10));
buffer.push(Math.round(FC.RC_tuning.pitch_rate / 10));
buffer.push(Math.round(FC.RC_tuning.yaw_rate / 10));
buffer.push(FC.RC_tuning.dynamic_THR_PID);
buffer.push(Math.round(FC.RC_tuning.throttle_MID * 100));
buffer.push(Math.round(FC.RC_tuning.throttle_EXPO * 100));
buffer.push(BitHelper.lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
buffer.push(BitHelper.highByte(FC.RC_tuning.dynamic_THR_breakpoint));
buffer.push(Math.round(FC.RC_tuning.RC_YAW_EXPO * 100));
break;
case MSPCodes.MSPV2_INAV_SET_RATE_PROFILE:
// throttle
buffer.push(Math.round(FC.RC_tuning.throttle_MID * 100));
buffer.push(Math.round(FC.RC_tuning.throttle_EXPO * 100));
buffer.push(FC.RC_tuning.dynamic_THR_PID);
buffer.push(BitHelper.lowByte(FC.RC_tuning.dynamic_THR_breakpoint));
buffer.push(BitHelper.highByte(FC.RC_tuning.dynamic_THR_breakpoint));
// stabilized
buffer.push(Math.round(FC.RC_tuning.RC_EXPO * 100));
buffer.push(Math.round(FC.RC_tuning.RC_YAW_EXPO * 100));
buffer.push(Math.round(FC.RC_tuning.roll_rate / 10));
buffer.push(Math.round(FC.RC_tuning.pitch_rate / 10));
buffer.push(Math.round(FC.RC_tuning.yaw_rate / 10));
// manual
buffer.push(Math.round(FC.RC_tuning.manual_RC_EXPO * 100));
buffer.push(Math.round(FC.RC_tuning.manual_RC_YAW_EXPO * 100));
buffer.push(FC.RC_tuning.manual_roll_rate);
buffer.push(FC.RC_tuning.manual_pitch_rate);
buffer.push(FC.RC_tuning.manual_yaw_rate);
break;
case MSPCodes.MSP_SET_RX_MAP:
for (let i = 0; i < FC.RC_MAP.length; i++) {
buffer.push(FC.RC_MAP[i]);
}
break;
case MSPCodes.MSP_SET_ACC_TRIM:
buffer.push(BitHelper.lowByte(FC.CONFIG.accelerometerTrims[0]));
buffer.push(BitHelper.highByte(FC.CONFIG.accelerometerTrims[0]));
buffer.push(BitHelper.lowByte(FC.CONFIG.accelerometerTrims[1]));
buffer.push(BitHelper.highByte(FC.CONFIG.accelerometerTrims[1]));
break;
case MSPCodes.MSP_SET_LOOP_TIME:
buffer.push(BitHelper.lowByte(FC.FC_CONFIG.loopTime));
buffer.push(BitHelper.highByte(FC.FC_CONFIG.loopTime));
break;
case MSPCodes.MSPV2_INAV_SET_MISC:
buffer.push(BitHelper.lowByte(FC.MISC.midrc));
buffer.push(BitHelper.highByte(FC.MISC.midrc));
buffer.push(BitHelper.lowByte(FC.MISC.minthrottle));
buffer.push(BitHelper.highByte(FC.MISC.minthrottle));
buffer.push(BitHelper.lowByte(FC.MISC.maxthrottle));
buffer.push(BitHelper.highByte(FC.MISC.maxthrottle));
buffer.push(BitHelper.lowByte(FC.MISC.mincommand));
buffer.push(BitHelper.highByte(FC.MISC.mincommand));
buffer.push(BitHelper.lowByte(FC.MISC.failsafe_throttle));
buffer.push(BitHelper.highByte(FC.MISC.failsafe_throttle));
buffer.push(FC.MISC.gps_type);
buffer.push(FC.MISC.sensors_baudrate);
buffer.push(FC.MISC.gps_ubx_sbas);
buffer.push(FC.MISC.rssi_channel);
buffer.push(BitHelper.lowByte(Math.round(FC.MISC.mag_declination * 10)));
buffer.push(BitHelper.highByte(Math.round(FC.MISC.mag_declination * 10)));
buffer.push(BitHelper.lowByte(FC.MISC.vbatscale));
buffer.push(BitHelper.highByte(FC.MISC.vbatscale));
buffer.push(FC.MISC.voltage_source);
buffer.push(FC.MISC.battery_cells);
buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatdetectcellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatmincellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatmaxcellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.MISC.vbatwarningcellvoltage * 100)));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity, byte_index));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity_warning, byte_index));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.MISC.battery_capacity_critical, byte_index));
buffer.push((FC.MISC.battery_capacity_unit == 'mAh') ? 0 : 1);
break;
case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.vbatscale));
buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.vbatscale));
buffer.push(FC.BATTERY_CONFIG.voltage_source);
buffer.push(FC.BATTERY_CONFIG.battery_cells);
buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
buffer.push(BitHelper.lowByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
buffer.push(BitHelper.highByte(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.current_offset));
buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.current_offset));
buffer.push(BitHelper.lowByte(FC.BATTERY_CONFIG.current_scale));
buffer.push(BitHelper.highByte(FC.BATTERY_CONFIG.current_scale));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity, byte_index));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity_warning, byte_index));
for (let byte_index = 0; byte_index < 4; ++byte_index)
buffer.push(BitHelper.specificByte(FC.BATTERY_CONFIG.capacity_critical, byte_index));
buffer.push(FC.BATTERY_CONFIG.capacity_unit);
break;
case MSPCodes.MSP_SET_RX_CONFIG:
buffer.push(FC.RX_CONFIG.serialrx_provider);
buffer.push(BitHelper.lowByte(FC.RX_CONFIG.maxcheck));
buffer.push(BitHelper.highByte(FC.RX_CONFIG.maxcheck));
buffer.push(BitHelper.lowByte(FC.RX_CONFIG.midrc));
buffer.push(BitHelper.highByte(FC.RX_CONFIG.midrc));
buffer.push(BitHelper.lowByte(FC.RX_CONFIG.mincheck));
buffer.push(BitHelper.highByte(FC.RX_CONFIG.mincheck));
buffer.push(FC.RX_CONFIG.spektrum_sat_bind);
buffer.push(BitHelper.lowByte(FC.RX_CONFIG.rx_min_usec));
buffer.push(BitHelper.highByte(FC.RX_CONFIG.rx_min_usec));
buffer.push(BitHelper.lowByte(FC.RX_CONFIG.rx_max_usec));
buffer.push(BitHelper.highByte(FC.RX_CONFIG.rx_max_usec));
buffer.push(0); // 4 null bytes for betaflight compatibility
buffer.push(0);
buffer.push(0);
buffer.push(0);
buffer.push(FC.RX_CONFIG.spirx_protocol);
// spirx_id - 4 bytes
buffer.push32(FC.RX_CONFIG.spirx_id);
buffer.push(FC.RX_CONFIG.spirx_channel_count);
// unused byte for fpvCamAngleDegrees, for compatiblity with betaflight
buffer.push(0);
// receiver type in FC.RX_CONFIG rather than in BF_CONFIG.features
buffer.push(FC.RX_CONFIG.receiver_type);
break;
case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
buffer.push(FC.FAILSAFE_CONFIG.failsafe_delay);
buffer.push(FC.FAILSAFE_CONFIG.failsafe_off_delay);
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_throttle));
buffer.push(FC.FAILSAFE_CONFIG.failsafe_kill_switch);
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay));
buffer.push(FC.FAILSAFE_CONFIG.failsafe_procedure);
buffer.push(FC.FAILSAFE_CONFIG.failsafe_recovery_delay);
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_roll_angle));
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
buffer.push(BitHelper.lowByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
buffer.push(BitHelper.highByte(FC.FAILSAFE_CONFIG.failsafe_min_distance));
buffer.push(FC.FAILSAFE_CONFIG.failsafe_min_distance_procedure);
break;
case MSPCodes.MSP2_SET_CF_SERIAL_CONFIG:
console.log('will crunch', FC.SERIAL_CONFIG);
for (let i = 0; i < FC.SERIAL_CONFIG.ports.length; i++) {
var serialPort = FC.SERIAL_CONFIG.ports[i];
buffer.push(serialPort.identifier);
var functionMask = serialPortHelper.functionsToMask(serialPort.functions);
buffer.push(BitHelper.specificByte(functionMask, 0));
buffer.push(BitHelper.specificByte(functionMask, 1));
buffer.push(BitHelper.specificByte(functionMask, 2));
buffer.push(BitHelper.specificByte(functionMask, 3));
var BAUD_RATES = mspHelper.BAUD_RATES_post1_6_3;
buffer.push(BAUD_RATES.indexOf(serialPort.msp_baudrate));
buffer.push(BAUD_RATES.indexOf(serialPort.sensors_baudrate));
buffer.push(BAUD_RATES.indexOf(serialPort.telemetry_baudrate));
buffer.push(BAUD_RATES.indexOf(serialPort.peripherals_baudrate));
}
break;
case MSPCodes.MSP_SET_3D:
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_low));
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_low));
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_high));
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_high));
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.neutral));
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.neutral));
break;
case MSPCodes.MSP_SET_RC_DEADBAND:
buffer.push(FC.RC_deadband.deadband);
buffer.push(FC.RC_deadband.yaw_deadband);
buffer.push(FC.RC_deadband.alt_hold_deadband);
buffer.push(BitHelper.lowByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
buffer.push(BitHelper.highByte(FC.REVERSIBLE_MOTORS.deadband_throttle));
break;
case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
buffer.push(FC.SENSOR_ALIGNMENT.align_gyro);
buffer.push(FC.SENSOR_ALIGNMENT.align_acc);
buffer.push(FC.SENSOR_ALIGNMENT.align_mag);
buffer.push(FC.SENSOR_ALIGNMENT.align_opflow);
break;
case MSPCodes.MSP_SET_ADVANCED_CONFIG:
buffer.push(FC.ADVANCED_CONFIG.gyroSyncDenominator);
buffer.push(FC.ADVANCED_CONFIG.pidProcessDenom);
buffer.push(FC.ADVANCED_CONFIG.useUnsyncedPwm);
buffer.push(FC.ADVANCED_CONFIG.motorPwmProtocol);
buffer.push(BitHelper.lowByte(FC.ADVANCED_CONFIG.motorPwmRate));
buffer.push(BitHelper.highByte(FC.ADVANCED_CONFIG.motorPwmRate));
buffer.push(BitHelper.lowByte(FC.ADVANCED_CONFIG.servoPwmRate));
buffer.push(BitHelper.highByte(FC.ADVANCED_CONFIG.servoPwmRate));
buffer.push(FC.ADVANCED_CONFIG.gyroSync);
break;
case MSPCodes.MSP_SET_INAV_PID:
buffer.push(FC.INAV_PID_CONFIG.asynchronousMode);
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.accelerometerTaskFrequency));
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.attitudeTaskFrequency));
buffer.push(FC.INAV_PID_CONFIG.magHoldRateLimit);
buffer.push(FC.INAV_PID_CONFIG.magHoldErrorLpfFrequency);
buffer.push(BitHelper.lowByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
buffer.push(BitHelper.highByte(FC.INAV_PID_CONFIG.yawJumpPreventionLimit));
buffer.push(FC.INAV_PID_CONFIG.gyroscopeLpf);
buffer.push(FC.INAV_PID_CONFIG.accSoftLpfHz);
buffer.push(0); //reserved
buffer.push(0); //reserved
buffer.push(0); //reserved
buffer.push(0); //reserved
break;
case MSPCodes.MSP_SET_NAV_POSHOLD:
buffer.push(FC.NAV_POSHOLD.userControlMode);
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxSpeed));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxSpeed));
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxClimbRate));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxClimbRate));
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxManualSpeed));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxManualSpeed));
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.maxManualClimbRate));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.maxManualClimbRate));
buffer.push(FC.NAV_POSHOLD.maxBankAngle);
buffer.push(FC.NAV_POSHOLD.useThrottleMidForAlthold);
buffer.push(BitHelper.lowByte(FC.NAV_POSHOLD.hoverThrottle));
buffer.push(BitHelper.highByte(FC.NAV_POSHOLD.hoverThrottle));
break;
case MSPCodes.MSP_SET_CALIBRATION_DATA:
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.X));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.X));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.Y));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.Y));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accZero.Z));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accZero.Z));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.X));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.X));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.Y));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.Y));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.accGain.Z));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.accGain.Z));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.X));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.X));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.Y));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.Y));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magZero.Z));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magZero.Z));
buffer.push(BitHelper.lowByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(BitHelper.highByte(Math.round(FC.CALIBRATION_DATA.opflow.Scale * 256)));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.X));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.X));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.Y));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.Y));
buffer.push(BitHelper.lowByte(FC.CALIBRATION_DATA.magGain.Z));
buffer.push(BitHelper.highByte(FC.CALIBRATION_DATA.magGain.Z));
break;
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
buffer.push(FC.RTH_AND_LAND_CONFIG.rthClimbFirst);
buffer.push(FC.RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
buffer.push(FC.RTH_AND_LAND_CONFIG.rthTailFirst);
buffer.push(FC.RTH_AND_LAND_CONFIG.rthAllowLanding);
buffer.push(FC.RTH_AND_LAND_CONFIG.rthAltControlMode);
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.rthAbortThreshold));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.rthAltitude));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landMinAltVspd));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landMaxAltVspd));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.emergencyDescentRate));
break;
case MSPCodes.MSP_SET_FW_CONFIG:
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.cruiseThrottle));
buffer.push(BitHelper.highByte(FC.FW_CONFIG.cruiseThrottle));
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.minThrottle));
buffer.push(BitHelper.highByte(FC.FW_CONFIG.minThrottle));
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.maxThrottle));
buffer.push(BitHelper.highByte(FC.FW_CONFIG.maxThrottle));
buffer.push(FC.FW_CONFIG.maxBankAngle);
buffer.push(FC.FW_CONFIG.maxClimbAngle);
buffer.push(FC.FW_CONFIG.maxDiveAngle);
buffer.push(FC.FW_CONFIG.pitchToThrottle);
buffer.push(BitHelper.lowByte(FC.FW_CONFIG.loiterRadius));
buffer.push(BitHelper.highByte(FC.FW_CONFIG.loiterRadius));
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push(FC.FILTER_CONFIG.gyroSoftLpfHz);
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermLpfHz));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermLpfHz));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.yawLpfHz));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.yawLpfHz));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchHz1));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchHz1));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchCutoff1));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermNotchHz));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermNotchHz));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.dtermNotchCutoff));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.dtermNotchCutoff));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchHz2));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchHz2));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroNotchCutoff2));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.accNotchHz));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.accNotchHz));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.accNotchCutoff));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.accNotchCutoff));
buffer.push(BitHelper.lowByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
buffer.push(BitHelper.highByte(FC.FILTER_CONFIG.gyroStage2LowpassHz));
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.rollPitchItermIgnoreRate));
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.yawItermIgnoreRate));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.yawItermIgnoreRate));
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.yawPLimit));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.yawPLimit));
buffer.push(0); //BF: currentProfile->pidProfile.deltaMethod
buffer.push(0); //BF: currentProfile->pidProfile.vbatPidCompensation
buffer.push(0); //BF: currentProfile->pidProfile.setpointRelaxRatio
buffer.push(FC.PID_ADVANCED.dtermSetpointWeight);
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.pidSumLimit));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.pidSumLimit));
buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.axisAccelerationLimitRollPitch));
buffer.push(BitHelper.lowByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
buffer.push(BitHelper.highByte(FC.PID_ADVANCED.axisAccelerationLimitYaw));
break;
case MSPCodes.MSP_SET_SENSOR_CONFIG:
buffer.push(FC.SENSOR_CONFIG.accelerometer);
buffer.push(FC.SENSOR_CONFIG.barometer);
buffer.push(FC.SENSOR_CONFIG.magnetometer);
buffer.push(FC.SENSOR_CONFIG.pitot);
buffer.push(FC.SENSOR_CONFIG.rangefinder);
buffer.push(FC.SENSOR_CONFIG.opflow);
break;
case MSPCodes.MSP_WP_MISSION_SAVE:
buffer.push(0);
break;
case MSPCodes.MSP_WP_MISSION_LOAD:
buffer.push(0);
break;
case MSPCodes.MSP2_INAV_SET_MIXER:
buffer.push(FC.MIXER_CONFIG.yawMotorDirection);
buffer.push(FC.MIXER_CONFIG.yawJumpPreventionLimit);
buffer.push(FC.MIXER_CONFIG.motorStopOnLow);
buffer.push(FC.MIXER_CONFIG.platformType);
buffer.push(FC.MIXER_CONFIG.hasFlaps);
buffer.push(BitHelper.lowByte(FC.MIXER_CONFIG.appliedMixerPreset));
buffer.push(BitHelper.highByte(FC.MIXER_CONFIG.appliedMixerPreset));
buffer.push(0); //Filler byte to match expect payload length
buffer.push(0); //Filler byte to match expect payload length
break;
case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.speedThreshold));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.speedThreshold));
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.disengageSpeed));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.disengageSpeed));
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.timeout));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.timeout));
buffer.push(FC.BRAKING_CONFIG.boostFactor);
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostTimeout));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostTimeout));
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostSpeedThreshold));
buffer.push(BitHelper.lowByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
buffer.push(BitHelper.highByte(FC.BRAKING_CONFIG.boostDisengageSpeed));
buffer.push(FC.BRAKING_CONFIG.bankAngle);
break;
case MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS:
buffer.push(FC.RATE_DYNAMICS.sensitivityCenter);
buffer.push(FC.RATE_DYNAMICS.sensitivityEnd);
buffer.push(FC.RATE_DYNAMICS.correctionCenter);
buffer.push(FC.RATE_DYNAMICS.correctionEnd);
buffer.push(FC.RATE_DYNAMICS.weightCenter);
buffer.push(FC.RATE_DYNAMICS.weightEnd);
break;
case MSPCodes.MSP2_INAV_EZ_TUNE_SET:
buffer.push(FC.EZ_TUNE.enabled);
buffer.push(BitHelper.lowByte(FC.EZ_TUNE.filterHz));
buffer.push(BitHelper.highByte(FC.EZ_TUNE.filterHz));
buffer.push(FC.EZ_TUNE.axisRatio);
buffer.push(FC.EZ_TUNE.response);
buffer.push(FC.EZ_TUNE.damping);
buffer.push(FC.EZ_TUNE.stability);
buffer.push(FC.EZ_TUNE.aggressiveness);
buffer.push(FC.EZ_TUNE.rate);
buffer.push(FC.EZ_TUNE.expo);
buffer.push(FC.EZ_TUNE.snappiness);
break;
default:
return false;
}
return buffer;
};
/**
* Set raw Rx values over MSP protocol.
*
* Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
*/
self.setRawRx = function (channels) {
var buffer = [];
for (var i = 0; i < channels.length; i++) {
buffer.push(BitHelper.specificByte(channels[i], 0));
buffer.push(BitHelper.specificByte(channels[i], 1));
}
MSP.send_message(MSPCodes.MSP_SET_RAW_RC, buffer, false);
};
self.sendBlackboxConfiguration = function (onDataCallback) {
var buffer = [];
var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
buffer.push(FC.BLACKBOX.blackboxDevice & 0xFF);
messageId = MSPCodes.MSP2_SET_BLACKBOX_CONFIG;
buffer.push(BitHelper.lowByte(FC.BLACKBOX.blackboxRateNum));
buffer.push(BitHelper.highByte(FC.BLACKBOX.blackboxRateNum));
buffer.push(BitHelper.lowByte(FC.BLACKBOX.blackboxRateDenom));
buffer.push(BitHelper.highByte(FC.BLACKBOX.blackboxRateDenom));
buffer.push32(FC.BLACKBOX.blackboxIncludeFlags);
//noinspection JSUnusedLocalSymbols
MSP.send_message(messageId, buffer, false, function (response) {
onDataCallback();
});
};
self.sendServoConfigurations = function (onCompleteCallback) {
var nextFunction = send_next_servo_configuration;
var servoIndex = 0;
if (FC.SERVO_CONFIG.length == 0) {
onCompleteCallback();
} else {
nextFunction();
}
function send_next_servo_configuration() {
var buffer = [];
// send one at a time, with index
var servoConfiguration = FC.SERVO_CONFIG[servoIndex];
buffer.push(servoIndex);
buffer.push(BitHelper.lowByte(servoConfiguration.min));
buffer.push(BitHelper.highByte(servoConfiguration.min));
buffer.push(BitHelper.lowByte(servoConfiguration.max));
buffer.push(BitHelper.highByte(servoConfiguration.max));
buffer.push(BitHelper.lowByte(servoConfiguration.middle));
buffer.push(BitHelper.highByte(servoConfiguration.middle));
buffer.push(BitHelper.lowByte(servoConfiguration.rate));
// prepare for next iteration
servoIndex++;
if (servoIndex == FC.SERVO_CONFIG.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_SERVO_CONFIG, buffer, false, nextFunction);
}
};
self.sendServoMixer = function (onCompleteCallback) {
var nextFunction = sendMixer,
servoIndex = 0;
if (FC.SERVO_RULES.length == 0) {
onCompleteCallback();
} else {
nextFunction();
}
function sendMixer() {
var buffer = [];
// send one at a time, with index
var servoRule = FC.SERVO_RULES.get()[servoIndex];
//INAV 2.2 uses different MSP frame
buffer.push(servoIndex);
buffer.push(servoRule.getTarget());
buffer.push(servoRule.getInput());
buffer.push(BitHelper.lowByte(servoRule.getRate()));
buffer.push(BitHelper.highByte(servoRule.getRate()));
buffer.push(servoRule.getSpeed());
buffer.push(servoRule.getConditionId());
// prepare for next iteration
servoIndex++;
if (servoIndex == FC.SERVO_RULES.getServoRulesCount()) { //This is the last rule. Not pretty, but we have to send all rules
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_SERVO_MIXER, buffer, false, nextFunction);
}
};
self.sendMotorMixer = function (onCompleteCallback) {
var nextFunction = sendMixer,
servoIndex = 0;
if (FC.MOTOR_RULES.length === 0) {
onCompleteCallback();
} else {
nextFunction();
}
function sendMixer() {
var buffer = [];
// send one at a time, with index
var rule = FC.MOTOR_RULES.get()[servoIndex];
if (rule) {
buffer.push(servoIndex);
buffer.push(BitHelper.lowByte(rule.getThrottleForMsp()));
buffer.push(BitHelper.highByte(rule.getThrottleForMsp()));
buffer.push(BitHelper.lowByte(rule.getRollForMsp()));
buffer.push(BitHelper.highByte(rule.getRollForMsp()));
buffer.push(BitHelper.lowByte(rule.getPitchForMsp()));
buffer.push(BitHelper.highByte(rule.getPitchForMsp()));
buffer.push(BitHelper.lowByte(rule.getYawForMsp()));
buffer.push(BitHelper.highByte(rule.getYawForMsp()));
// prepare for next iteration
servoIndex++;
if (servoIndex == FC.MOTOR_RULES.getMotorCount()) { //This is the last rule. Not pretty, but we have to send all rules
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_COMMON_SET_MOTOR_MIXER, buffer, false, nextFunction);
} else {
onCompleteCallback();
}
}
};
self.loadLogicConditions = function (callback) {
if (semver.gte(FC.CONFIG.flightControllerVersion, "5.0.0")) {
FC.LOGIC_CONDITIONS.flush();
let idx = 0;
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, nextLogicCondition);
function nextLogicCondition() {
idx++;
if (idx < FC.LOGIC_CONDITIONS.getMaxLogicConditionCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, nextLogicCondition);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, callback);
}
}
} else {
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS, false, false, callback);
}
}
self.sendLogicConditions = function (onCompleteCallback) {
let nextFunction = sendCondition,
conditionIndex = 0;
if (FC.LOGIC_CONDITIONS.getCount() == 0) {
onCompleteCallback();
} else {
nextFunction();
}
function sendCondition() {
let buffer = [];
// send one at a time, with index, 14 bytes per one condition
let condition = FC.LOGIC_CONDITIONS.get()[conditionIndex];
buffer.push(conditionIndex);
buffer.push(condition.getEnabled());
buffer.push(condition.getActivatorId());
buffer.push(condition.getOperation());
buffer.push(condition.getOperandAType());
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 0));
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 1));
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 2));
buffer.push(BitHelper.specificByte(condition.getOperandAValue(), 3));
buffer.push(condition.getOperandBType());
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 0));
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 1));
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 2));
buffer.push(BitHelper.specificByte(condition.getOperandBValue(), 3));
buffer.push(condition.getFlags());
// prepare for next iteration
conditionIndex++;
if (conditionIndex == FC.LOGIC_CONDITIONS.getCount()) { //This is the last rule. Not pretty, but we have to send all rules
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_LOGIC_CONDITIONS, buffer, false, nextFunction);
}
};
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 (FC.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 = FC.PROGRAMMING_PID.get()[pidIndex];
buffer.push(pidIndex);
buffer.push(pid.getEnabled());
buffer.push(pid.getSetpointType());
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 0));
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 1));
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 2));
buffer.push(BitHelper.specificByte(pid.getSetpointValue(), 3));
buffer.push(pid.getMeasurementType());
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 0));
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 1));
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 2));
buffer.push(BitHelper.specificByte(pid.getMeasurementValue(), 3));
buffer.push(BitHelper.specificByte(pid.getGainP(), 0));
buffer.push(BitHelper.specificByte(pid.getGainP(), 1));
buffer.push(BitHelper.specificByte(pid.getGainI(), 0));
buffer.push(BitHelper.specificByte(pid.getGainI(), 1));
buffer.push(BitHelper.specificByte(pid.getGainD(), 0));
buffer.push(BitHelper.specificByte(pid.getGainD(), 1));
buffer.push(BitHelper.specificByte(pid.getGainFF(), 0));
buffer.push(BitHelper.specificByte(pid.getGainFF(), 1));
// prepare for next iteration
pidIndex++;
if (pidIndex == FC.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.loadOsdCustomElements = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENTS, false, false, nextCustomOSDElement);
var cosdeIdx = 0;
function nextCustomOSDElement() {
if (cosdeIdx < FC.OSD_CUSTOM_ELEMENTS .settings.customElementsCount - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENT, [cosdeIdx++], false, nextCustomOSDElement);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENT, [cosdeIdx++], false, callback);
}
}
}
self.sendModeRanges = function (onCompleteCallback) {
var nextFunction = send_next_mode_range;
var modeRangeIndex = 0;
if (FC.MODE_RANGES.length == 0) {
onCompleteCallback();
} else {
send_next_mode_range();
}
function send_next_mode_range() {
var modeRange = FC.MODE_RANGES[modeRangeIndex];
var buffer = [];
buffer.push(modeRangeIndex);
buffer.push(modeRange.id);
buffer.push(modeRange.auxChannelIndex);
buffer.push((modeRange.range.start - 900) / 25);
buffer.push((modeRange.range.end - 900) / 25);
// prepare for next iteration
modeRangeIndex++;
if (modeRangeIndex == FC.MODE_RANGES.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
}
};
/**
* Send a request to read a block of data from the dataflash at the given address and pass that address and a ArrayBuffer
* of the returned data to the given callback (or null for the data if an error occured).
*/
self.dataflashRead = function (address, onDataCallback) {
var buffer = [];
buffer.push(address & 0xFF);
buffer.push((address >> 8) & 0xFF);
buffer.push((address >> 16) & 0xFF);
buffer.push((address >> 24) & 0xFF);
// For API > 2.0.0 we support requesting payload size - request 4KiB and let firmware decide what actual size to send
if (FC.CONFIG.apiVersion && semver.gte(FC.CONFIG.apiVersion, "2.0.0")) {
buffer.push(BitHelper.lowByte(4096));
buffer.push(BitHelper.highByte(4096));
}
MSP.send_message(MSPCodes.MSP_DATAFLASH_READ, buffer, false, function (response) {
var chunkAddress = response.data.getUint32(0, 1);
// Verify that the address of the memory returned matches what the caller asked for
if (chunkAddress == address) {
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
* figure out the reply format:
*/
onDataCallback(address, response.data.buffer.slice(4));
} else {
// Report error
onDataCallback(address, null);
}
});
};
self.sendServoMixRules = function (onCompleteCallback) {
// TODO implement
onCompleteCallback();
};
self.sendAdjustmentRanges = function (onCompleteCallback) {
var nextFunction = send_next_adjustment_range;
var adjustmentRangeIndex = 0;
if (FC.ADJUSTMENT_RANGES.length == 0) {
onCompleteCallback();
} else {
send_next_adjustment_range();
}
function send_next_adjustment_range() {
var adjustmentRange = FC.ADJUSTMENT_RANGES[adjustmentRangeIndex];
var buffer = [];
buffer.push(adjustmentRangeIndex);
buffer.push(adjustmentRange.slotIndex);
buffer.push(adjustmentRange.auxChannelIndex);
buffer.push((adjustmentRange.range.start - 900) / 25);
buffer.push((adjustmentRange.range.end - 900) / 25);
buffer.push(adjustmentRange.adjustmentFunction);
buffer.push(adjustmentRange.auxSwitchChannelIndex);
// prepare for next iteration
adjustmentRangeIndex++;
if (adjustmentRangeIndex == FC.ADJUSTMENT_RANGES.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
}
};
self.sendLedStripColors = function (onCompleteCallback) {
if (FC.LED_COLORS.length == 0) {
onCompleteCallback();
} else {
var buffer = [];
for (var colorIndex = 0; colorIndex < FC.LED_COLORS.length; colorIndex++) {
var color = FC.LED_COLORS[colorIndex];
buffer.push(BitHelper.specificByte(color.h, 0));
buffer.push(BitHelper.specificByte(color.h, 1));
buffer.push(color.s);
buffer.push(color.v);
}
MSP.send_message(MSPCodes.MSP_SET_LED_COLORS, buffer, false, onCompleteCallback);
}
};
self.sendLedStripConfig = function (onCompleteCallback) {
var nextFunction = send_next_led_strip_config;
var ledIndex = 0;
if (FC.LED_STRIP.length == 0) {
onCompleteCallback();
} else {
send_next_led_strip_config();
}
function send_next_led_strip_config() {
var led = FC.LED_STRIP[ledIndex];
/*
var led = {
directions: directions,
functions: functions,
x: data.getUint8(offset++, 1),
y: data.getUint8(offset++, 1),
color: data.getUint8(offset++, 1)
};
*/
var buffer = [],
directionLetterIndex,
functionLetterIndex,
bitIndex;
buffer.push(ledIndex);
var mask = 0;
var extra = 0;
/*
ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r', 'h'], // in LSB bit
ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w', 'e'], // in LSB bit
*/
mask |= (led.y << 0);
mask |= (led.x << 4);
for (functionLetterIndex = 0; functionLetterIndex < led.functions.length; functionLetterIndex++) {
var fnIndex = MSP.ledBaseFunctionLetters.indexOf(led.functions[functionLetterIndex]);
if (fnIndex >= 0) {
mask |= (fnIndex << 8);
break;
}
}
for (var overlayLetterIndex = 0; overlayLetterIndex < led.functions.length; overlayLetterIndex++) {
bitIndex = MSP.ledOverlayLetters.indexOf(led.functions[overlayLetterIndex]);
if (bitIndex >= 0) {
mask |= BitHelper.bit_set(mask, bitIndex + 16);
}
}
mask |= (led.color << 24);
for (directionLetterIndex = 0; directionLetterIndex < led.directions.length; directionLetterIndex++) {
bitIndex = MSP.ledDirectionLetters.indexOf(led.directions[directionLetterIndex]);
if (bitIndex >= 0) {
if(bitIndex < 4) {
mask |= BitHelper.bit_set(mask, bitIndex + 28);
} else {
extra |= BitHelper.bit_set(extra, bitIndex - 4);
}
}
}
extra |= (0 << 2); // parameters
buffer.push(BitHelper.specificByte(mask, 0));
buffer.push(BitHelper.specificByte(mask, 1));
buffer.push(BitHelper.specificByte(mask, 2));
buffer.push(BitHelper.specificByte(mask, 3));
buffer.push(BitHelper.specificByte(extra, 0));
// prepare for next iteration
ledIndex++;
if (ledIndex == FC.LED_STRIP.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_LED_STRIP_CONFIG_EX, buffer, false, nextFunction);
}
};
self.sendLedStripModeColors = function (onCompleteCallback) {
var nextFunction = send_next_led_strip_mode_color;
var index = 0;
if (FC.LED_MODE_COLORS.length == 0) {
onCompleteCallback();
} else {
send_next_led_strip_mode_color();
}
function send_next_led_strip_mode_color() {
var buffer = [];
var mode_color = FC.LED_MODE_COLORS[index];
buffer.push(mode_color.mode);
buffer.push(mode_color.direction);
buffer.push(mode_color.color);
// prepare for next iteration
index++;
if (index == FC.LED_MODE_COLORS.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP_SET_LED_STRIP_MODECOLOR, buffer, false, nextFunction);
}
};
/*
* Basic sending methods used for chaining purposes
*/
self.loadINAVPidConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_INAV_PID, false, false, callback);
};
self.loadAdvancedConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, callback);
};
self.loadFilterConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_FILTER_CONFIG, false, false, callback);
};
self.loadPidAdvanced = function (callback) {
MSP.send_message(MSPCodes.MSP_PID_ADVANCED, false, false, callback);
};
self.loadRcTuningData = function (callback) {
MSP.send_message(MSPCodes.MSP_RC_TUNING, false, false, callback);
};
self.loadRateProfileData = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_RATE_PROFILE, false, false, callback);
};
self.loadPidData = function (callback) {
MSP.send_message(MSPCodes.MSP2_PID, false, false, callback);
};
self.loadPidNames = function (callback) {
MSP.send_message(MSPCodes.MSP_PIDNAMES, false, false, callback);
};
self.loadFeatures = function (callback) {
MSP.send_message(MSPCodes.MSP_FEATURE, false, false, callback);
};
self.loadBoardAlignment = function (callback) {
MSP.send_message(MSPCodes.MSP_BOARD_ALIGNMENT, false, false, callback);
};
self.loadCurrentMeterConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_CURRENT_METER_CONFIG, false, false, callback);
};
self.queryFcStatus = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_STATUS, false, false, callback);
};
self.loadMiscV2 = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_MISC, false, false, callback);
};
self.loadOutputMapping = function (callback) {
alert('Obsolete MSPHelper.loadOutputMapping call');
MSP.send_message(MSPCodes.MSPV2_INAV_OUTPUT_MAPPING, false, false, callback);
};
self.loadOutputMappingExt = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_OUTPUT_MAPPING_EXT2, false, false, callback);
};
self.loadTimerOutputModes = function(callback) {
MSP.send_message(MSPCodes.MSP2_INAV_TIMER_OUTPUT_MODE, false, false, callback);
}
self.sendTimerOutputModes = function(onCompleteCallback) {
var nextFunction = send_next_output_mode;
var idIndex = 0;
var overrideIds = FC.OUTPUT_MAPPING.getUsedTimerIds();
if (overrideIds.length == 0) {
onCompleteCallback();
} else {
send_next_output_mode();
}
function send_next_output_mode() {
var timerId = overrideIds[idIndex];
var outputMode = FC.OUTPUT_MAPPING.getTimerOverride(timerId);
var buffer = [];
buffer.push(timerId);
buffer.push(outputMode);
// prepare for next iteration
idIndex++;
if (idIndex == overrideIds.length) {
nextFunction = onCompleteCallback;
}
MSP.send_message(MSPCodes.MSP2_INAV_SET_TIMER_OUTPUT_MODE, buffer, false, nextFunction);
}
}
self.loadBatteryConfig = function (callback) {
MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
};
self.loadRxConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_RX_CONFIG, false, false, callback);
};
self.load3dConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_3D, false, false, callback);
};
self.loadSensorAlignment = function (callback) {
MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, callback);
};
self.loadSensorConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SENSOR_CONFIG, false, false, callback);
};
self.loadSensorStatus = function (callback) {
MSP.send_message(MSPCodes.MSP_SENSOR_STATUS, false, false, callback);
};
self.loadRcDeadband = function (callback) {
MSP.send_message(MSPCodes.MSP_RC_DEADBAND, false, false, callback);
};
self.loadRcMap = function (callback) {
MSP.send_message(MSPCodes.MSP_RX_MAP, false, false, callback);
};
self.loadRcData = function (callback) {
MSP.send_message(MSPCodes.MSP_RC, false, false, callback);
};
self.loadAccTrim = function (callback) {
MSP.send_message(MSPCodes.MSP_ACC_TRIM, false, false, callback);
};
self.saveToEeprom = function saveToEeprom(callback) {
MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, callback);
};
self.saveINAVPidConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_INAV_PID, mspHelper.crunch(MSPCodes.MSP_SET_INAV_PID), false, callback);
};
self.saveAdvancedConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_ADVANCED_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ADVANCED_CONFIG), false, callback);
};
self.saveFilterConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, callback);
};
self.savePidData = function (callback) {
MSP.send_message(MSPCodes.MSP2_SET_PID, mspHelper.crunch(MSPCodes.MSP2_SET_PID), false, callback);
};
self.saveRcTuningData = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, callback);
};
self.saveRateProfileData = function (callback) {
MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, callback);
};
self.savePidAdvanced = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, callback);
};
self.saveFeatures = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_FEATURE, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE), false, callback);
};
self.saveCurrentMeterConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_CURRENT_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CURRENT_METER_CONFIG), false, callback);
};
self.saveBoardAlignment = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_BOARD_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_BOARD_ALIGNMENT), 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);
};
self.saveSensorAlignment = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_SENSOR_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_ALIGNMENT), false, callback);
};
self.saveAccTrim = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_ACC_TRIM, mspHelper.crunch(MSPCodes.MSP_SET_ACC_TRIM), false, callback);
};
self.saveRxConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, callback);
};
self.saveSensorConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_SENSOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_CONFIG), false, callback);
};
self.loadNavPosholdConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_NAV_POSHOLD, false, false, callback);
};
self.saveNavPosholdConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_NAV_POSHOLD, mspHelper.crunch(MSPCodes.MSP_SET_NAV_POSHOLD), false, callback);
};
self.loadCalibrationData = function (callback) {
MSP.send_message(MSPCodes.MSP_CALIBRATION_DATA, false, false, callback);
};
self.saveCalibrationData = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_CALIBRATION_DATA, mspHelper.crunch(MSPCodes.MSP_SET_CALIBRATION_DATA), false, callback);
};
self.loadRthAndLandConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_RTH_AND_LAND_CONFIG, false, false, callback);
};
self.saveRthAndLandConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG), false, callback);
};
self.loadFwConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_FW_CONFIG, false, false, callback);
};
self.saveFwConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_FW_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FW_CONFIG), false, callback);
};
self.getMissionInfo = function (callback) {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
};
self.loadWaypoints = function (callback) {
FC.MISSION_PLANNER.reinit();
let waypointId = 0;
let startTime = new Date().getTime();
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, loadWaypoint);
function loadWaypoint() {
waypointId++;
if (waypointId < FC.MISSION_PLANNER.getCountBusyPoints()) {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, loadWaypoint);
} else {
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
}
};
};
self.saveWaypoints = function (callback) {
let waypointId = 0;
let startTime = new Date().getTime();
sendWaypoint();
function sendWaypoint() {
waypointId++;
if (waypointId < FC.MISSION_PLANNER.get().length) {
MSP.send_message(MSPCodes.MSP_SET_WP, FC.MISSION_PLANNER.extractBuffer(waypointId), false, sendWaypoint);
}
else {
MSP.send_message(MSPCodes.MSP_SET_WP, FC.MISSION_PLANNER.extractBuffer(waypointId), false, endMission);
}
};
function endMission() {
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
}
};
self.loadSafehomes = function (callback) {
FC.SAFEHOMES.flush();
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
function nextSafehome() {
safehomeId++;
if (safehomeId < FC.SAFEHOMES.getMaxSafehomeCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, callback);
}
};
};
self.saveSafehomes = function (callback) {
let safehomeId = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, FC.SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
function nextSendSafehome() {
safehomeId++;
if (safehomeId < FC.SAFEHOMES.getMaxSafehomeCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, FC.SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, FC.SAFEHOMES.extractBuffer(safehomeId), false, callback);
}
};
};
self.loadFwApproach = function (callback) {
FC.FW_APPROACH.flush();
let id = 0;
MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
function nextFwApproach() {
id++;
if (id < FC.FW_APPROACH.getMaxFwApproachCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, callback);
}
};
};
self.saveFwApproach = function (callback) {
let id = 0;
MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FC.FW_APPROACH.extractBuffer(id), false, nextFwApproach);
function nextFwApproach() {
id++;
if (id < FC.FW_APPROACH.getMaxFwApproachCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FC.FW_APPROACH.extractBuffer(id), false, nextFwApproach);
}
else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FC.FW_APPROACH.extractBuffer(id), false, callback);
}
};
};
self.loadGeozones = function (callback) {
FC.GEOZONES.flush();
let geozoneID = -1;
let vertexID = -1;
nextGeozone();
function nextVertex() {
vertexID++;
let zone = FC.GEOZONES.at(geozoneID);
if (!zone || zone.getVerticesCount() == 0) {
nextGeozone();
return;
}
if (vertexID < FC.GEOZONES.at(geozoneID).getVerticesCount() - 1 && zone.getShape() == GeozoneShapes.POLYGON) {
MSP.send_message(MSPCodes.MSP2_INAV_GEOZONE_VERTEX, [geozoneID, vertexID], false, nextVertex);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_GEOZONE_VERTEX, [geozoneID, vertexID], false, nextGeozone);
}
}
function nextGeozone() {
geozoneID++;
vertexID = -1;
if (geozoneID < FC.GEOZONES.getMaxZones() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_GEOZONE, [geozoneID], false, nextVertex);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_GEOZONE, [geozoneID], false, callback);
}
}
};
self.saveGeozones = function (callback) {
let geozoneID = -1;
let vertexID = -1;
nextGeozone()
function nextVertex() {
vertexID++;
let zone = FC.GEOZONES.at(geozoneID);
if (!zone || zone.getVerticesCount() == 0) {
nextGeozone();
return;
}
if (vertexID < FC.GEOZONES.at(geozoneID).getVerticesCount() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_GEOZONE_VERTICE, FC.GEOZONES.extractBufferVertices(geozoneID, vertexID), false, nextVertex);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_GEOZONE_VERTICE, FC.GEOZONES.extractBufferVertices(geozoneID, vertexID), false, nextGeozone);
}
}
function nextGeozone() {
geozoneID++;
vertexID = -1;
if (geozoneID < FC.GEOZONES.getMaxZones() - 1) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_GEOZONE, FC.GEOZONES.extractBufferZone(geozoneID), false, nextVertex);
} else {
MSP.send_message(MSPCodes.MSP2_INAV_SET_GEOZONE, FC.GEOZONES.extractBufferZone(geozoneID), false, callback);
}
}
}
self._getSetting = function (name) {
const storedSetting = settingsCache.get(name);
if (typeof storedSetting !== 'undefined') {
return Promise.resolve(storedSetting);
}
var data = [];
self._encodeSettingReference(name, null, data);
return MSP.promise(MSPCodes.MSP2_COMMON_SETTING_INFO, data).then(function (result) {
const MODE_LOOKUP = 1 << 6;
var settingTypes = {
0: "uint8_t",
1: "int8_t",
2: "uint16_t",
3: "int16_t",
4: "uint32_t",
5: "float",
6: "string",
};
var setting = {};
// Discard setting name
result.data.readString();
// Discard PG ID
result.data.readU16();
var type = result.data.readU8();
setting.type = settingTypes[type];
if (!setting.type) {
console.log("Unknown setting type " + type + " for setting '" + name + "'");
return null;
}
// Discard section
result.data.readU8();
setting.mode = result.data.readU8();
setting.min = result.data.read32();
setting.max = result.data.readU32();
setting.index = result.data.readU16();
// Discard profile info
result.data.readU8();
result.data.readU8();
if (setting.mode == MODE_LOOKUP) {
var values = [];
for (var ii = setting.min; ii <= setting.max; ii++) {
values.push(result.data.readString());
}
setting.table = { values: values };
}
settingsCache.set(name, setting);
return setting;
});
}
self._encodeSettingReference = function (name, index, data) {
if (Number.isInteger(index)) {
data.push8(0);
data.push16(index);
} else {
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
}
data.push(0);
}
};
self.getSetting = function (name) {
var $this = this;
return this._getSetting(name).then(function (setting) {
if (!setting) {
// Setting not available in the FC
return null;
}
var data = [];
$this._encodeSettingReference(name, setting.index, data);
return MSP.promise(MSPCodes.MSPV2_SETTING, data).then(function (resp) {
var value;
switch (setting.type) {
case "uint8_t":
value = resp.data.getUint8(0);
break;
case "int8_t":
value = resp.data.getInt8(0);
break;
case "uint16_t":
value = resp.data.getUint16(0, true);
break;
case "int16_t":
value = resp.data.getInt16(0, true);
break;
case "uint32_t":
value = resp.data.getUint32(0, true);
break;
case "float":
var fi32 = resp.data.getUint32(0, true);
var buf = new ArrayBuffer(4);
(new Uint32Array(buf))[0] = fi32;
value = (new Float32Array(buf))[0];
break;
case "string":
value = resp.data.readString();
break;
default:
throw "Unknown setting type " + setting.type;
}
return { setting: setting, value: value };
});
});
};
self.encodeSetting = function (name, value) {
return this._getSetting(name).then(function (setting) {
if (!setting) {
throw 'Invalid setting';
}
if (setting.table && !Number.isInteger(value)) {
var found = false;
for (var ii = 0; ii < setting.table.values.length; ii++) {
if (setting.table.values[ii] == value) {
value = ii;
found = true;
break;
}
}
if (!found) {
throw 'Invalid value "' + value + '" for setting ' + name;
}
}
var data = [];
self._encodeSettingReference(name, setting.index, data);
switch (setting.type) {
case "uint8_t":
case "int8_t":
data.push8(value);
break;
case "uint16_t":
case "int16_t":
data.push16(value);
break;
case "uint32_t":
data.push32(value);
break;
case "float":
var buf = new ArrayBuffer(4);
(new Float32Array(buf))[0] = value;
var if32 = (new Uint32Array(buf))[0];
data.push32(if32);
break;
case "string":
for (var ii = 0; ii < value.length; ii++) {
data.push(value.charCodeAt(ii));
}
break;
default:
throw "Unknown setting type " + setting.type;
}
return data;
});
};
self.setSetting = function (name, value, callback) {
this.encodeSetting(name, value).then(function (data) {
return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data).then(callback);
}).catch(error => {
console.log("Invalid setting: " + name, error);
return Promise.resolve().then(callback);
});
};
self.getRTC = function (callback) {
MSP.send_message(MSPCodes.MSP_RTC, false, false, function (resp) {
var seconds = resp.data.read32();
var millis = resp.data.readU16();
if (callback) {
callback(seconds, millis);
}
});
};
self.setRTC = function (callback) {
var now = Date.now();
var secs = now / 1000;
var millis = now % 1000;
var data = [];
data.push32(secs);
data.push16(millis);
MSP.send_message(MSPCodes.MSP_SET_RTC, data, false, callback);
};
self.loadServoConfiguration = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SERVO_CONFIG, false, false, callback);
};
self.loadServoMixRules = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SERVO_MIXER, false, false, callback);
};
self.loadMotorMixRules = function (callback) {
MSP.send_message(MSPCodes.MSP2_COMMON_MOTOR_MIXER, false, false, callback);
};
self.loadMotors = function (callback) {
MSP.send_message(MSPCodes.MSP_MOTOR, false, false, callback);
};
self.getTarget = function(callback) {
MSP.send_message(MSPCodes.MSP_FC_VERSION, false, false, function(resp){
var target = resp.data.readString();
if (callback) {
callback(target);
}
});
}
self.getCraftName = function (callback) {
MSP.send_message(MSPCodes.MSP_NAME, false, false, function (resp) {
var name = resp.data.readString();
if (callback) {
callback(name);
}
});
};
self.setCraftName = function (name, callback) {
var data = [];
name = name || "";
for (var ii = 0; ii < name.length; ii++) {
data.push(name.charCodeAt(ii));
}
MSP.send_message(MSPCodes.MSP_SET_NAME, data, false, callback);
};
self.loadMixerConfig = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_MIXER, false, false, callback);
};
self.saveMixerConfig = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_MIXER, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_MIXER), false, callback);
};
self.loadVTXConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_VTX_CONFIG, false, false, callback);
};
self.saveVTXConfig = function (callback) {
MSP.send_message(MSPCodes.MSP_SET_VTX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_VTX_CONFIG), false, callback);
};
self.loadBrakingConfig = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
}
self.saveBrakingConfig = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_MC_BRAKING, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_MC_BRAKING), false, callback);
};
self.loadRateDynamics = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_RATE_DYNAMICS, false, false, callback);
}
self.saveRateDynamics = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_RATE_DYNAMICS), false, callback);
}
self.loadEzTune = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_EZ_TUNE, false, false, callback);
}
self.saveEzTune = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_EZ_TUNE_SET, mspHelper.crunch(MSPCodes.MSP2_INAV_EZ_TUNE_SET), false, callback);
}
self.loadParameterGroups = function (callback) {
MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {
var groups = [];
while (resp.data.offset < resp.data.byteLength) {
var id = resp.data.readU16();
var start = resp.data.readU16();
var end = resp.data.readU16();
groups.push({ id: id, start: start, end: end });
}
if (callback) {
callback(groups);
}
});
};
self.loadBrakingConfig = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
}
self.loadLogicConditionsStatus = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS, false, false, callback);
};
self.loadGlobalVariablesStatus = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_GVAR_STATUS, false, false, callback);
};
self.loadProgrammingPidStatus = function (callback) {
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
};
self.loadSerialPorts = function (callback) {
MSP.send_message(MSPCodes.MSP2_CF_SERIAL_CONFIG, false, false, callback);
};
self.saveSerialPorts = function (callback) {
MSP.send_message(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG), false, callback);
};
self.sendUbloxCommand = function (ubloxData, callback) {
MSP.send_message(MSPCodes.MSP2_INAV_GPS_UBLOX_COMMAND, ubloxData, false, callback);
};
return self;
})();
module.exports = mspHelper;
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