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Merge branch 'master' of https://github.com/RomanLut/inav into submit-gps-fix-estimation

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Roman Lut 2023-04-05 10:15:54 +02:00
commit 0fb2c1edc8
391 changed files with 150969 additions and 1669 deletions
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48
src/main/fc/fc_msp.c
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@ -46,6 +46,7 @@
#include "drivers/compass/compass_msp.h"
#include "drivers/barometer/barometer_msp.h"
#include "drivers/pitotmeter/pitotmeter_msp.h"
#include "sensors/battery_sensor_fake.h"
#include "drivers/bus_i2c.h"
#include "drivers/display.h"
#include "drivers/flash.h"
@ -1123,6 +1124,25 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
serializeSDCardSummaryReply(dst);
break;
#if defined (USE_DJI_HD_OSD) || defined (USE_MSP_DISPLAYPORT)
case MSP_BATTERY_STATE:
// Battery characteristics
sbufWriteU8(dst, constrain(getBatteryCellCount(), 0, 255));
sbufWriteU16(dst, currentBatteryProfile->capacity.value);
// Battery state
sbufWriteU8(dst, constrain(getBatteryVoltage() / 10, 0, 255)); // in 0.1V steps
sbufWriteU16(dst, constrain(getMAhDrawn(), 0, 0xFFFF));
sbufWriteU16(dst, constrain(getAmperage(), -0x8000, 0x7FFF));
// Battery alerts - used values match Betaflight's/DJI's
sbufWriteU8(dst, getBatteryState());
// Additional battery voltage field (in 0.01V steps)
sbufWriteU16(dst, getBatteryVoltage());
break;
#endif
case MSP_OSD_CONFIG:
#ifdef USE_OSD
sbufWriteU8(dst, OSD_DRIVER_MAX7456); // OSD supported
@ -1389,6 +1409,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_VTX_CONFIG:
#ifdef USE_VTX_CONTROL
{
vtxDevice_t *vtxDevice = vtxCommonDevice();
if (vtxDevice) {
@ -1415,6 +1436,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX configured
}
}
#else
sbufWriteU8(dst, VTXDEV_UNKNOWN); // no VTX configured
#endif
break;
case MSP_NAME:
@ -2443,6 +2467,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif // USE_OSD
#ifdef USE_VTX_CONTROL
case MSP_SET_VTX_CONFIG:
if (dataSize >= 2) {
vtxDevice_t *vtxDevice = vtxCommonDevice();
@ -2476,6 +2501,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
}
break;
#endif
#ifdef USE_FLASHFS
case MSP_DATAFLASH_ERASE:
@ -3222,8 +3248,12 @@ static bool mspParameterGroupsCommand(sbuf_t *dst, sbuf_t *src)
#ifdef USE_SIMULATOR
bool isOSDTypeSupportedBySimulator(void)
{
#ifdef USE_OSD
displayPort_t *osdDisplayPort = osdGetDisplayPort();
return (osdDisplayPort && osdDisplayPort->cols == 30 && (osdDisplayPort->rows == 13 || osdDisplayPort->rows == 16));
#else
return false;
#endif
}
void mspWriteSimulatorOSD(sbuf_t *dst)
@ -3445,8 +3475,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
if (!SIMULATOR_HAS_OPTION(HITL_ENABLE)) {
if (ARMING_FLAG(SIMULATOR_MODE)) { // Just once
DISABLE_ARMING_FLAG(SIMULATOR_MODE);
if (ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
DISABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
#ifdef USE_BARO
baroStartCalibration();
@ -3459,9 +3489,9 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
// Review: Many states were affected. Reboot?
disarm(DISARM_SWITCH); // Disarm to prevent motor output!!!
}
}
} else if (!areSensorsCalibrating()) {
if (!ARMING_FLAG(SIMULATOR_MODE)) { // Just once
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
#ifdef USE_BARO
baroStartCalibration();
#endif
@ -3476,7 +3506,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
mag.magADC[Z] = 0;
}
#endif
ENABLE_ARMING_FLAG(SIMULATOR_MODE);
ENABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
LOG_DEBUG(SYSTEM, "Simulator enabled");
}
@ -3553,11 +3583,15 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
}
#if defined(USE_FAKE_BATT_SENSOR)
if (SIMULATOR_HAS_OPTION(HITL_EXT_BATTERY_VOLTAGE)) {
simulatorData.vbat = sbufReadU8(src);
fakeBattSensorSetVbat(sbufReadU8(src) * 10);
} else {
simulatorData.vbat = (uint8_t)(SIMULATOR_FULL_BATTERY * 10.0f);
#endif
fakeBattSensorSetVbat((uint16_t)(SIMULATOR_FULL_BATTERY * 10.0f));
#if defined(USE_FAKE_BATT_SENSOR)
}
#endif
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);