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Merge pull request #9 from RomanLut/master

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update from master
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Roman Lut 2022-06-19 22:48:28 +03:00 • committed by GitHub
commit 2bf420a07b
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172 changed files with 3193 additions and 1023 deletions
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30
src/main/fc/fc_msp.c
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@ -1159,8 +1159,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_SENSOR_ALIGNMENT:
sbufWriteU8(dst, gyroConfig()->gyro_align);
sbufWriteU8(dst, accelerometerConfig()->acc_align);
sbufWriteU8(dst, 0); // was gyroConfig()->gyro_align
sbufWriteU8(dst, 0); // was accelerometerConfig()->acc_align
#ifdef USE_MAG
sbufWriteU8(dst, compassConfig()->mag_align);
#else
@ -1553,6 +1553,23 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
}
}
static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
const uint8_t idx = sbufReadU8(src);
if (idx < MAX_LOGIC_CONDITIONS) {
sbufWriteU8(dst, logicConditions(idx)->enabled);
sbufWriteU8(dst, logicConditions(idx)->activatorId);
sbufWriteU8(dst, logicConditions(idx)->operation);
sbufWriteU8(dst, logicConditions(idx)->operandA.type);
sbufWriteU32(dst, logicConditions(idx)->operandA.value);
sbufWriteU8(dst, logicConditions(idx)->operandB.type);
sbufWriteU32(dst, logicConditions(idx)->operandB.value);
sbufWriteU8(dst, logicConditions(idx)->flags);
return MSP_RESULT_ACK;
} else {
return MSP_RESULT_ERROR;
}
}
static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
@ -2049,8 +2066,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_SENSOR_ALIGNMENT:
if (dataSize == 4) {
gyroConfigMutable()->gyro_align = sbufReadU8(src);
accelerometerConfigMutable()->acc_align = sbufReadU8(src);
sbufReadU8(src); // was gyroConfigMutable()->gyro_align
sbufReadU8(src); // was accelerometerConfigMutable()->acc_align
#ifdef USE_MAG
compassConfigMutable()->mag_align = sbufReadU8(src);
#else
@ -3237,6 +3254,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
break;
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
*ret = mspFcLogicConditionCommand(dst, src);
break;
#endif
case MSP2_INAV_SAFEHOME:
*ret = mspFcSafeHomeOutCommand(dst, src);
break;