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This commit is contained in:
Sami Korhonen 2017-01-01 11:57:54 +02:00
parent 308e1acc99
commit 37c3b2213f
8 changed files with 137 additions and 138 deletions
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54
src/main/fc/fc_msp.c
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@ -608,14 +608,14 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SERVO_CONFIGURATIONS:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, currentProfile->servoConf[i].min);
sbufWriteU16(dst, currentProfile->servoConf[i].max);
sbufWriteU16(dst, currentProfile->servoConf[i].middle);
sbufWriteU8(dst, currentProfile->servoConf[i].rate);
sbufWriteU8(dst, currentProfile->servoConf[i].angleAtMin);
sbufWriteU8(dst, currentProfile->servoConf[i].angleAtMax);
sbufWriteU8(dst, currentProfile->servoConf[i].forwardFromChannel);
sbufWriteU32(dst, currentProfile->servoConf[i].reversedSources);
sbufWriteU16(dst, masterConfig.servoConf[i].min);
sbufWriteU16(dst, masterConfig.servoConf[i].max);
sbufWriteU16(dst, masterConfig.servoConf[i].middle);
sbufWriteU8(dst, masterConfig.servoConf[i].rate);
sbufWriteU8(dst, masterConfig.servoConf[i].angleAtMin);
sbufWriteU8(dst, masterConfig.servoConf[i].angleAtMax);
sbufWriteU8(dst, masterConfig.servoConf[i].forwardFromChannel);
sbufWriteU32(dst, masterConfig.servoConf[i].reversedSources);
}
break;
case MSP_SERVO_MIX_RULES:
@ -719,7 +719,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_MODE_RANGES:
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
const box_t *box = findBoxByActiveBoxId(mac->modeId);
sbufWriteU8(dst, box ? box->permanentId : 0);
sbufWriteU8(dst, mac->auxChannelIndex);
@ -730,7 +730,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ADJUSTMENT_RANGES:
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &currentProfile->adjustmentRanges[i];
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
sbufWriteU8(dst, adjRange->adjustmentIndex);
sbufWriteU8(dst, adjRange->auxChannelIndex);
sbufWriteU8(dst, adjRange->range.startStep);
@ -1041,9 +1041,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_RC_DEADBAND:
sbufWriteU8(dst, currentProfile->rcControlsConfig.deadband);
sbufWriteU8(dst, currentProfile->rcControlsConfig.yaw_deadband);
sbufWriteU8(dst, currentProfile->rcControlsConfig.alt_hold_deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.yaw_deadband);
sbufWriteU8(dst, masterConfig.rcControlsConfig.alt_hold_deadband);
sbufWriteU16(dst, flight3DConfig()->deadband3d_throttle);
break;
@ -1277,7 +1277,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_MODE_RANGE:
i = sbufReadU8(src);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
i = sbufReadU8(src);
const box_t *box = findBoxByPermenantId(i);
if (box) {
@ -1286,7 +1286,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
mac->range.startStep = sbufReadU8(src);
mac->range.endStep = sbufReadU8(src);
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
} else {
return MSP_RESULT_ERROR;
}
@ -1298,7 +1298,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADJUSTMENT_RANGE:
i = sbufReadU8(src);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &currentProfile->adjustmentRanges[i];
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
i = sbufReadU8(src);
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i;
@ -1394,14 +1394,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (i >= MAX_SUPPORTED_SERVOS) {
return MSP_RESULT_ERROR;
} else {
currentProfile->servoConf[i].min = sbufReadU16(src);
currentProfile->servoConf[i].max = sbufReadU16(src);
currentProfile->servoConf[i].middle = sbufReadU16(src);
currentProfile->servoConf[i].rate = sbufReadU8(src);
currentProfile->servoConf[i].angleAtMin = sbufReadU8(src);
currentProfile->servoConf[i].angleAtMax = sbufReadU8(src);
currentProfile->servoConf[i].forwardFromChannel = sbufReadU8(src);
currentProfile->servoConf[i].reversedSources = sbufReadU32(src);
masterConfig.servoConf[i].min = sbufReadU16(src);
masterConfig.servoConf[i].max = sbufReadU16(src);
masterConfig.servoConf[i].middle = sbufReadU16(src);
masterConfig.servoConf[i].rate = sbufReadU8(src);
masterConfig.servoConf[i].angleAtMin = sbufReadU8(src);
masterConfig.servoConf[i].angleAtMax = sbufReadU8(src);
masterConfig.servoConf[i].forwardFromChannel = sbufReadU8(src);
masterConfig.servoConf[i].reversedSources = sbufReadU32(src);
}
#endif
break;
@ -1432,9 +1432,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_RC_DEADBAND:
currentProfile->rcControlsConfig.deadband = sbufReadU8(src);
currentProfile->rcControlsConfig.yaw_deadband = sbufReadU8(src);
currentProfile->rcControlsConfig.alt_hold_deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.yaw_deadband = sbufReadU8(src);
masterConfig.rcControlsConfig.alt_hold_deadband = sbufReadU8(src);
break;
case MSP_SET_RESET_CURR_PID: