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Merge branch 'development' into dzikuvx-global-variables

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-04-10 19:17:23 +02:00
commit 3f54ba2313
162 changed files with 2239 additions and 3324 deletions
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27
src/main/fc/fc_msp.c
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@ -1116,16 +1116,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_3D:
sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
sbufWriteU16(dst, flight3DConfig()->neutral3d);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
sbufWriteU16(dst, reversibleMotorsConfig()->neutral);
break;
case MSP_RC_DEADBAND:
sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
sbufWriteU16(dst, rcControlsConfig()->deadband3d_throttle);
sbufWriteU16(dst, rcControlsConfig()->mid_throttle_deadband);
break;
case MSP_SENSOR_ALIGNMENT:
@ -1425,7 +1425,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP2_INAV_MIXER:
sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
sbufWriteU8(dst, mixerConfig()->motorDirectionInverted);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, mixerConfig()->platformType);
sbufWriteU8(dst, mixerConfig()->hasFlaps);
@ -1964,7 +1964,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#ifdef USE_GLOBAL_FUNCTIONS
case MSP2_INAV_SET_GLOBAL_FUNCTIONS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 14) && (tmp_u8 < MAX_GLOBAL_FUNCTIONS)) {
if ((dataSize == 10) && (tmp_u8 < MAX_GLOBAL_FUNCTIONS)) {
globalFunctionsMutable(tmp_u8)->enabled = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->conditionId = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->action = sbufReadU8(src);
@ -1988,9 +1988,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_3D:
if (dataSize >= 6) {
flight3DConfigMutable()->deadband3d_low = sbufReadU16(src);
flight3DConfigMutable()->deadband3d_high = sbufReadU16(src);
flight3DConfigMutable()->neutral3d = sbufReadU16(src);
reversibleMotorsConfigMutable()->deadband_low = sbufReadU16(src);
reversibleMotorsConfigMutable()->deadband_high = sbufReadU16(src);
reversibleMotorsConfigMutable()->neutral = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;
@ -2000,7 +2000,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
rcControlsConfigMutable()->deadband3d_throttle = sbufReadU16(src);
rcControlsConfigMutable()->mid_throttle_deadband = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;
@ -2383,11 +2383,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
const uint8_t newChannel = (newFrequency % 8) + 1;
vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel;
vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
} else if (newFrequency <= VTX_SETTINGS_MAX_FREQUENCY_MHZ) { //value is frequency in MHz. Ignore it if it's invalid
vtxSettingsConfigMutable()->band = 0;
vtxSettingsConfigMutable()->channel = 0;
vtxSettingsConfigMutable()->freq = newFrequency;
}
if (sbufBytesRemaining(src) > 1) {
@ -2755,7 +2750,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
case MSP2_INAV_SET_MIXER:
mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
sbufReadU16(src); // Was yaw_jump_prevention_limit
mixerConfigMutable()->platformType = sbufReadU8(src);
mixerConfigMutable()->hasFlaps = sbufReadU8(src);