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This commit is contained in:
breadoven 2023-08-05 22:28:12 +01:00
parent fd59159f71
commit 6eb19f2135
8 changed files with 88 additions and 78 deletions
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20
src/main/fc/fc_msp.c
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@ -1058,7 +1058,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
legacyLedConfig |= ledConfig->led_function << shiftCount;
shiftCount += 4;
legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount);
shiftCount += 6;
shiftCount += 6;
legacyLedConfig |= (ledConfig->led_color) << (shiftCount);
shiftCount += 4;
legacyLedConfig |= (ledConfig->led_direction) << (shiftCount);
@ -1289,7 +1289,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, navConfig()->general.max_manual_speed);
sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
sbufWriteU8(dst, navConfig()->general.flags.use_thr_mid_for_althold);
sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
break;
@ -2255,7 +2255,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
navConfigMutable()->general.flags.use_thr_mid_for_althold = sbufReadU8(src);
navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
@ -2757,7 +2757,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
ledConfig->led_position = legacyConfig & 0xFF;
ledConfig->led_function = (legacyConfig >> 8) & 0xF;
ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F;
ledConfig->led_color = (legacyConfig >> 18) & 0xF;
ledConfig->led_color = (legacyConfig >> 18) & 0xF;
ledConfig->led_direction = (legacyConfig >> 22) & 0x3F;
ledConfig->led_params = (legacyConfig >> 28) & 0xF;
@ -3482,7 +3482,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
#ifdef USE_SIMULATOR
case MSP_SIMULATOR:
tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version
// Check the MSP version of simulator
if (tmp_u8 != SIMULATOR_MSP_VERSION) {
break;
@ -3508,7 +3508,7 @@ 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 (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
#ifdef USE_BARO
@ -3518,7 +3518,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
baroStartCalibration();
}
#endif
#endif
#ifdef USE_MAG
if (compassConfig()->mag_hardware != MAG_NONE) {
@ -3578,7 +3578,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
} else {
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
}
// Get the acceleration in 1G units
acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;
acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
@ -3586,7 +3586,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
acc.accVibeSq[X] = 0.0f;
acc.accVibeSq[Y] = 0.0f;
acc.accVibeSq[Z] = 0.0f;
// Get the angular velocity in DPS
gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@ -3621,7 +3621,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
simulatorData.airSpeed = sbufReadU16(src);
} else {
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
sbufReadU16(src);
sbufReadU16(src);
}
}