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Merge remote-tracking branch 'origin/master' into dzikuvx-ez-tune

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2023-10-08 13:35:04 +02:00
commit a151d664b3
223 changed files with 2709 additions and 1755 deletions
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46
src/main/fc/fc_msp.c
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@ -74,6 +74,7 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer_profile.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -1469,7 +1470,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_MIXER:
sbufWriteU8(dst, mixerConfig()->motorDirectionInverted);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, mixerConfig()->motorstopOnLow);
sbufWriteU8(dst, mixerConfig()->platformType);
sbufWriteU8(dst, mixerConfig()->hasFlaps);
sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
@ -1599,6 +1601,20 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, ezTune()->expo);
}
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_RATE_DYNAMICS:
{
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightEnd);
}
break;
#endif
@ -2888,7 +2904,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_SET_MIXER:
if (dataSize == 9) {
mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
sbufReadU16(src); // Was yaw_jump_prevention_limit
sbufReadU8(src); // Was yaw_jump_prevention_limit
mixerConfigMutable()->motorstopOnLow = sbufReadU8(src);
mixerConfigMutable()->platformType = sbufReadU8(src);
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
@ -3083,6 +3100,27 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_SET_RATE_DYNAMICS:
if (dataSize == 6) {
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
} else {
return MSP_RESULT_ERROR;
}
break;
#endif
default:
return MSP_RESULT_ERROR;
}
@ -3278,6 +3316,10 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
sbufWriteU8(dst, getConfigBatteryProfile());
sbufWriteU8(dst, MAX_BATTERY_PROFILE_COUNT);
break;
case MIXER_CONFIG_VALUE:
sbufWriteU8(dst, getConfigMixerProfile());
sbufWriteU8(dst, MAX_MIXER_PROFILE_COUNT);
break;
}
// If the setting uses a table, send each possible string (null terminated)