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overhaul - step1

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-07-01 22:01:10 +02:00
parent 76f077fa28
commit bdba06aac1
50 changed files with 190 additions and 174 deletions
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8
src/main/fc/fc_msp.c
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@ -389,7 +389,7 @@ static uint16_t packSensorStatus(void)
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_SONAR)) << 4 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
//IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6;
@ -658,7 +658,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SONAR_ALTITUDE:
#if defined(SONAR)
#if defined(RANGEFINDER)
sbufWriteU32(dst, rangefinderGetLatestAltitude());
#else
sbufWriteU32(dst, 0);
@ -1152,7 +1152,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU8(dst, 0);
#endif
#ifdef SONAR
#ifdef RANGEFINDER
sbufWriteU8(dst, rangefinderConfig()->rangefinder_hardware);
#else
sbufWriteU8(dst, 0);
@ -1663,7 +1663,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#else
sbufReadU8(src);
#endif
#ifdef SONAR
#ifdef RANGEFINDER
rangefinderConfigMutable()->rangefinder_hardware = sbufReadU8(src);
#else
sbufReadU8(src); // rangefinder hardware