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Merge remote-tracking branch 'origin/master' into dzikuvx-new-msp-frames-for-servos

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-06 09:57:47 +02:00
commit bf9bcdf3c2
67 changed files with 1788 additions and 957 deletions
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79
src/main/fc/fc_msp.c
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@ -1180,26 +1180,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif
case MSP_OSD_CONFIG:
#ifdef USE_OSD
sbufWriteU8(dst, OSD_DRIVER_MAX7456); // OSD supported
// send video system (AUTO/PAL/NTSC)
sbufWriteU8(dst, osdConfig()->video_system);
sbufWriteU8(dst, osdConfig()->units);
sbufWriteU8(dst, osdConfig()->rssi_alarm);
sbufWriteU16(dst, currentBatteryProfile->capacity.warning);
sbufWriteU16(dst, osdConfig()->time_alarm);
sbufWriteU16(dst, osdConfig()->alt_alarm);
sbufWriteU16(dst, osdConfig()->dist_alarm);
sbufWriteU16(dst, osdConfig()->neg_alt_alarm);
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
sbufWriteU16(dst, osdLayoutsConfig()->item_pos[0][i]);
}
#else
sbufWriteU8(dst, OSD_DRIVER_NONE); // OSD not supported
#endif
break;
case MSP_3D:
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
@ -1282,7 +1262,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
sbufWriteU8(dst, GYRO_LPF_256HZ);
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
@ -1394,18 +1374,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_POSITION_ESTIMATION_CONFIG:
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF
break;
case MSP_REBOOT:
if (!ARMING_FLAG(ARMED)) {
if (mspPostProcessFn) {
@ -2304,7 +2272,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
sbufReadU16(src); //Legacy yaw_jump_prevention_limit
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
sbufReadU8(src); // was gyro lpf
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
@ -2437,19 +2405,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_POSITION_ESTIMATION_CONFIG:
if (dataSize == 12) {
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
} else
return MSP_RESULT_ERROR;
break;
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
suspendRxSignal();
@ -2508,36 +2463,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#endif
#ifdef USE_OSD
case MSP_SET_OSD_CONFIG:
sbufReadU8Safe(&tmp_u8, src);
// set all the other settings
if ((int8_t)tmp_u8 == -1) {
if (dataSize >= 10) {
osdConfigMutable()->video_system = sbufReadU8(src);
osdConfigMutable()->units = sbufReadU8(src);
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
currentBatteryProfileMutable->capacity.warning = sbufReadU16(src);
osdConfigMutable()->time_alarm = sbufReadU16(src);
osdConfigMutable()->alt_alarm = sbufReadU16(src);
// Won't be read if they weren't provided
sbufReadU16Safe(&osdConfigMutable()->dist_alarm, src);
sbufReadU16Safe(&osdConfigMutable()->neg_alt_alarm, src);
} else
return MSP_RESULT_ERROR;
} else {
// set a position setting
if ((dataSize >= 3) && (tmp_u8 < OSD_ITEM_COUNT)) // tmp_u8 == addr
osdLayoutsConfigMutable()->item_pos[0][tmp_u8] = sbufReadU16(src);
else
return MSP_RESULT_ERROR;
}
// Either a element position change or a units change needs
// a full redraw, since an element can change size significantly
// and the old position or the now unused space due to the
// size change need to be erased.
osdStartFullRedraw();
break;
case MSP_OSD_CHAR_WRITE:
if (dataSize >= 55) {
osdCharacter_t chr;