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Code Issues Wiki Activity

MSP2_INAV_SERVO_CONFIG frame

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-03-29 19:34:50 +01:00
parent c333f97ccb
commit c29208051e
2 changed files with 7 additions and 11 deletions
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16
src/main/fc/fc_msp.c
View file

@ -492,18 +492,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_SERVO:
sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP_SERVO_CONFIGURATIONS:
case MSP2_INAV_SERVO_CONFIG:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 255); // used to be forwardFromChannel, not used anymore, send 0xff for compatibility reasons
sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level
}
break;
case MSP2_INAV_SERVO_MIXER:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
@ -2105,8 +2103,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_SERVO_CONFIGURATION:
if (dataSize != (1 + 14)) {
case MSP2_INAV_SET_SERVO_CONFIG:
if (dataSize != 8) {
return MSP_RESULT_ERROR;
}
tmp_u8 = sbufReadU8(src);
@ -2117,10 +2115,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
servoParamsMutable(tmp_u8)->max = sbufReadU16(src);
servoParamsMutable(tmp_u8)->middle = sbufReadU16(src);
servoParamsMutable(tmp_u8)->rate = sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src); // used to be forwardFromChannel, ignored
sbufReadU32(src); // used to be reversedSources
servoComputeScalingFactors(tmp_u8);
}
break;

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -108,3 +108,5 @@
#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101
#define MSP2_INAV_SERVO_CONFIG 0x2200
#define MSP2_INAV_SET_SERVO_CONFIG 0x2201