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Merge branch 'master' into dzikuvx-drop-msp-frames

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Paweł Spychalski 2022-02-23 18:20:14 +01:00 • committed by GitHub
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78
src/main/fc/fc_msp.c
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@ -398,14 +398,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, 3); //We no longer have mixerMode, just sent 3 (QuadX) as fallback
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_PLATFORM_32BIT | CAP_DYNBALANCE | CAP_FLAPS | CAP_NAVCAP | CAP_EXTAUX); // "capability"
break;
#ifdef HIL
case MSP_HIL_STATE:
sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]);
@ -708,14 +700,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, constrain(pidBank()->pid[i].P, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].I, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
}
break;
case MSP2_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, constrain(pidBank()->pid[i].P, 0, 255));
@ -731,10 +715,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP_PID_CONTROLLER:
sbufWriteU8(dst, 2); // FIXME: Report as LuxFloat
break;
case MSP_MODE_RANGES:
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
@ -1062,21 +1042,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteData(dst, rxConfig()->rcmap, MAX_MAPPABLE_RX_INPUTS);
break;
case MSP_BF_CONFIG:
sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
sbufWriteU32(dst, featureMask());
sbufWriteU8(dst, rxConfig()->serialrx_provider);
sbufWriteU16(dst, boardAlignment()->rollDeciDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDeciDegrees);
sbufWriteU16(dst, boardAlignment()->yawDeciDegrees);
sbufWriteU16(dst, batteryMetersConfig()->current.scale);
sbufWriteU16(dst, batteryMetersConfig()->current.offset);
break;
case MSP2_COMMON_SERIAL_CONFIG:
for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
if (!serialIsPortAvailable(serialConfig()->portConfigs[i].identifier)) {
@ -1174,12 +1139,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
break;
case MSP_BF_BUILD_INFO:
sbufWriteData(dst, buildDate, 11); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
sbufWriteU32(dst, 0); // future exp
sbufWriteU32(dst, 0); // future exp
break;
case MSP_3D:
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
@ -1679,23 +1638,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_PID_CONTROLLER:
// FIXME: Do nothing
break;
case MSP_SET_PID:
if (dataSize >= PID_ITEM_COUNT * 3) {
for (int i = 0; i < PID_ITEM_COUNT; i++) {
pidBankMutable()->pid[i].P = sbufReadU8(src);
pidBankMutable()->pid[i].I = sbufReadU8(src);
pidBankMutable()->pid[i].D = sbufReadU8(src);
}
schedulePidGainsUpdate();
navigationUsePIDs();
} else
return MSP_RESULT_ERROR;
break;
case MSP2_SET_PID:
if (dataSize >= PID_ITEM_COUNT * 4) {
for (int i = 0; i < PID_ITEM_COUNT; i++) {
@ -2683,26 +2625,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_BF_CONFIG:
if (dataSize >= 16) {
sbufReadU8(src); // mixerMode no longer supported, just swallow
mixerUpdateStateFlags(); // Required for correct preset functionality
featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap
rxConfigMutable()->serialrx_provider = sbufReadU8(src); // serialrx_type
boardAlignmentMutable()->rollDeciDegrees = sbufReadU16(src); // board_align_roll
boardAlignmentMutable()->pitchDeciDegrees = sbufReadU16(src); // board_align_pitch
boardAlignmentMutable()->yawDeciDegrees = sbufReadU16(src); // board_align_yaw
batteryMetersConfigMutable()->current.scale = sbufReadU16(src);
batteryMetersConfigMutable()->current.offset = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;
case MSP2_COMMON_SET_SERIAL_CONFIG:
{
uint8_t portConfigSize = sizeof(uint8_t) + sizeof(uint32_t) + (sizeof(uint8_t) * 4);