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Code Issues Wiki Activity

Sensor hardware config MSP commands

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-12-07 20:27:07 +10:00
parent d580358cad
commit d5bc44bd98
1 changed files with 18 additions and 0 deletions
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18
src/main/fc/fc_msp.c
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@ -1101,6 +1101,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); //reserved sbufWriteU8(dst, 0); //reserved
break; break;
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.acc_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.baro_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.mag_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.pitot_hardware);
sbufWriteU8(dst, 0); // rangefinder hardware
sbufWriteU8(dst, 0); // optical flow hardware
break;
case MSP_REBOOT: case MSP_REBOOT:
if (mspPostProcessFn) { if (mspPostProcessFn) {
*mspPostProcessFn = mspRebootFn; *mspPostProcessFn = mspRebootFn;
@ -1485,6 +1494,15 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); //reserved sbufReadU8(src); //reserved
break; break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.sensorSelectionConfig.acc_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.baro_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.mag_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.pitot_hardware = sbufReadU8(src);
sbufReadU8(src); // rangefinder hardware
sbufReadU8(src); // optical flow hardware
break;
case MSP_RESET_CONF: case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
resetEEPROM(); resetEEPROM();