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Merge branch 'master' of https://github.com/RomanLut/inav into submit-gps-fix-estimation

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Roman Lut 2023-10-01 00:05:07 +02:00
commit e4453c36d8
233 changed files with 3760 additions and 1918 deletions
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61
src/main/fc/fc_msp.c
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@ -74,6 +74,7 @@
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer_profile.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
@ -1465,7 +1466,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_MIXER:
sbufWriteU8(dst, mixerConfig()->motorDirectionInverted);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, mixerConfig()->motorstopOnLow);
sbufWriteU8(dst, mixerConfig()->platformType);
sbufWriteU8(dst, mixerConfig()->hasFlaps);
sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
@ -1516,6 +1518,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP2_INAV_OUTPUT_MAPPING_EXT:
for (uint8_t i = 0; i < timerHardwareCount; ++i)
if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
#if defined(SITL_BUILD)
sbufWriteU8(dst, i);
#else
sbufWriteU8(dst, timer2id(timerHardware[i].tim));
#endif
sbufWriteU8(dst, timerHardware[i].usageFlags);
}
break;
case MSP2_INAV_MC_BRAKING:
#ifdef USE_MR_BRAKING_MODE
sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold);
@ -2854,7 +2868,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_SET_MIXER:
if (dataSize == 9) {
mixerConfigMutable()->motorDirectionInverted = sbufReadU8(src);
sbufReadU16(src); // Was yaw_jump_prevention_limit
sbufReadU8(src); // Was yaw_jump_prevention_limit
mixerConfigMutable()->motorstopOnLow = sbufReadU8(src);
mixerConfigMutable()->platformType = sbufReadU8(src);
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
@ -3218,6 +3233,10 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
sbufWriteU8(dst, getConfigBatteryProfile());
sbufWriteU8(dst, MAX_BATTERY_PROFILE_COUNT);
break;
case MIXER_CONFIG_VALUE:
sbufWriteU8(dst, getConfigMixerProfile());
sbufWriteU8(dst, MAX_MIXER_PROFILE_COUNT);
break;
}
// If the setting uses a table, send each possible string (null terminated)
@ -3659,7 +3678,43 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = MSP_RESULT_ACK;
break;
#endif
#ifndef SITL_BUILD
case MSP2_INAV_TIMER_OUTPUT_MODE:
if (dataSize == 0) {
for (int i = 0; i < HARDWARE_TIMER_DEFINITION_COUNT; ++i) {
sbufWriteU8(dst, i);
sbufWriteU8(dst, timerOverrides(i)->outputMode);
}
*ret = MSP_RESULT_ACK;
} else if(dataSize == 1) {
uint8_t timer = sbufReadU8(src);
if(timer < HARDWARE_TIMER_DEFINITION_COUNT) {
sbufWriteU8(dst, timer);
sbufWriteU8(dst, timerOverrides(timer)->outputMode);
*ret = MSP_RESULT_ACK;
} else {
*ret = MSP_RESULT_ERROR;
}
} else {
*ret = MSP_RESULT_ERROR;
}
break;
case MSP2_INAV_SET_TIMER_OUTPUT_MODE:
if(dataSize == 2) {
uint8_t timer = sbufReadU8(src);
uint8_t outputMode = sbufReadU8(src);
if(timer < HARDWARE_TIMER_DEFINITION_COUNT) {
timerOverridesMutable(timer)->outputMode = outputMode;
*ret = MSP_RESULT_ACK;
} else {
*ret = MSP_RESULT_ERROR;
}
} else {
*ret = MSP_RESULT_ERROR;
}
break;
#endif
default:
// Not handled
return false;