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Merge remote-tracking branch 'origin/master' into release_3.0.1

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2021-07-04 20:24:26 +02:00
commit ec28dfed54
87 changed files with 1764 additions and 990 deletions
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33
src/main/fc/fc_msp.c
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@ -774,7 +774,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
#ifdef USE_GPS
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
@ -815,7 +815,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
#ifdef USE_GPS
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
@ -1041,7 +1041,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_FAILSAFE_CONFIG:
sbufWriteU8(dst, failsafeConfig()->failsafe_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_off_delay);
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
sbufWriteU8(dst, 0); // was failsafe_kill_switch
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle_low_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_procedure);
@ -1322,7 +1322,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
sbufWriteU8(dst, navConfig()->general.flags.use_thr_mid_for_althold);
sbufWriteU16(dst, navConfig()->mc.hover_throttle);
sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
break;
case MSP_RTH_AND_LAND_CONFIG:
@ -1342,13 +1342,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_FW_CONFIG:
sbufWriteU16(dst, navConfig()->fw.cruise_throttle);
sbufWriteU16(dst, navConfig()->fw.min_throttle);
sbufWriteU16(dst, navConfig()->fw.max_throttle);
sbufWriteU16(dst, currentBatteryProfile->nav.fw.cruise_throttle);
sbufWriteU16(dst, currentBatteryProfile->nav.fw.min_throttle);
sbufWriteU16(dst, currentBatteryProfile->nav.fw.max_throttle);
sbufWriteU8(dst, navConfig()->fw.max_bank_angle);
sbufWriteU8(dst, navConfig()->fw.max_climb_angle);
sbufWriteU8(dst, navConfig()->fw.max_dive_angle);
sbufWriteU8(dst, navConfig()->fw.pitch_to_throttle);
sbufWriteU8(dst, currentBatteryProfile->nav.fw.pitch_to_throttle);
sbufWriteU16(dst, navConfig()->fw.loiter_radius);
break;
#endif
@ -1664,7 +1664,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
{
uint8_t tmp_u8;
uint16_t tmp_u16;
batteryProfile_t *currentBatteryProfileMutable = (batteryProfile_t*)currentBatteryProfile;
const unsigned int dataSize = sbufBytesRemaining(src);
@ -1867,7 +1866,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
failsafeConfigMutable()->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
#ifdef USE_GPS
gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
@ -1915,7 +1914,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
failsafeConfigMutable()->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
#ifdef USE_GPS
gpsConfigMutable()->provider = sbufReadU8(src); // gps_type
@ -2293,7 +2292,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
navConfigMutable()->general.flags.use_thr_mid_for_althold = sbufReadU8(src);
navConfigMutable()->mc.hover_throttle = sbufReadU16(src);
currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;
@ -2319,13 +2318,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_FW_CONFIG:
if (dataSize >= 12) {
navConfigMutable()->fw.cruise_throttle = sbufReadU16(src);
navConfigMutable()->fw.min_throttle = sbufReadU16(src);
navConfigMutable()->fw.max_throttle = sbufReadU16(src);
currentBatteryProfileMutable->nav.fw.cruise_throttle = sbufReadU16(src);
currentBatteryProfileMutable->nav.fw.min_throttle = sbufReadU16(src);
currentBatteryProfileMutable->nav.fw.max_throttle = sbufReadU16(src);
navConfigMutable()->fw.max_bank_angle = sbufReadU8(src);
navConfigMutable()->fw.max_climb_angle = sbufReadU8(src);
navConfigMutable()->fw.max_dive_angle = sbufReadU8(src);
navConfigMutable()->fw.pitch_to_throttle = sbufReadU8(src);
currentBatteryProfileMutable->nav.fw.pitch_to_throttle = sbufReadU8(src);
navConfigMutable()->fw.loiter_radius = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
@ -2695,7 +2694,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize >= 20) {
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
currentBatteryProfileMutable->failsafe_throttle = sbufReadU16(src);
sbufReadU8(src); // was failsafe_kill_switch
failsafeConfigMutable()->failsafe_throttle_low_delay = sbufReadU16(src);
failsafeConfigMutable()->failsafe_procedure = sbufReadU8(src);