Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

Merge branch 'master' into dzikuvx-ez-tune

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2023-09-19 20:46:56 +02:00
commit f1e491385a
99 changed files with 3109 additions and 671 deletions
Download patch file Download diff file Expand all files Collapse all files

70
src/main/fc/fc_msp.c
View file

@ -1058,7 +1058,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
legacyLedConfig |= ledConfig->led_function << shiftCount;
shiftCount += 4;
legacyLedConfig |= (ledConfig->led_overlay & 0x3F) << (shiftCount);
shiftCount += 6;
shiftCount += 6;
legacyLedConfig |= (ledConfig->led_color) << (shiftCount);
shiftCount += 4;
legacyLedConfig |= (ledConfig->led_direction) << (shiftCount);
@ -1289,7 +1289,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, navConfig()->general.max_manual_speed);
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);
sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
break;
@ -1516,6 +1516,18 @@ 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);
@ -2255,7 +2267,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
navConfigMutable()->general.max_manual_speed = sbufReadU16(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.althold_throttle_type = sbufReadU8(src);
currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
@ -2757,7 +2769,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
ledConfig->led_position = legacyConfig & 0xFF;
ledConfig->led_function = (legacyConfig >> 8) & 0xF;
ledConfig->led_overlay = (legacyConfig >> 12) & 0x3F;
ledConfig->led_color = (legacyConfig >> 18) & 0xF;
ledConfig->led_color = (legacyConfig >> 18) & 0xF;
ledConfig->led_direction = (legacyConfig >> 22) & 0x3F;
ledConfig->led_params = (legacyConfig >> 28) & 0xF;
@ -3484,7 +3496,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
#ifdef USE_SIMULATOR
case MSP_SIMULATOR:
tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version
// Check the MSP version of simulator
if (tmp_u8 != SIMULATOR_MSP_VERSION) {
break;
@ -3510,7 +3522,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
// Review: Many states were affected. Reboot?
disarm(DISARM_SWITCH); // Disarm to prevent motor output!!!
}
}
} else {
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
#ifdef USE_BARO
@ -3520,7 +3532,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
baroStartCalibration();
}
#endif
#endif
#ifdef USE_MAG
if (compassConfig()->mag_hardware != MAG_NONE) {
@ -3580,7 +3592,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
} else {
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
}
// Get the acceleration in 1G units
acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;
acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
@ -3588,7 +3600,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
acc.accVibeSq[X] = 0.0f;
acc.accVibeSq[Y] = 0.0f;
acc.accVibeSq[Z] = 0.0f;
// Get the angular velocity in DPS
gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
@ -3623,7 +3635,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
simulatorData.airSpeed = sbufReadU16(src);
} else {
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
sbufReadU16(src);
sbufReadU16(src);
}
}
@ -3663,7 +3675,43 @@ 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;