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CXOF flow sensor (UART)

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Enable opflow on sparky2
Optical flow MSP updates
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-12-05 12:59:12 +10:00
parent 9cdebca1e9
commit f3422ce423
18 changed files with 344 additions and 23 deletions
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16
src/main/fc/fc_msp.c
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@ -485,6 +485,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
break;
case MSP2_INAV_OPTICAL_FLOW:
#ifdef USE_OPTICAL_FLOW
sbufWriteU8(dst, opflow.rawQuality);
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[Y]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[Y]));
#else
sbufWriteU8(dst, opflow.rawQuality);
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[Y]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[Y]));
#endif
break;
case MSP_ANALOG:
sbufWriteU8(dst, (uint8_t)constrain(vbat, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery