diff --git a/src/js/CliAutoComplete.js b/src/js/CliAutoComplete.js index bc8ed0cc..48cd7264 100644 --- a/src/js/CliAutoComplete.js +++ b/src/js/CliAutoComplete.js @@ -12,7 +12,7 @@ var CliAutoComplete = { }; CliAutoComplete.isEnabled = function() { - return this.isBuilding() || (this.configEnabled && CONFIG.flightControllerIdentifier == "BTFL" && this.builder.state != 'fail'); + return this.isBuilding() || (this.configEnabled && FC.CONFIG.flightControllerIdentifier == "BTFL" && this.builder.state != 'fail'); }; CliAutoComplete.isBuilding = function() { @@ -397,7 +397,7 @@ CliAutoComplete._initTextcomplete = function() { search: function(term, callback, match) { sendOnEnter = false; var arr = cache.resources; - if (semver.gte(CONFIG.flightControllerVersion, "4.0.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "4.0.0")) { arr = ['show'].concat(arr); } else { arr = ['list'].concat(arr); @@ -509,7 +509,7 @@ CliAutoComplete._initTextcomplete = function() { }) ]); - if (semver.gte(CONFIG.flightControllerVersion, "4.0.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "4.0.0")) { $textarea.textcomplete('register', [ strategy({ // "resource show all", from BF 4.0.0 onwards match: /^(\s*resource\s+show\s+)(\w*)$/i, @@ -527,12 +527,12 @@ CliAutoComplete._initTextcomplete = function() { var diffArgs1 = ["master", "profile", "rates", "all"]; var diffArgs2 = []; - if (semver.lt(CONFIG.flightControllerVersion, "3.4.0")) { + if (semver.lt(FC.CONFIG.flightControllerVersion, "3.4.0")) { diffArgs2.push("showdefaults"); } else { // above 3.4.0 diffArgs2.push("defaults"); - if (semver.gte(CONFIG.flightControllerVersion, "4.0.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "4.0.0")) { diffArgs1.push("hardware"); diffArgs2.push("bare"); } diff --git a/src/js/Features.js b/src/js/Features.js index 8d29b889..4976ec0e 100644 --- a/src/js/Features.js +++ b/src/js/Features.js @@ -33,27 +33,27 @@ var Features = function (config) { ); } - if (semver.gte(CONFIG.apiVersion, "1.15.0") && !semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0") && !semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { features.push( {bit: 8, group: 'rxFailsafe', name: 'FAILSAFE', haveTip: true} ); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { features.push( {bit: 21, group: 'other', name: 'TRANSPONDER', haveTip: true} ); } if (config.flightControllerVersion !== '') { - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { features.push( {bit: 22, group: 'other', name: 'AIRMODE'} ); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { features.push( {bit: 23, group: 'superexpoRates', name: 'SUPEREXPO_RATES'} ); @@ -64,32 +64,32 @@ var Features = function (config) { } } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { features.push( {bit: 18, group: 'other', name: 'OSD'} ); - if (!semver.gte(CONFIG.apiVersion, "1.35.0")) { + if (!semver.gte(FC.CONFIG.apiVersion, "1.35.0")) { features.push( {bit: 24, group: 'other', name: 'VTX'} ) } } - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { features.push( {bit: 25, group: 'rxMode', mode: 'select', name: 'RX_SPI'}, {bit: 27, group: 'escSensor', name: 'ESC_SENSOR'} ); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { features.push( {bit: 28, group: 'antiGravity', name: 'ANTI_GRAVITY', haveTip: true, hideName: true}, {bit: 29, group: 'other', name: 'DYNAMIC_FILTER'} ); } - if (!semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (!semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { features.push( {bit: 1, group: 'batteryVoltage', name: 'VBAT'}, {bit: 11, group: 'batteryCurrent', name: 'CURRENT_METER'} diff --git a/src/js/RateCurve.js b/src/js/RateCurve.js index 1e33e43c..8f5c189a 100644 --- a/src/js/RateCurve.js +++ b/src/js/RateCurve.js @@ -88,7 +88,7 @@ var RateCurve = function (useLegacyCurve) { var expoPower; var rcRateConstant; - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { expoPower = 3; rcRateConstant = 200; } else { @@ -157,7 +157,7 @@ RateCurve.prototype.rcCommandRawToDegreesPerSecond = function (rcData, rate, rcR if (rate !== undefined && rcRate !== undefined && rcExpo !== undefined) { let rcCommandf = this.rcCommand(rcData, 1, deadband); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { rcCommandf = rcCommandf / (500 - deadband); } else { rcCommandf = rcCommandf / 500; diff --git a/src/js/TuningSliders.js b/src/js/TuningSliders.js index fb200751..c184da96 100644 --- a/src/js/TuningSliders.js +++ b/src/js/TuningSliders.js @@ -85,14 +85,14 @@ TuningSliders.downscaleSliderValue = function(value) { TuningSliders.initPidSlidersPosition = function() { // used to estimate PID slider positions based on PIDF values, and set respective slider position // provides only an estimation due to limitation of feature without firmware support, to be improved in later versions - this.MasterSliderValue = Math.round(PIDs[2][1] / this.PID_DEFAULT[11] * 10) / 10; - this.PDRatioSliderValue = Math.round(PIDs[0][2] / PIDs[0][0] / this.defaultPDRatio * 10) / 10; + this.MasterSliderValue = Math.round(FC.PIDS[2][1] / this.PID_DEFAULT[11] * 10) / 10; + this.PDRatioSliderValue = Math.round(FC.PIDS[0][2] / FC.PIDS[0][0] / this.defaultPDRatio * 10) / 10; if (this.dMinFeatureEnabled) { - this.PDGainSliderValue = Math.round(ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; + this.PDGainSliderValue = Math.round(FC.ADVANCED_TUNING.dMinRoll / this.PDRatioSliderValue / this.MasterSliderValue / this.PID_DEFAULT[3] * 10) / 10; } else { - this.PDGainSliderValue = Math.round(PIDs[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10; + this.PDGainSliderValue = Math.round(FC.PIDS[0][0] / this.MasterSliderValue / (this.PID_DEFAULT[2] * (1 / D_MIN_RATIO)) * 10) / 10; } - this.ResponseSliderValue = Math.round(ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10; + this.ResponseSliderValue = Math.round(FC.ADVANCED_TUNING.feedforwardRoll / this.MasterSliderValue / this.PID_DEFAULT[4] * 10) / 10; $('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); $('output[name="tuningPDRatioSlider-number"]').val(this.PDRatioSliderValue); @@ -106,14 +106,14 @@ TuningSliders.initPidSlidersPosition = function() { }; TuningSliders.initGyroFilterSliderPosition = function() { - this.gyroFilterSliderValue = Math.round((FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FILTER_CONFIG.gyro_lowpass2_hz) / + this.gyroFilterSliderValue = Math.round((FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz + FC.FILTER_CONFIG.gyro_lowpass2_hz) / (this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz + this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz + this.FILTER_DEFAULT.gyro_lowpass2_hz) * 100) / 100; $('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue); $('#tuningGyroFilterSlider').val(this.downscaleSliderValue(this.gyroFilterSliderValue)); }; TuningSliders.initDTermFilterSliderPosition = function() { - this.dtermFilterSliderValue = Math.round((FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FILTER_CONFIG.dterm_lowpass2_hz) / + this.dtermFilterSliderValue = Math.round((FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz + FC.FILTER_CONFIG.dterm_lowpass2_hz) / (this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz + this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz + this.FILTER_DEFAULT.dterm_lowpass2_hz) * 100) / 100; $('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); $('#tuningDTermFilterSlider').val(this.downscaleSliderValue(this.dtermFilterSliderValue)); @@ -162,7 +162,7 @@ TuningSliders.updatePidSlidersDisplay = function() { this.pidSlidersUnavailable = false; let currentPIDs = []; - PID_names.forEach(function(elementPid, indexPid) { + FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 5) { @@ -171,7 +171,7 @@ TuningSliders.updatePidSlidersDisplay = function() { }); }); this.calculateNewPids(); - PID_names.forEach(function(elementPid, indexPid) { + FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 5) { @@ -196,8 +196,8 @@ TuningSliders.updatePidSlidersDisplay = function() { $('.tuningPIDSliders').toggle(!this.pidSlidersUnavailable); $('.subtab-pid .slidersDisabled').toggle(this.pidSlidersUnavailable); $('.subtab-pid .nonExpertModeSlidersNote').toggle(!this.pidSlidersUnavailable && !this.expertMode); - $('.subtab-pid .slidersWarning').toggle((PIDs[1][0] > WARNING_P_GAIN || PIDs[1][1] > WARNING_I_GAIN || PIDs[1][2] > WARNING_DMAX_GAIN || - ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable); + $('.subtab-pid .slidersWarning').toggle((FC.PIDS[1][0] > WARNING_P_GAIN || FC.PIDS[1][1] > WARNING_I_GAIN || FC.PIDS[1][2] > WARNING_DMAX_GAIN || + FC.ADVANCED_TUNING.dMinPitch > WARNING_DMIN_GAIN) && !this.pidSlidersUnavailable); }; TuningSliders.updateFilterSlidersDisplay = function() { @@ -252,48 +252,48 @@ TuningSliders.calculateNewPids = function() { if (this.dMinFeatureEnabled) { //dmin - ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue); - ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.PDGainSliderValue * this.PDRatioSliderValue); // dmax - PIDs[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue); - PIDs[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.PDGainSliderValue * this.PDRatioSliderValue); } else { - ADVANCED_TUNING.dMinRoll = 0; - ADVANCED_TUNING.dMinPitch = 0; - PIDs[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); - PIDs[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.ADVANCED_TUNING.dMinRoll = 0; + FC.ADVANCED_TUNING.dMinPitch = 0; + FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); + FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.PDGainSliderValue * this.PDRatioSliderValue); } // p - PIDs[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue); - PIDs[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue); - PIDs[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue); + FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.PDGainSliderValue); + FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.PDGainSliderValue); + FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.PDGainSliderValue); // ff - ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue); - ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue); - ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue); + FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.ResponseSliderValue); + FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.ResponseSliderValue); + FC.ADVANCED_TUNING.feedforwardYaw = Math.round(this.PID_DEFAULT[14] * this.ResponseSliderValue); // master slider part // these are not calculated anywhere other than master slider multiplier therefore set at default before every calculation - PIDs[0][1] = this.PID_DEFAULT[1]; - PIDs[1][1] = this.PID_DEFAULT[6]; - PIDs[2][1] = this.PID_DEFAULT[11]; + FC.PIDS[0][1] = this.PID_DEFAULT[1]; + FC.PIDS[1][1] = this.PID_DEFAULT[6]; + FC.PIDS[2][1] = this.PID_DEFAULT[11]; // yaw d, dmin - PIDs[2][2] = this.PID_DEFAULT[12]; - ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13]; + FC.PIDS[2][2] = this.PID_DEFAULT[12]; + FC.ADVANCED_TUNING.dMinYaw = this.PID_DEFAULT[13]; //master slider multiplication, max value 200 for main PID values for (let i = 0; i < 3; i++) { for (let j = 0; j < 3; j++) { - PIDs[j][i] = Math.min(Math.round(PIDs[j][i] * this.MasterSliderValue), MAX_PID_GAIN); + FC.PIDS[j][i] = Math.min(Math.round(FC.PIDS[j][i] * this.MasterSliderValue), MAX_PID_GAIN); } } - ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN); - ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN); - ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN); + FC.ADVANCED_TUNING.feedforwardRoll = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardRoll * this.MasterSliderValue), MAX_FF_GAIN); + FC.ADVANCED_TUNING.feedforwardPitch = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardPitch * this.MasterSliderValue), MAX_FF_GAIN); + FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.MasterSliderValue), MAX_FF_GAIN); if (this.dMinFeatureEnabled) { - ADVANCED_TUNING.dMinRoll = Math.min(Math.round(ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN); - ADVANCED_TUNING.dMinPitch = Math.min(Math.round(ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN); - ADVANCED_TUNING.dMinYaw = Math.min(Math.round(ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN); + FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.MasterSliderValue), MAX_DMIN_GAIN); + FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.MasterSliderValue), MAX_DMIN_GAIN); + FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.MasterSliderValue), MAX_DMIN_GAIN); } $('output[name="tuningMasterSlider-number"]').val(this.MasterSliderValue); @@ -302,52 +302,52 @@ TuningSliders.calculateNewPids = function() { $('output[name="tuningResponseSlider-number"]').val(this.ResponseSliderValue); // updates values in forms - PID_names.forEach(function(elementPid, indexPid) { + FC.PID_NAMES.forEach(function(elementPid, indexPid) { let searchRow = $('.pid_tuning .' + elementPid + ' input'); searchRow.each(function (indexInput) { if (indexPid < 3 && indexInput < 3) { - $(this).val(PIDs[indexPid][indexInput]); + $(this).val(FC.PIDS[indexPid][indexInput]); } }); }); - $('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll); - $('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch); - $('.pid_tuning input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw); - $('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll); - $('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch); - $('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw); + $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); + $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); + $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); + $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll); + $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch); + $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); TABS.pid_tuning.updatePIDColors(); }; TuningSliders.calculateNewGyroFilters = function() { // calculate, set and display new values in forms based on slider position - FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue); - FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue); - FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue); - FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type; - FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type; + FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_min_hz * this.gyroFilterSliderValue); + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass_dyn_max_hz * this.gyroFilterSliderValue); + FC.FILTER_CONFIG.gyro_lowpass2_hz = Math.round(this.FILTER_DEFAULT.gyro_lowpass2_hz * this.gyroFilterSliderValue); + FC.FILTER_CONFIG.gyro_lowpass_type = this.FILTER_DEFAULT.gyro_lowpass_type; + FC.FILTER_CONFIG.gyro_lowpass2_type = this.FILTER_DEFAULT.gyro_lowpass2_type; - $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz); - $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz); - $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz); - $('.pid_filter select[name="gyroLowpassDynType').val(FILTER_CONFIG.gyro_lowpass_type); - $('.pid_filter select[name="gyroLowpass2Type').val(FILTER_CONFIG.gyro_lowpass2_type); + $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz); + $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz); + $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz); + $('.pid_filter select[name="gyroLowpassDynType').val(FC.FILTER_CONFIG.gyro_lowpass_type); + $('.pid_filter select[name="gyroLowpass2Type').val(FC.FILTER_CONFIG.gyro_lowpass2_type); $('output[name="tuningGyroFilterSlider-number"]').val(this.gyroFilterSliderValue); }; TuningSliders.calculateNewDTermFilters = function() { // calculate, set and display new values in forms based on slider position - FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue); - FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue); - FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue); - FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type; - FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type; + FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_min_hz * this.dtermFilterSliderValue); + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass_dyn_max_hz * this.dtermFilterSliderValue); + FC.FILTER_CONFIG.dterm_lowpass2_hz = Math.round(this.FILTER_DEFAULT.dterm_lowpass2_hz * this.dtermFilterSliderValue); + FC.FILTER_CONFIG.dterm_lowpass_type = this.FILTER_DEFAULT.dterm_lowpass_type; + FC.FILTER_CONFIG.dterm_lowpass2_type = this.FILTER_DEFAULT.dterm_lowpass2_type; - $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz); - $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz); - $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz); - $('.pid_filter select[name="dtermLowpassDynType').val(FILTER_CONFIG.dterm_lowpass_type); - $('.pid_filter select[name="dtermLowpass2Type').val(FILTER_CONFIG.dterm_lowpass2_type); + $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz); + $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz); + $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz); + $('.pid_filter select[name="dtermLowpassDynType').val(FC.FILTER_CONFIG.dterm_lowpass_type); + $('.pid_filter select[name="dtermLowpass2Type').val(FC.FILTER_CONFIG.dterm_lowpass2_type); $('output[name="tuningDTermFilterSlider-number"]').val(this.dtermFilterSliderValue); }; diff --git a/src/js/backup_restore.js b/src/js/backup_restore.js index f21865c2..0f01bef4 100644 --- a/src/js/backup_restore.js +++ b/src/js/backup_restore.js @@ -13,7 +13,7 @@ function configuration_backup(callback) { var configuration = { 'generatedBy': version, - 'apiVersion': CONFIG.apiVersion, + 'apiVersion': FC.CONFIG.apiVersion, 'profiles': [], }; @@ -28,10 +28,10 @@ function configuration_backup(callback) { ]; function update_profile_specific_data_list() { - if (semver.gt(CONFIG.apiVersion, "1.12.0")) { + if (semver.gt(FC.CONFIG.apiVersion, "1.12.0")) { profileSpecificData.push(MSPCodes.MSP_SERVO_MIX_RULES); } - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { profileSpecificData.push(MSPCodes.MSP_RC_DEADBAND); } } @@ -39,7 +39,7 @@ function configuration_backup(callback) { update_profile_specific_data_list(); MSP.send_message(MSPCodes.MSP_STATUS, false, false, function () { - activeProfile = CONFIG.profile; + activeProfile = FC.CONFIG.profile; select_profile(); }); @@ -56,7 +56,7 @@ function configuration_backup(callback) { codeKey = 0; function fetch_specific_data_item() { - if (fetchingProfile < CONFIG.numProfiles) { + if (fetchingProfile < FC.CONFIG.numProfiles) { MSP.send_message(profileSpecificData[codeKey], false, false, function () { codeKey++; @@ -64,18 +64,18 @@ function configuration_backup(callback) { fetch_specific_data_item(); } else { configuration.profiles.push({ - 'PID': jQuery.extend(true, {}, PID), - 'PIDs': jQuery.extend(true, [], PIDs), - 'RC': jQuery.extend(true, {}, RC_tuning), - 'AccTrim': jQuery.extend(true, [], CONFIG.accelerometerTrims), - 'ServoConfig': jQuery.extend(true, [], SERVO_CONFIG), - 'ServoRules': jQuery.extend(true, [], SERVO_RULES), - 'ModeRanges': jQuery.extend(true, [], MODE_RANGES), - 'AdjustmentRanges': jQuery.extend(true, [], ADJUSTMENT_RANGES) + 'PID': jQuery.extend(true, {}, FC.PID), + 'PIDs': jQuery.extend(true, [], FC.PIDS), + 'RC': jQuery.extend(true, {}, FC.RC_TUNING), + 'AccTrim': jQuery.extend(true, [], FC.CONFIG.accelerometerTrims), + 'ServoConfig': jQuery.extend(true, [], FC.SERVO_CONFIG), + 'ServoRules': jQuery.extend(true, [], FC.SERVO_RULES), + 'ModeRanges': jQuery.extend(true, [], FC.MODE_RANGES), + 'AdjustmentRanges': jQuery.extend(true, [], FC.ADJUSTMENT_RANGES) }); - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { - configuration.profiles[fetchingProfile].RCdeadband = jQuery.extend(true, {}, RC_DEADBAND_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { + configuration.profiles[fetchingProfile].RCdeadband = jQuery.extend(true, {}, FC.RC_DEADBAND_CONFIG); } codeKey = 0; fetchingProfile++; @@ -100,29 +100,29 @@ function configuration_backup(callback) { ]; function update_unique_data_list() { - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { uniqueData.push(MSPCodes.MSP_LOOP_TIME); uniqueData.push(MSPCodes.MSP_ARMING_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.14.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { uniqueData.push(MSPCodes.MSP_MOTOR_3D_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { uniqueData.push(MSPCodes.MSP_SENSOR_ALIGNMENT); uniqueData.push(MSPCodes.MSP_RX_CONFIG); uniqueData.push(MSPCodes.MSP_FAILSAFE_CONFIG); uniqueData.push(MSPCodes.MSP_RXFAIL_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.19.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) { uniqueData.push(MSPCodes.MSP_LED_STRIP_MODECOLOR); } - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { uniqueData.push(MSPCodes.MSP_MOTOR_CONFIG); uniqueData.push(MSPCodes.MSP_RSSI_CONFIG); uniqueData.push(MSPCodes.MSP_GPS_CONFIG); uniqueData.push(MSPCodes.MSP_FEATURE_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { uniqueData.push(MSPCodes.MSP_MODE_RANGES_EXTRA); } } @@ -139,44 +139,44 @@ function configuration_backup(callback) { fetch_unique_data_item(); }); } else { - configuration.RCMAP = jQuery.extend(true, [], RC_MAP); - configuration.SERIAL_CONFIG = jQuery.extend(true, {}, SERIAL_CONFIG); - configuration.LED_STRIP = jQuery.extend(true, [], LED_STRIP); - configuration.LED_COLORS = jQuery.extend(true, [], LED_COLORS); - configuration.BOARD_ALIGNMENT_CONFIG = jQuery.extend(true, {}, BOARD_ALIGNMENT_CONFIG); - configuration.CRAFT_NAME = CONFIG.name; - configuration.DISPLAY_NAME = CONFIG.displayName; - configuration.MIXER_CONFIG = jQuery.extend(true, {}, MIXER_CONFIG); - configuration.SENSOR_CONFIG = jQuery.extend(true, {}, SENSOR_CONFIG); - configuration.PID_ADVANCED_CONFIG = jQuery.extend(true, {}, PID_ADVANCED_CONFIG); + configuration.RCMAP = jQuery.extend(true, [], FC.RC_MAP); + configuration.SERIAL_CONFIG = jQuery.extend(true, {}, FC.SERIAL_CONFIG); + configuration.LED_STRIP = jQuery.extend(true, [], FC.LED_STRIP); + configuration.LED_COLORS = jQuery.extend(true, [], FC.LED_COLORS); + configuration.BOARD_ALIGNMENT_CONFIG = jQuery.extend(true, {}, FC.BOARD_ALIGNMENT_CONFIG); + configuration.CRAFT_NAME = FC.CONFIG.name; + configuration.DISPLAY_NAME = FC.CONFIG.displayName; + configuration.MIXER_CONFIG = jQuery.extend(true, {}, FC.MIXER_CONFIG); + configuration.SENSOR_CONFIG = jQuery.extend(true, {}, FC.SENSOR_CONFIG); + configuration.PID_ADVANCED_CONFIG = jQuery.extend(true, {}, FC.PID_ADVANCED_CONFIG); - if (semver.gte(CONFIG.apiVersion, "1.19.0")) { - configuration.LED_MODE_COLORS = jQuery.extend(true, [], LED_MODE_COLORS); + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) { + configuration.LED_MODE_COLORS = jQuery.extend(true, [], FC.LED_MODE_COLORS); } - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { - configuration.FC_CONFIG = jQuery.extend(true, {}, FC_CONFIG); - configuration.ARMING_CONFIG = jQuery.extend(true, {}, ARMING_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { + configuration.FC_CONFIG = jQuery.extend(true, {}, FC.FC_CONFIG); + configuration.ARMING_CONFIG = jQuery.extend(true, {}, FC.ARMING_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.14.0")) { - configuration.MOTOR_3D_CONFIG = jQuery.extend(true, {}, MOTOR_3D_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { + configuration.MOTOR_3D_CONFIG = jQuery.extend(true, {}, FC.MOTOR_3D_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { - configuration.SENSOR_ALIGNMENT = jQuery.extend(true, {}, SENSOR_ALIGNMENT); - configuration.RX_CONFIG = jQuery.extend(true, {}, RX_CONFIG); - configuration.FAILSAFE_CONFIG = jQuery.extend(true, {}, FAILSAFE_CONFIG); - configuration.RXFAIL_CONFIG = jQuery.extend(true, [], RXFAIL_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { + configuration.SENSOR_ALIGNMENT = jQuery.extend(true, {}, FC.SENSOR_ALIGNMENT); + configuration.RX_CONFIG = jQuery.extend(true, {}, FC.RX_CONFIG); + configuration.FAILSAFE_CONFIG = jQuery.extend(true, {}, FC.FAILSAFE_CONFIG); + configuration.RXFAIL_CONFIG = jQuery.extend(true, [], FC.RXFAIL_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { - configuration.RSSI_CONFIG = jQuery.extend(true, {}, RSSI_CONFIG); - configuration.FEATURE_CONFIG = jQuery.extend(true, {}, FEATURE_CONFIG); - configuration.MOTOR_CONFIG = jQuery.extend(true, {}, MOTOR_CONFIG); - configuration.GPS_CONFIG = jQuery.extend(true, {}, GPS_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { + configuration.RSSI_CONFIG = jQuery.extend(true, {}, FC.RSSI_CONFIG); + configuration.FEATURE_CONFIG = jQuery.extend(true, {}, FC.FEATURE_CONFIG); + configuration.MOTOR_CONFIG = jQuery.extend(true, {}, FC.MOTOR_CONFIG); + configuration.GPS_CONFIG = jQuery.extend(true, {}, FC.GPS_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - configuration.BEEPER_CONFIG = jQuery.extend(true, {}, BEEPER_CONFIG); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + configuration.BEEPER_CONFIG = jQuery.extend(true, {}, FC.BEEPER_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - configuration.MODE_RANGES_EXTRA = jQuery.extend(true, [], MODE_RANGES_EXTRA); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + configuration.MODE_RANGES_EXTRA = jQuery.extend(true, [], FC.MODE_RANGES_EXTRA); } save(); @@ -339,7 +339,7 @@ function configuration_restore(callback) { return; } if (configuration.FEATURE_CONFIG.features._featureMask) { - var features = new Features(CONFIG); + var features = new Features(FC.CONFIG); features.setMask(configuration.FEATURE_CONFIG.features._featureMask); configuration.FEATURE_CONFIG.features = features; } @@ -421,8 +421,8 @@ function configuration_restore(callback) { configuration.LED_STRIP = fixed_led_strip; } - for (var profileIndex = 0; profileIndex < 3; profileIndex++) { - var RC = configuration.profiles[profileIndex].RC; + for (let profileIndex = 0; profileIndex < 3; profileIndex++) { + const RC = configuration.profiles[profileIndex].RC; // TPA breakpoint was added if (!RC.dynamic_THR_breakpoint) { RC.dynamic_THR_breakpoint = 1500; // firmware default @@ -555,7 +555,7 @@ function configuration_restore(callback) { appliedMigrationsCount++; } - if (semver.lt(configuration.apiVersion, '1.14.0') && semver.gte(CONFIG.apiVersion, "1.14.0")) { + if (semver.lt(configuration.apiVersion, '1.14.0') && semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { // api 1.14 removed old pid controllers for (var profileIndex = 0; profileIndex < configuration.profiles.length; profileIndex++) { var newPidControllerIndex = configuration.profiles[profileIndex].PID.controller; @@ -659,8 +659,8 @@ function configuration_restore(callback) { if (compareVersions(migratedVersion, '1.2.0')) { // old version of the configurator incorrectly had a 'disabled' option for GPS SBAS mode. - if (GPS_CONFIG.ublox_sbas < 0) { - GPS_CONFIG.ublox_sbas = 0; + if (FC.GPS_CONFIG.ublox_sbas < 0) { + FC.GPS_CONFIG.ublox_sbas = 0; } migratedVersion = '1.2.0'; @@ -693,7 +693,7 @@ function configuration_restore(callback) { function configuration_upload(configuration, callback) { function upload() { var activeProfile = null; - var numProfiles = CONFIG.numProfiles; + var numProfiles = FC.CONFIG.numProfiles; if (configuration.profiles.length < numProfiles) { numProfiles = configuration.profiles.length; } @@ -705,12 +705,12 @@ function configuration_restore(callback) { MSPCodes.MSP_SET_ACC_TRIM ]; - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { profileSpecificData.push(MSPCodes.MSP_SET_RC_DEADBAND); } MSP.send_message(MSPCodes.MSP_STATUS, false, false, function () { - activeProfile = CONFIG.profile; + activeProfile = FC.CONFIG.profile; select_profile(); }); @@ -727,15 +727,15 @@ function configuration_restore(callback) { codeKey = 0; function load_objects(profile) { - PID = configuration.profiles[profile].PID; - PIDs = configuration.profiles[profile].PIDs; - RC_tuning = configuration.profiles[profile].RC; - CONFIG.accelerometerTrims = configuration.profiles[profile].AccTrim; - SERVO_CONFIG = configuration.profiles[profile].ServoConfig; - SERVO_RULES = configuration.profiles[profile].ServoRules; - MODE_RANGES = configuration.profiles[profile].ModeRanges; - ADJUSTMENT_RANGES = configuration.profiles[profile].AdjustmentRanges; - RC_DEADBAND_CONFIG = configuration.profiles[profile].RCdeadband; + FC.PID = configuration.profiles[profile].PID; + FC.PIDS = configuration.profiles[profile].PIDs; + FC.RC_TUNING = configuration.profiles[profile].RC; + FC.CONFIG.accelerometerTrims = configuration.profiles[profile].AccTrim; + FC.SERVO_CONFIG = configuration.profiles[profile].ServoConfig; + FC.SERVO_RULES = configuration.profiles[profile].ServoRules; + FC.MODE_RANGES = configuration.profiles[profile].ModeRanges; + FC.ADJUSTMENT_RANGES = configuration.profiles[profile].AdjustmentRanges; + FC.RC_DEADBAND_CONFIG = configuration.profiles[profile].RCdeadband; } function upload_using_specific_commands() { @@ -768,20 +768,20 @@ function configuration_restore(callback) { } function upload_mode_ranges() { - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { if (configuration.MODE_RANGES_EXTRA == undefined) { - MODE_RANGES_EXTRA = []; + FC.MODE_RANGES_EXTRA = []; - for (var modeIndex = 0; modeIndex < MODE_RANGES.length; modeIndex++) { + for (var modeIndex = 0; modeIndex < FC.MODE_RANGES.length; modeIndex++) { var defaultModeRangeExtra = { - modeId: MODE_RANGES[modeIndex].modeId, + modeId: FC.MODE_RANGES[modeIndex].modeId, modeLogic: 0, linkedTo: 0 }; - MODE_RANGES_EXTRA.push(defaultModeRangeExtra); + FC.MODE_RANGES_EXTRA.push(defaultModeRangeExtra); } } else { - MODE_RANGES_EXTRA = configuration.MODE_RANGES_EXTRA; + FC.MODE_RANGES_EXTRA = configuration.MODE_RANGES_EXTRA; } } @@ -812,19 +812,19 @@ function configuration_restore(callback) { uniqueData.push(MSPCodes.MSP_SET_BOARD_ALIGNMENT_CONFIG); uniqueData.push(MSPCodes.MSP_SET_ADVANCED_CONFIG); - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { uniqueData.push(MSPCodes.MSP_SET_LOOP_TIME); uniqueData.push(MSPCodes.MSP_SET_ARMING_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.14.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { uniqueData.push(MSPCodes.MSP_SET_MOTOR_3D_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { uniqueData.push(MSPCodes.MSP_SET_SENSOR_ALIGNMENT); uniqueData.push(MSPCodes.MSP_SET_RX_CONFIG); uniqueData.push(MSPCodes.MSP_SET_FAILSAFE_CONFIG); } - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { uniqueData.push(MSPCodes.MSP_SET_FEATURE_CONFIG); uniqueData.push(MSPCodes.MSP_SET_MOTOR_CONFIG); uniqueData.push(MSPCodes.MSP_SET_GPS_CONFIG); @@ -833,35 +833,35 @@ function configuration_restore(callback) { } function load_objects() { - MISC = configuration.MISC; - RC_MAP = configuration.RCMAP; - SERIAL_CONFIG = configuration.SERIAL_CONFIG; - LED_STRIP = configuration.LED_STRIP; - LED_COLORS = configuration.LED_COLORS; - LED_MODE_COLORS = configuration.LED_MODE_COLORS; - ARMING_CONFIG = configuration.ARMING_CONFIG; - FC_CONFIG = configuration.FC_CONFIG; - MOTOR_3D_CONFIG = configuration.MOTOR_3D_CONFIG; - SENSOR_ALIGNMENT = configuration.SENSOR_ALIGNMENT; - RX_CONFIG = configuration.RX_CONFIG; - FAILSAFE_CONFIG = configuration.FAILSAFE_CONFIG; - RXFAIL_CONFIG = configuration.RXFAIL_CONFIG; - FEATURE_CONFIG = configuration.FEATURE_CONFIG; - MOTOR_CONFIG = configuration.MOTOR_CONFIG; - GPS_CONFIG = configuration.GPS_CONFIG; - RSSI_CONFIG = configuration.RSSI_CONFIG; - BOARD_ALIGNMENT_CONFIG = configuration.BOARD_ALIGNMENT_CONFIG; - CONFIG.name = configuration.CRAFT_NAME; - CONFIG.displayName = configuration.DISPLAY_NAME; - MIXER_CONFIG = configuration.MIXER_CONFIG; - SENSOR_CONFIG = configuration.SENSOR_CONFIG; - PID_ADVANCED_CONFIG = configuration.PID_ADVANCED_CONFIG; + FC.MISC = configuration.MISC; + FC.RC_MAP = configuration.RCMAP; + FC.SERIAL_CONFIG = configuration.SERIAL_CONFIG; + FC.LED_STRIP = configuration.LED_STRIP; + FC.LED_COLORS = configuration.LED_COLORS; + FC.LED_MODE_COLORS = configuration.LED_MODE_COLORS; + FC.ARMING_CONFIG = configuration.ARMING_CONFIG; + FC.FC_CONFIG = configuration.FC_CONFIG; + FC.MOTOR_3D_CONFIG = configuration.MOTOR_3D_CONFIG; + FC.SENSOR_ALIGNMENT = configuration.SENSOR_ALIGNMENT; + FC.RX_CONFIG = configuration.RX_CONFIG; + FC.FAILSAFE_CONFIG = configuration.FAILSAFE_CONFIG; + FC.RXFAIL_CONFIG = configuration.RXFAIL_CONFIG; + FC.FEATURE_CONFIG = configuration.FEATURE_CONFIG; + FC.MOTOR_CONFIG = configuration.MOTOR_CONFIG; + FC.GPS_CONFIG = configuration.GPS_CONFIG; + FC.RSSI_CONFIG = configuration.RSSI_CONFIG; + FC.BOARD_ALIGNMENT_CONFIG = configuration.BOARD_ALIGNMENT_CONFIG; + FC.CONFIG.name = configuration.CRAFT_NAME; + FC.CONFIG.displayName = configuration.DISPLAY_NAME; + FC.MIXER_CONFIG = configuration.MIXER_CONFIG; + FC.SENSOR_CONFIG = configuration.SENSOR_CONFIG; + FC.PID_ADVANCED_CONFIG = configuration.PID_ADVANCED_CONFIG; - BEEPER_CONFIG.beepers = new Beepers(CONFIG); - BEEPER_CONFIG.beepers.setMask(configuration.BEEPER_CONFIG.beepers._beeperMask); - BEEPER_CONFIG.dshotBeaconTone = configuration.BEEPER_CONFIG.dshotBeaconTone; - BEEPER_CONFIG.dshotBeaconConditions = new Beepers(CONFIG, [ "RX_LOST", "RX_SET" ]); - BEEPER_CONFIG.dshotBeaconConditions.setMask(configuration.BEEPER_CONFIG.dshotBeaconConditions._beeperMask); + FC.BEEPER_CONFIG.beepers = new Beepers(FC.CONFIG); + FC.BEEPER_CONFIG.beepers.setMask(configuration.BEEPER_CONFIG.beepers._beeperMask); + FC.BEEPER_CONFIG.dshotBeaconTone = configuration.BEEPER_CONFIG.dshotBeaconTone; + FC.BEEPER_CONFIG.dshotBeaconConditions = new Beepers(FC.CONFIG, [ "RX_LOST", "RX_SET" ]); + FC.BEEPER_CONFIG.dshotBeaconConditions.setMask(configuration.BEEPER_CONFIG.dshotBeaconConditions._beeperMask); } function send_unique_data_item() { @@ -892,14 +892,14 @@ function configuration_restore(callback) { } function send_led_strip_mode_colors() { - if (semver.gte(CONFIG.apiVersion, "1.19.0")) + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) mspHelper.sendLedStripModeColors(send_rxfail_config); else send_rxfail_config(); } function send_rxfail_config() { - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { mspHelper.sendRxFailConfig(save_to_eeprom); } else { save_to_eeprom(); diff --git a/src/js/fc.js b/src/js/fc.js index d8ed123a..30a3b963 100644 --- a/src/js/fc.js +++ b/src/js/fc.js @@ -1,75 +1,77 @@ 'use strict'; -// define all the global variables that are uses to hold FC state -var CONFIG; -var BF_CONFIG; // Remove when we officialy retire BF 3.1 -var FEATURE_CONFIG; -var BEEPER_CONFIG; -var MIXER_CONFIG; -var BOARD_ALIGNMENT_CONFIG; -var LED_STRIP; -var LED_COLORS; -var LED_MODE_COLORS; -var PID; -var PID_names; -var PIDS_ACTIVE; -var PIDs; -var RC_MAP; -var RC; -var RC_tuning; -var AUX_CONFIG; -var AUX_CONFIG_IDS; -var MODE_RANGES; -var MODE_RANGES_EXTRA; -var ADJUSTMENT_RANGES; -var SERVO_CONFIG; -var SERVO_RULES; -var SERIAL_CONFIG; -var SENSOR_DATA; -var MOTOR_DATA; -var MOTOR_TELEMETRY_DATA; -var SERVO_DATA; -var GPS_DATA; -var ANALOG; -var VOLTAGE_METERS; -var VOLTAGE_METER_CONFIGS; -var CURRENT_METERS; -var CURRENT_METER_CONFIGS; -var BATTERY_STATE; -var BATTERY_CONFIG; -var ARMING_CONFIG; -var FC_CONFIG; -var MISC; // DEPRECATED -var MOTOR_CONFIG; -var GPS_CONFIG; -var RSSI_CONFIG; -var MOTOR_3D_CONFIG; -var DATAFLASH; -var SDCARD; -var BLACKBOX; -var TRANSPONDER; -var RC_DEADBAND_CONFIG; -var SENSOR_ALIGNMENT; -var RX_CONFIG; -var FAILSAFE_CONFIG; -var GPS_RESCUE; -var RXFAIL_CONFIG; -var PID_ADVANCED_CONFIG; -var FILTER_CONFIG; -var ADVANCED_TUNING_ACTIVE; -var ADVANCED_TUNING; -var SENSOR_CONFIG; -var COPY_PROFILE; -var VTX_CONFIG; -var VTXTABLE_BAND; -var VTXTABLE_POWERLEVEL; -var MULTIPLE_MSP; -var DEFAULT; -var DEFAULT_PIDS; +const FC = { -var FC = { - resetState: function () { - CONFIG = { + // define all the global variables that are uses to hold FC state + // the default state must be defined inside the resetState() method + ADJUSTMENT_RANGES: null, + ADVANCED_TUNING: null, + ADVANCED_TUNING_ACTIVE: null, + ANALOG: null, + ARMING_CONFIG: null, + AUX_CONFIG: null, + AUX_CONFIG_IDS: null, + BATTERY_CONFIG: null, + BATTERY_STATE: null, + BEEPER_CONFIG: null, + BF_CONFIG: null, // Remove when we officialy retire BF 3.1 + BLACKBOX: null, + BOARD_ALIGNMENT_CONFIG: null, + CONFIG: null, + COPY_PROFILE: null, + CURRENT_METERS: null, + CURRENT_METER_CONFIGS: null, + DATAFLASH: null, + DEFAULT: null, + DEFAULT_PIDS: null, + FAILSAFE_CONFIG: null, + FC_CONFIG: null, + FEATURE_CONFIG: null, + FILTER_CONFIG: null, + GPS_CONFIG: null, + GPS_DATA: null, + GPS_RESCUE: null, + LED_COLORS: null, + LED_MODE_COLORS: null, + LED_STRIP: null, + MISC: null, // DEPRECATED + MIXER_CONFIG: null, + MODE_RANGES: null, + MODE_RANGES_EXTRA: null, + MOTOR_3D_CONFIG: null, + MOTOR_CONFIG: null, + MOTOR_DATA: null, + MOTOR_TELEMETRY_DATA: null, + MULTIPLE_MSP: null, + PID: null, + PIDS_ACTIVE: null, + PID_ADVANCED_CONFIG: null, + PID_NAMES: null, + PIDS: null, + RC: null, + RC_DEADBAND_CONFIG: null, + RC_MAP: null, + RC_TUNING: null, + RSSI_CONFIG: null, + RXFAIL_CONFIG: null, + RX_CONFIG: null, + SDCARD: null, + SENSOR_ALIGNMENT: null, + SENSOR_CONFIG: null, + SENSOR_DATA: null, + SERIAL_CONFIG: null, + SERVO_CONFIG: null, + SERVO_DATA: null, + SERVO_RULES: null, + TRANSPONDER: null, + VOLTAGE_METERS: null, + VOLTAGE_METER_CONFIGS: null, + VTXTABLE_BAND: null, + VTXTABLE_POWERLEVEL: null, + VTX_CONFIG: null, + + resetState () { + this.CONFIG = { apiVersion: "0.0.0", flightControllerIdentifier: '', flightControllerVersion: '', @@ -107,66 +109,66 @@ var FC = { configurationProblems: 0, }; - BF_CONFIG = { + this.BF_CONFIG = { currentscale: 0, currentoffset: 0, currentmetertype: 0, batterycapacity: 0, }; - COPY_PROFILE = { + this.COPY_PROFILE = { type: 0, dstProfile: 0, srcProfile: 0, }; - - FEATURE_CONFIG = { + + this.FEATURE_CONFIG = { features: 0, }; - BEEPER_CONFIG = { + this.BEEPER_CONFIG = { beepers: 0, dshotBeaconTone: 0, dshotBeaconConditions: 0, }; - - MIXER_CONFIG = { + + this.MIXER_CONFIG = { mixer: 0, reverseMotorDir: 0, - }; + }; - BOARD_ALIGNMENT_CONFIG = { + this.BOARD_ALIGNMENT_CONFIG = { roll: 0, pitch: 0, yaw: 0, }; - LED_STRIP = []; - LED_COLORS = []; - LED_MODE_COLORS = []; + this.LED_STRIP = []; + this.LED_COLORS = []; + this.LED_MODE_COLORS = []; - PID = { - controller: 0 + this.PID = { + controller: 0, }; - PID_names = []; - PIDS_ACTIVE = new Array(10); - PIDs = new Array(10); - for (var i = 0; i < 10; i++) { - PIDS_ACTIVE[i] = new Array(3); - PIDs[i] = new Array(3); + this.PID_NAMES = []; + this.PIDS_ACTIVE = Array.from({length: 10}); + this.PIDS = Array.from({length: 10}); + for (let i = 0; i < 10; i++) { + this.PIDS_ACTIVE[i] = Array.from({length: 3}); + this.PIDS[i] = Array.from({length: 3}); } - RC_MAP = []; + this.RC_MAP = []; // defaults // roll, pitch, yaw, throttle, aux 1, ... aux n - RC = { + this.RC = { active_channels: 0, - channels: new Array(32), + channels: Array.from({length: 32}), }; - RC_tuning = { + this.RC_TUNING = { RC_RATE: 0, RC_EXPO: 0, roll_pitch_rate: 0, // pre 1.7 api only @@ -186,17 +188,17 @@ var FC = { yaw_rate_limit: 1998, }; - AUX_CONFIG = []; - AUX_CONFIG_IDS = []; + this.AUX_CONFIG = []; + this.AUX_CONFIG_IDS = []; - MODE_RANGES = []; - MODE_RANGES_EXTRA = []; - ADJUSTMENT_RANGES = []; + this.MODE_RANGES = []; + this.MODE_RANGES_EXTRA = []; + this.ADJUSTMENT_RANGES = []; - SERVO_CONFIG = []; - SERVO_RULES = []; + this.SERVO_CONFIG = []; + this.SERVO_RULES = []; - SERIAL_CONFIG = { + this.SERIAL_CONFIG = { ports: [], // pre 1.6 settings @@ -206,7 +208,7 @@ var FC = { cliBaudRate: 0, }; - SENSOR_DATA = { + this.SENSOR_DATA = { gyroscope: [0, 0, 0], accelerometer: [0, 0, 0], magnetometer: [0, 0, 0], @@ -216,10 +218,10 @@ var FC = { debug: [0, 0, 0, 0], }; - MOTOR_DATA = new Array(8); - SERVO_DATA = new Array(8); + this.MOTOR_DATA = Array.from({length: 8}); + this.SERVO_DATA = Array.from({length: 8}); - MOTOR_TELEMETRY_DATA = { + this.MOTOR_TELEMETRY_DATA = { rpm: [0, 0, 0, 0, 0, 0, 0, 0], invalidPercent: [0, 0, 0, 0, 0, 0, 0, 0], temperature: [0, 0, 0, 0, 0, 0, 0, 0], @@ -228,7 +230,7 @@ var FC = { consumption: [0, 0, 0, 0, 0, 0, 0, 0], }; - GPS_DATA = { + this.GPS_DATA = { fix: 0, numSat: 0, lat: 0, @@ -243,24 +245,24 @@ var FC = { chn: [], svid: [], quality: [], - cno: [] + cno: [], }; - ANALOG = { + this.ANALOG = { voltage: 0, mAhdrawn: 0, rssi: 0, amperage: 0, - last_received_timestamp: Date.now() // FIXME this code lies, it's never been received at this point + last_received_timestamp: Date.now(), // FIXME this code lies, it's never been received at this point }; - VOLTAGE_METERS = []; - VOLTAGE_METER_CONFIGS = []; - CURRENT_METERS = []; - CURRENT_METER_CONFIGS = []; + this.VOLTAGE_METERS = []; + this.VOLTAGE_METER_CONFIGS = []; + this.CURRENT_METERS = []; + this.CURRENT_METER_CONFIGS = []; - BATTERY_STATE = {}; - BATTERY_CONFIG = { + this.BATTERY_STATE = {}; + this.BATTERY_CONFIG = { vbatmincellvoltage: 0, vbatmaxcellvoltage: 0, vbatwarningcellvoltage: 0, @@ -269,17 +271,17 @@ var FC = { currentMeterSource: 0, }; - ARMING_CONFIG = { + this.ARMING_CONFIG = { auto_disarm_delay: 0, disarm_kill_switch: 0, small_angle: 0, }; - FC_CONFIG = { - loopTime: 0 + this.FC_CONFIG = { + loopTime: 0, }; - MISC = { + this.MISC = { // DEPRECATED = only used to store values that are written back to the fc as-is, do NOT use for any other purpose failsafe_throttle: 0, gps_baudrate: 0, @@ -291,7 +293,7 @@ var FC = { vbatwarningcellvoltage: 0, batterymetertype: 1, // 1=ADC, 2=ESC }; - MOTOR_CONFIG = { + this.MOTOR_CONFIG = { minthrottle: 0, maxthrottle: 0, mincommand: 0, @@ -301,7 +303,7 @@ var FC = { use_esc_sensor: false, }; - GPS_CONFIG = { + this.GPS_CONFIG = { provider: 0, ublox_sbas: 0, auto_config: 0, @@ -310,25 +312,25 @@ var FC = { ublox_use_galileo: 0, }; - RSSI_CONFIG = { + this.RSSI_CONFIG = { channel: 0, }; - MOTOR_3D_CONFIG = { + this.MOTOR_3D_CONFIG = { deadband3d_low: 0, deadband3d_high: 0, neutral: 0, }; - DATAFLASH = { + this.DATAFLASH = { ready: false, supported: false, sectors: 0, totalSize: 0, - usedSize: 0 + usedSize: 0, }; - SDCARD = { + this.SDCARD = { supported: false, state: 0, filesystemLastError: 0, @@ -336,7 +338,7 @@ var FC = { totalSizeKB: 0, }; - BLACKBOX = { + this.BLACKBOX = { supported: false, blackboxDevice: 0, blackboxRateNum: 1, @@ -345,21 +347,21 @@ var FC = { blackboxSampleRate: 0, }; - TRANSPONDER = { + this.TRANSPONDER = { supported: false, data: [], provider: 0, providers: [], }; - RC_DEADBAND_CONFIG = { + this.RC_DEADBAND_CONFIG = { deadband: 0, yaw_deadband: 0, alt_hold_deadband: 0, deadband3d_throttle: 0, }; - SENSOR_ALIGNMENT = { + this.SENSOR_ALIGNMENT = { align_gyro: 0, align_acc: 0, align_mag: 0, @@ -369,7 +371,7 @@ var FC = { gyro_2_align: 0, }; - PID_ADVANCED_CONFIG = { + this.PID_ADVANCED_CONFIG = { gyro_sync_denom: 0, pid_process_denom: 0, use_unsyncedPwm: 0, @@ -387,7 +389,7 @@ var FC = { debugModeCount: 0, }; - FILTER_CONFIG = { + this.FILTER_CONFIG = { gyro_hardware_lpf: 0, gyro_32khz_hardware_lpf: 0, gyro_lowpass_hz: 0, @@ -419,7 +421,7 @@ var FC = { gyro_rpm_notch_min_hz: 0, }; - ADVANCED_TUNING = { + this.ADVANCED_TUNING = { rollPitchItermIgnoreRate: 0, yawItermIgnoreRate: 0, yaw_p_limit: 0, @@ -464,15 +466,15 @@ var FC = { ff_boost: 0, vbat_sag_compensation: 0, }; - ADVANCED_TUNING_ACTIVE = { ...ADVANCED_TUNING }; + this.ADVANCED_TUNING_ACTIVE = { ...this.ADVANCED_TUNING }; - SENSOR_CONFIG = { + this.SENSOR_CONFIG = { acc_hardware: 0, baro_hardware: 0, mag_hardware: 0, }; - RX_CONFIG = { + this.RX_CONFIG = { serialrx_provider: 0, stick_max: 0, stick_center: 0, @@ -490,14 +492,14 @@ var FC = { fpvCamAngleDegrees: 0, rcSmoothingType: 0, rcSmoothingInputCutoff: 0, - rcSmoothingDerivativeCutoff: 0, + rcSmoothingDerivativeCutoff: 0, rcSmoothingInputType: 0, rcSmoothingDerivativeType: 0, rcSmoothingAutoSmoothness: 0, usbCdcHidType: 0, }; - FAILSAFE_CONFIG = { + this.FAILSAFE_CONFIG = { failsafe_delay: 0, failsafe_off_delay: 0, failsafe_throttle: 0, @@ -506,7 +508,7 @@ var FC = { failsafe_procedure: 0, }; - GPS_RESCUE = { + this.GPS_RESCUE = { angle: 0, initialAltitudeM: 0, descentDistanceM: 0, @@ -522,9 +524,9 @@ var FC = { altitudeMode: 0, }; - RXFAIL_CONFIG = []; + this.RXFAIL_CONFIG = []; - VTX_CONFIG = { + this.VTX_CONFIG = { vtx_type: 0, vtx_band: 0, vtx_channel: 0, @@ -541,7 +543,7 @@ var FC = { vtx_table_clear: false, }; - VTXTABLE_BAND = { + this.VTXTABLE_BAND = { vtxtable_band_number: 0, vtxtable_band_name: '', vtxtable_band_letter: '', @@ -549,23 +551,23 @@ var FC = { vtxtable_band_frequencies: [], }; - VTXTABLE_POWERLEVEL = { + this.VTXTABLE_POWERLEVEL = { vtxtable_powerlevel_number: 0, vtxtable_powerlevel_value: 0, vtxtable_powerlevel_label: 0, }; - MULTIPLE_MSP = { + this.MULTIPLE_MSP = { msp_commands: [], }; - DEFAULT = { + this.DEFAULT = { gyro_lowpass_hz: 100, gyro_lowpass_dyn_min_hz: 150, gyro_lowpass_dyn_max_hz: 450, - gyro_lowpass_type: FC.FILTER_TYPE_FLAGS.PT1, + gyro_lowpass_type: this.FILTER_TYPE_FLAGS.PT1, gyro_lowpass2_hz: 300, - gyro_lowpass2_type: FC.FILTER_TYPE_FLAGS.PT1, + gyro_lowpass2_type: this.FILTER_TYPE_FLAGS.PT1, gyro_notch_cutoff: 300, gyro_notch_hz: 400, gyro_notch2_cutoff: 100, @@ -575,9 +577,9 @@ var FC = { dterm_lowpass_dyn_min_hz: 150, dterm_lowpass_dyn_max_hz: 250, dyn_lpf_curve_expo: 5, - dterm_lowpass_type: FC.FILTER_TYPE_FLAGS.PT1, + dterm_lowpass_type: this.FILTER_TYPE_FLAGS.PT1, dterm_lowpass2_hz: 150, - dterm_lowpass2_type: FC.FILTER_TYPE_FLAGS.BIQUAD, + dterm_lowpass2_type: this.FILTER_TYPE_FLAGS.BIQUAD, dterm_notch_cutoff: 160, dterm_notch_hz: 260, yaw_lowpass_hz: 100, @@ -587,27 +589,27 @@ var FC = { dyn_notch_width_percent_rpm: 0, }; - DEFAULT_PIDS = [ + this.DEFAULT_PIDS = [ 42, 85, 35, 20, 90, 46, 90, 38, 22, 95, 30, 90, 0, 0, 90, ]; }, - getHardwareName: function () { + getHardwareName() { let name; - if (CONFIG.targetName) { - name = CONFIG.targetName; + if (this.CONFIG.targetName) { + name = this.CONFIG.targetName; } else { - name = CONFIG.boardIdentifier; + name = this.CONFIG.boardIdentifier; } - if (CONFIG.boardName && CONFIG.boardName !== name) { - name = CONFIG.boardName + "(" + name + ")"; + if (this.CONFIG.boardName && this.CONFIG.boardName !== name) { + name = `${this.CONFIG.boardName}(${name})`; } - if (CONFIG.manufacturerId) { - name = CONFIG.manufacturerId + "/" + name; + if (this.CONFIG.manufacturerId) { + name = `${this.CONFIG.manufacturerId}/${name}`; } return name; @@ -627,8 +629,8 @@ var FC = { 255: "Unknown MCU", }, - getMcuType: function () { - return FC.MCU_TYPES[CONFIG.mcuTypeId]; + getMcuType() { + return this.MCU_TYPES[this.CONFIG.mcuTypeId]; }, CONFIGURATION_STATES: { @@ -652,12 +654,12 @@ var FC = { MOTOR_PROTOCOL_DISABLED: 1, }, - boardHasVcp: function () { - var hasVcp = false; - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - hasVcp = bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_VCP); + boardHasVcp() { + let hasVcp = false; + if (semver.gte(this.CONFIG.apiVersion, "1.37.0")) { + hasVcp = bit_check(this.CONFIG.targetCapabilities, this.TARGET_CAPABILITIES_FLAGS.HAS_VCP); } else { - hasVcp = BOARD.find_board_definition(CONFIG.boardIdentifier).vcp; + hasVcp = BOARD.find_board_definition(this.CONFIG.boardIdentifier).vcp; } return hasVcp; @@ -668,42 +670,42 @@ var FC = { BIQUAD: 1, }, - getFilterDefaults: function() { - var versionFilterDefaults = DEFAULT; + getFilterDefaults() { + const versionFilterDefaults = this.DEFAULT; - if (semver.eq(CONFIG.apiVersion, "1.40.0")) { + if (semver.eq(this.CONFIG.apiVersion, "1.40.0")) { versionFilterDefaults.dterm_lowpass2_hz = 200; - } else if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + } else if (semver.gte(this.CONFIG.apiVersion, "1.41.0")) { versionFilterDefaults.gyro_lowpass_hz = 150; - versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD; + versionFilterDefaults.gyro_lowpass_type = this.FILTER_TYPE_FLAGS.BIQUAD; versionFilterDefaults.gyro_lowpass2_hz = 0; - versionFilterDefaults.gyro_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD; + versionFilterDefaults.gyro_lowpass2_type = this.FILTER_TYPE_FLAGS.BIQUAD; versionFilterDefaults.dterm_lowpass_hz = 150; - versionFilterDefaults.dterm_lowpass_type = FC.FILTER_TYPE_FLAGS.BIQUAD; + versionFilterDefaults.dterm_lowpass_type = this.FILTER_TYPE_FLAGS.BIQUAD; versionFilterDefaults.dterm_lowpass2_hz = 150; - versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.BIQUAD; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + versionFilterDefaults.dterm_lowpass2_type = this.FILTER_TYPE_FLAGS.BIQUAD; + if (semver.gte(this.CONFIG.apiVersion, "1.42.0")) { versionFilterDefaults.gyro_lowpass_hz = 200; versionFilterDefaults.gyro_lowpass_dyn_min_hz = 200; versionFilterDefaults.gyro_lowpass_dyn_max_hz = 500; - versionFilterDefaults.gyro_lowpass_type = FC.FILTER_TYPE_FLAGS.PT1; + versionFilterDefaults.gyro_lowpass_type = this.FILTER_TYPE_FLAGS.PT1; versionFilterDefaults.gyro_lowpass2_hz = 250; - versionFilterDefaults.gyro_lowpass2_type = FC.FILTER_TYPE_FLAGS.PT1; + versionFilterDefaults.gyro_lowpass2_type = this.FILTER_TYPE_FLAGS.PT1; versionFilterDefaults.dterm_lowpass_hz = 150; versionFilterDefaults.dterm_lowpass_dyn_min_hz = 70; versionFilterDefaults.dterm_lowpass_dyn_max_hz = 170; - versionFilterDefaults.dterm_lowpass_type = FC.FILTER_TYPE_FLAGS.PT1; + versionFilterDefaults.dterm_lowpass_type = this.FILTER_TYPE_FLAGS.PT1; versionFilterDefaults.dterm_lowpass2_hz = 150; - versionFilterDefaults.dterm_lowpass2_type = FC.FILTER_TYPE_FLAGS.PT1; + versionFilterDefaults.dterm_lowpass2_type = this.FILTER_TYPE_FLAGS.PT1; } - } + } return versionFilterDefaults; }, - getPidDefaults: function() { - var versionPidDefaults = DEFAULT_PIDS; + getPidDefaults() { + let versionPidDefaults = this.DEFAULT_PIDS; // if defaults change they should go here - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(this.CONFIG.apiVersion, API_VERSION_1_43)) { versionPidDefaults = [ 42, 85, 35, 23, 90, 46, 90, 38, 25, 95, diff --git a/src/js/main.js b/src/js/main.js index b47f3995..f59a8058 100644 --- a/src/js/main.js +++ b/src/js/main.js @@ -126,8 +126,8 @@ function closeSerial() { checksum = bufView[3] ^ bufView[4]; for (let i = 0; i < 16; i += 2) { - bufView[i + 5] = MOTOR_CONFIG.mincommand & 0x00FF; - bufView[i + 6] = MOTOR_CONFIG.mincommand >> 8; + bufView[i + 5] = FC.MOTOR_CONFIG.mincommand & 0x00FF; + bufView[i + 6] = FC.MOTOR_CONFIG.mincommand >> 8; checksum ^= bufView[i + 5]; checksum ^= bufView[i + 6]; @@ -483,8 +483,8 @@ function startProcess() { analyticsService.setDimension(analyticsService.DIMENSIONS.CONFIGURATOR_EXPERT_MODE, checked ? 'On' : 'Off'); }); - if (FEATURE_CONFIG && FEATURE_CONFIG.features !== 0) { - updateTabList(FEATURE_CONFIG.features); + if (FC.FEATURE_CONFIG && FC.FEATURE_CONFIG.features !== 0) { + updateTabList(FC.FEATURE_CONFIG.features); } }).change(); }); @@ -648,13 +648,13 @@ function updateTabList(features) { $('#tabs ul.mode-connected li.tab_osd').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { $('#tabs ul.mode-connected li.tab_power').show(); } else { $('#tabs ul.mode-connected li.tab_power').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { $('#tabs ul.mode-connected li.tab_vtx').show(); } else { $('#tabs ul.mode-connected li.tab_vtx').hide(); @@ -677,12 +677,12 @@ function generateFilename(prefix, suffix) { const date = new Date(); let filename = prefix; - if (CONFIG) { - if (CONFIG.flightControllerIdentifier) { - filename = `${CONFIG.flightControllerIdentifier}_${filename}`; + if (FC.CONFIG) { + if (FC.CONFIG.flightControllerIdentifier) { + filename = `${FC.CONFIG.flightControllerIdentifier}_${filename}`; } - if(CONFIG.name && CONFIG.name.trim() !== '') { - filename = `${filename}_${CONFIG.name.trim().replace(' ', '_')}`; + if(FC.CONFIG.name && FC.CONFIG.name.trim() !== '') { + filename = `${filename}_${FC.CONFIG.name.trim().replace(' ', '_')}`; } } diff --git a/src/js/model.js b/src/js/model.js index ce46927e..3193108e 100644 --- a/src/js/model.js +++ b/src/js/model.js @@ -47,7 +47,7 @@ var Model = function (wrapper, canvas) { this.renderer.setSize(this.wrapper.width() * 2, this.wrapper.height() * 2); // load the model including materials - var model_file = useWebGLRenderer ? mixerList[MIXER_CONFIG.mixer - 1].model : 'fallback'; + var model_file = useWebGLRenderer ? mixerList[FC.MIXER_CONFIG.mixer - 1].model : 'fallback'; // Temporary workaround for 'custom' model until akfreak's custom model is merged. if (model_file == 'custom') { model_file = 'fallback'; } diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js index a2a90f77..b26846a3 100644 --- a/src/js/msp/MSPHelper.js +++ b/src/js/msp/MSPHelper.js @@ -47,7 +47,7 @@ function MspHelper () { MspHelper.prototype.reorderPwmProtocols = function (protocol) { var result = protocol; - if (semver.lt(CONFIG.apiVersion, "1.26.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.26.0")) { switch (protocol) { case 5: result = 7; @@ -74,30 +74,30 @@ MspHelper.prototype.process_data = function(dataHandler) { if (!crcError) { if (!dataHandler.unsupported) switch (code) { case MSPCodes.MSP_STATUS: - CONFIG.cycleTime = data.readU16(); - CONFIG.i2cError = data.readU16(); - CONFIG.activeSensors = data.readU16(); - CONFIG.mode = data.readU32(); - CONFIG.profile = data.readU8(); + FC.CONFIG.cycleTime = data.readU16(); + FC.CONFIG.i2cError = data.readU16(); + FC.CONFIG.activeSensors = data.readU16(); + FC.CONFIG.mode = data.readU32(); + FC.CONFIG.profile = data.readU8(); TABS.pid_tuning.checkUpdateProfile(false); - sensor_status(CONFIG.activeSensors); - $('span.i2c-error').text(CONFIG.i2cError); - $('span.cycle-time').text(CONFIG.cycleTime); + sensor_status(FC.CONFIG.activeSensors); + $('span.i2c-error').text(FC.CONFIG.i2cError); + $('span.cycle-time').text(FC.CONFIG.cycleTime); break; case MSPCodes.MSP_STATUS_EX: - CONFIG.cycleTime = data.readU16(); - CONFIG.i2cError = data.readU16(); - CONFIG.activeSensors = data.readU16(); - CONFIG.mode = data.readU32(); - CONFIG.profile = data.readU8(); - CONFIG.cpuload = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - CONFIG.numProfiles = data.readU8(); - CONFIG.rateProfile = data.readU8(); + FC.CONFIG.cycleTime = data.readU16(); + FC.CONFIG.i2cError = data.readU16(); + FC.CONFIG.activeSensors = data.readU16(); + FC.CONFIG.mode = data.readU32(); + FC.CONFIG.profile = data.readU8(); + FC.CONFIG.cpuload = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + FC.CONFIG.numProfiles = data.readU8(); + FC.CONFIG.rateProfile = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { // Read flight mode flags var byteCount = data.readU8(); for (let i = 0; i < byteCount; i++) { @@ -105,114 +105,114 @@ MspHelper.prototype.process_data = function(dataHandler) { } // Read arming disable flags - CONFIG.armingDisableCount = data.readU8(); // Flag count - CONFIG.armingDisableFlags = data.readU32(); + FC.CONFIG.armingDisableCount = data.readU8(); // Flag count + FC.CONFIG.armingDisableFlags = data.readU32(); } TABS.pid_tuning.checkUpdateProfile(true); } - sensor_status(CONFIG.activeSensors); - $('span.i2c-error').text(CONFIG.i2cError); - $('span.cycle-time').text(CONFIG.cycleTime); - $('span.cpu-load').text(i18n.getMessage('statusbar_cpu_load', [CONFIG.cpuload])); + sensor_status(FC.CONFIG.activeSensors); + $('span.i2c-error').text(FC.CONFIG.i2cError); + $('span.cycle-time').text(FC.CONFIG.cycleTime); + $('span.cpu-load').text(i18n.getMessage('statusbar_cpu_load', [FC.CONFIG.cpuload])); break; case MSPCodes.MSP_RAW_IMU: // 512 for mpu6050, 256 for mma // currently we are unable to differentiate between the sensor types, so we are goign with 512 - SENSOR_DATA.accelerometer[0] = data.read16() / 512; - SENSOR_DATA.accelerometer[1] = data.read16() / 512; - SENSOR_DATA.accelerometer[2] = data.read16() / 512; + FC.SENSOR_DATA.accelerometer[0] = data.read16() / 512; + FC.SENSOR_DATA.accelerometer[1] = data.read16() / 512; + FC.SENSOR_DATA.accelerometer[2] = data.read16() / 512; // properly scaled - SENSOR_DATA.gyroscope[0] = data.read16() * (4 / 16.4); - SENSOR_DATA.gyroscope[1] = data.read16() * (4 / 16.4); - SENSOR_DATA.gyroscope[2] = data.read16() * (4 / 16.4); + FC.SENSOR_DATA.gyroscope[0] = data.read16() * (4 / 16.4); + FC.SENSOR_DATA.gyroscope[1] = data.read16() * (4 / 16.4); + FC.SENSOR_DATA.gyroscope[2] = data.read16() * (4 / 16.4); // no clue about scaling factor - SENSOR_DATA.magnetometer[0] = data.read16() / 1090; - SENSOR_DATA.magnetometer[1] = data.read16() / 1090; - SENSOR_DATA.magnetometer[2] = data.read16() / 1090; + FC.SENSOR_DATA.magnetometer[0] = data.read16() / 1090; + FC.SENSOR_DATA.magnetometer[1] = data.read16() / 1090; + FC.SENSOR_DATA.magnetometer[2] = data.read16() / 1090; break; case MSPCodes.MSP_SERVO: var servoCount = data.byteLength / 2; for (let i = 0; i < servoCount; i++) { - SERVO_DATA[i] = data.readU16(); + FC.SERVO_DATA[i] = data.readU16(); } break; case MSPCodes.MSP_MOTOR: var motorCount = data.byteLength / 2; for (let i = 0; i < motorCount; i++) { - MOTOR_DATA[i] = data.readU16(); + FC.MOTOR_DATA[i] = data.readU16(); } break; case MSPCodes.MSP_MOTOR_TELEMETRY: var telemMotorCount = data.readU8(); for (let i = 0; i < telemMotorCount; i++) { - MOTOR_TELEMETRY_DATA.rpm[i] = data.readU32(); // RPM - MOTOR_TELEMETRY_DATA.invalidPercent[i] = data.readU16(); // 10000 = 100.00% - MOTOR_TELEMETRY_DATA.temperature[i] = data.readU8(); // degrees celsius - MOTOR_TELEMETRY_DATA.voltage[i] = data.readU16(); // 0.01V per unit - MOTOR_TELEMETRY_DATA.current[i] = data.readU16(); // 0.01A per unit - MOTOR_TELEMETRY_DATA.consumption[i] = data.readU16(); // mAh + FC.MOTOR_TELEMETRY_DATA.rpm[i] = data.readU32(); // RPM + FC.MOTOR_TELEMETRY_DATA.invalidPercent[i] = data.readU16(); // 10000 = 100.00% + FC.MOTOR_TELEMETRY_DATA.temperature[i] = data.readU8(); // degrees celsius + FC.MOTOR_TELEMETRY_DATA.voltage[i] = data.readU16(); // 0.01V per unit + FC.MOTOR_TELEMETRY_DATA.current[i] = data.readU16(); // 0.01A per unit + FC.MOTOR_TELEMETRY_DATA.consumption[i] = data.readU16(); // mAh } break; case MSPCodes.MSP_RC: - RC.active_channels = data.byteLength / 2; - for (let i = 0; i < RC.active_channels; i++) { - RC.channels[i] = data.readU16(); + FC.RC.active_channels = data.byteLength / 2; + for (let i = 0; i < FC.RC.active_channels; i++) { + FC.RC.channels[i] = data.readU16(); } break; case MSPCodes.MSP_RAW_GPS: - GPS_DATA.fix = data.readU8(); - GPS_DATA.numSat = data.readU8(); - GPS_DATA.lat = data.read32(); - GPS_DATA.lon = data.read32(); - GPS_DATA.alt = data.readU16(); - GPS_DATA.speed = data.readU16(); - GPS_DATA.ground_course = data.readU16(); + FC.GPS_DATA.fix = data.readU8(); + FC.GPS_DATA.numSat = data.readU8(); + FC.GPS_DATA.lat = data.read32(); + FC.GPS_DATA.lon = data.read32(); + FC.GPS_DATA.alt = data.readU16(); + FC.GPS_DATA.speed = data.readU16(); + FC.GPS_DATA.ground_course = data.readU16(); break; case MSPCodes.MSP_COMP_GPS: - GPS_DATA.distanceToHome = data.readU16(); - GPS_DATA.directionToHome = data.readU16(); - GPS_DATA.update = data.readU8(); + FC.GPS_DATA.distanceToHome = data.readU16(); + FC.GPS_DATA.directionToHome = data.readU16(); + FC.GPS_DATA.update = data.readU8(); break; case MSPCodes.MSP_ATTITUDE: - SENSOR_DATA.kinematics[0] = data.read16() / 10.0; // x - SENSOR_DATA.kinematics[1] = data.read16() / 10.0; // y - SENSOR_DATA.kinematics[2] = data.read16(); // z + FC.SENSOR_DATA.kinematics[0] = data.read16() / 10.0; // x + FC.SENSOR_DATA.kinematics[1] = data.read16() / 10.0; // y + FC.SENSOR_DATA.kinematics[2] = data.read16(); // z break; case MSPCodes.MSP_ALTITUDE: - SENSOR_DATA.altitude = parseFloat((data.read32() / 100.0).toFixed(2)); // correct scale factor + FC.SENSOR_DATA.altitude = parseFloat((data.read32() / 100.0).toFixed(2)); // correct scale factor break; case MSPCodes.MSP_SONAR: - SENSOR_DATA.sonar = data.read32(); + FC.SENSOR_DATA.sonar = data.read32(); break; case MSPCodes.MSP_ANALOG: - ANALOG.voltage = data.readU8() / 10.0; - ANALOG.mAhdrawn = data.readU16(); - ANALOG.rssi = data.readU16(); // 0-1023 - ANALOG.amperage = data.read16() / 100; // A - ANALOG.last_received_timestamp = Date.now(); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - ANALOG.voltage = data.readU16() / 100; + FC.ANALOG.voltage = data.readU8() / 10.0; + FC.ANALOG.mAhdrawn = data.readU16(); + FC.ANALOG.rssi = data.readU16(); // 0-1023 + FC.ANALOG.amperage = data.read16() / 100; // A + FC.ANALOG.last_received_timestamp = Date.now(); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.ANALOG.voltage = data.readU16() / 100; } break; case MSPCodes.MSP_VOLTAGE_METERS: - VOLTAGE_METERS = []; + FC.VOLTAGE_METERS = []; var voltageMeterLength = 2; for (let i = 0; i < (data.byteLength / voltageMeterLength); i++) { var voltageMeter = {}; voltageMeter.id = data.readU8(); voltageMeter.voltage = data.readU8() / 10.0; - VOLTAGE_METERS.push(voltageMeter) + FC.VOLTAGE_METERS.push(voltageMeter) } break; case MSPCodes.MSP_CURRENT_METERS: - CURRENT_METERS = []; + FC.CURRENT_METERS = []; var currentMeterLength = 5; for (let i = 0; i < (data.byteLength / currentMeterLength); i++) { var currentMeter = {}; @@ -220,33 +220,33 @@ MspHelper.prototype.process_data = function(dataHandler) { currentMeter.mAhDrawn = data.readU16(); // mAh currentMeter.amperage = data.readU16() / 1000; // A - CURRENT_METERS.push(currentMeter); + FC.CURRENT_METERS.push(currentMeter); } break; case MSPCodes.MSP_BATTERY_STATE: - BATTERY_STATE.cellCount = data.readU8(); - BATTERY_STATE.capacity = data.readU16(); // mAh + FC.BATTERY_STATE.cellCount = data.readU8(); + FC.BATTERY_STATE.capacity = data.readU16(); // mAh - BATTERY_STATE.voltage = data.readU8() / 10.0; // V - BATTERY_STATE.mAhDrawn = data.readU16(); // mAh - BATTERY_STATE.amperage = data.readU16() / 100; // A - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - BATTERY_STATE.batteryState = data.readU8(); - BATTERY_STATE.voltage = data.readU16() / 100; + FC.BATTERY_STATE.voltage = data.readU8() / 10.0; // V + FC.BATTERY_STATE.mAhDrawn = data.readU16(); // mAh + FC.BATTERY_STATE.amperage = data.readU16() / 100; // A + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.BATTERY_STATE.batteryState = data.readU8(); + FC.BATTERY_STATE.voltage = data.readU16() / 100; } break; case MSPCodes.MSP_VOLTAGE_METER_CONFIG: - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { - MISC.vbatscale = data.readU8(); // 10-200 - MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50 - MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 - MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 - if (semver.gte(CONFIG.apiVersion, "1.23.0")) { - MISC.batterymetertype = data.readU8(); + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { + FC.MISC.vbatscale = data.readU8(); // 10-200 + FC.MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50 + FC.MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 + FC.MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 + if (semver.gte(FC.CONFIG.apiVersion, "1.23.0")) { + FC.MISC.batterymetertype = data.readU8(); } } else { - VOLTAGE_METER_CONFIGS = []; + FC.VOLTAGE_METER_CONFIGS = []; var voltage_meter_count = data.readU8(); for (let i = 0; i < voltage_meter_count; i++) { @@ -263,20 +263,20 @@ MspHelper.prototype.process_data = function(dataHandler) { voltageMeterConfig.vbatresdivval = data.readU8(); voltageMeterConfig.vbatresdivmultiplier = data.readU8(); - VOLTAGE_METER_CONFIGS.push(voltageMeterConfig); + FC.VOLTAGE_METER_CONFIGS.push(voltageMeterConfig); } } } break; case MSPCodes.MSP_CURRENT_METER_CONFIG: - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { - BF_CONFIG.currentscale = data.read16(); - BF_CONFIG.currentoffset = data.read16(); - BF_CONFIG.currentmetertype = data.readU8(); - BF_CONFIG.batterycapacity = data.readU16(); + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { + FC.BF_CONFIG.currentscale = data.read16(); + FC.BF_CONFIG.currentoffset = data.read16(); + FC.BF_CONFIG.currentmetertype = data.readU8(); + FC.BF_CONFIG.batterycapacity = data.readU16(); } else { var offset = 0; - CURRENT_METER_CONFIGS = []; + FC.CURRENT_METER_CONFIGS = []; var current_meter_count = data.readU8(); for (let i = 0; i < current_meter_count; i++) { var currentMeterConfig = {}; @@ -292,74 +292,74 @@ MspHelper.prototype.process_data = function(dataHandler) { currentMeterConfig.scale = data.read16(); currentMeterConfig.offset = data.read16(); - CURRENT_METER_CONFIGS.push(currentMeterConfig); + FC.CURRENT_METER_CONFIGS.push(currentMeterConfig); } } } break; case MSPCodes.MSP_BATTERY_CONFIG: - BATTERY_CONFIG.vbatmincellvoltage = data.readU8() / 10; // 10-50 - BATTERY_CONFIG.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 - BATTERY_CONFIG.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 - BATTERY_CONFIG.capacity = data.readU16(); - BATTERY_CONFIG.voltageMeterSource = data.readU8(); - BATTERY_CONFIG.currentMeterSource = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - BATTERY_CONFIG.vbatmincellvoltage = data.readU16() / 100; - BATTERY_CONFIG.vbatmaxcellvoltage = data.readU16() / 100; - BATTERY_CONFIG.vbatwarningcellvoltage = data.readU16() / 100; + FC.BATTERY_CONFIG.vbatmincellvoltage = data.readU8() / 10; // 10-50 + FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 + FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 + FC.BATTERY_CONFIG.capacity = data.readU16(); + FC.BATTERY_CONFIG.voltageMeterSource = data.readU8(); + FC.BATTERY_CONFIG.currentMeterSource = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.BATTERY_CONFIG.vbatmincellvoltage = data.readU16() / 100; + FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.readU16() / 100; + FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.readU16() / 100; } break; case MSPCodes.MSP_RC_TUNING: - RC_tuning.RC_RATE = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.RC_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); - if (semver.lt(CONFIG.apiVersion, "1.7.0")) { - RC_tuning.roll_pitch_rate = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.pitch_rate = 0; - RC_tuning.roll_rate = 0; + FC.RC_TUNING.RC_RATE = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.RC_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); + if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) { + FC.RC_TUNING.roll_pitch_rate = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.pitch_rate = 0; + FC.RC_TUNING.roll_rate = 0; } else { - RC_tuning.roll_pitch_rate = 0; - RC_tuning.roll_rate = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.roll_pitch_rate = 0; + FC.RC_TUNING.roll_rate = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2)); } - RC_tuning.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); - if (semver.gte(CONFIG.apiVersion, "1.7.0")) { - RC_tuning.dynamic_THR_breakpoint = data.readU16(); + FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); + if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) { + FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16(); } else { - RC_tuning.dynamic_THR_breakpoint = 0; + FC.RC_TUNING.dynamic_THR_breakpoint = 0; } - if (semver.gte(CONFIG.apiVersion, "1.10.0")) { - RC_tuning.RC_YAW_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - RC_tuning.rcYawRate = parseFloat((data.readU8() / 100).toFixed(2)); + if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) { + FC.RC_TUNING.RC_YAW_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + FC.RC_TUNING.rcYawRate = parseFloat((data.readU8() / 100).toFixed(2)); } else { - RC_tuning.rcYawRate = 0; + FC.RC_TUNING.rcYawRate = 0; } } else { - RC_tuning.RC_YAW_EXPO = 0; + FC.RC_TUNING.RC_YAW_EXPO = 0; } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - RC_tuning.rcPitchRate = parseFloat((data.readU8() / 100).toFixed(2)); - RC_tuning.RC_PITCH_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + FC.RC_TUNING.rcPitchRate = parseFloat((data.readU8() / 100).toFixed(2)); + FC.RC_TUNING.RC_PITCH_EXPO = parseFloat((data.readU8() / 100).toFixed(2)); } else { - RC_tuning.rcPitchRate = 0; - RC_tuning.RC_PITCH_EXPO = 0; + FC.RC_TUNING.rcPitchRate = 0; + FC.RC_TUNING.RC_PITCH_EXPO = 0; } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - RC_tuning.throttleLimitType = data.readU8(); - RC_tuning.throttleLimitPercent = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.RC_TUNING.throttleLimitType = data.readU8(); + FC.RC_TUNING.throttleLimitPercent = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - RC_tuning.roll_rate_limit = data.readU16(); - RC_tuning.pitch_rate_limit = data.readU16(); - RC_tuning.yaw_rate_limit = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.RC_TUNING.roll_rate_limit = data.readU16(); + FC.RC_TUNING.pitch_rate_limit = data.readU16(); + FC.RC_TUNING.yaw_rate_limit = data.readU16(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - RC_tuning.rates_type = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.RC_TUNING.rates_type = data.readU8(); } break; case MSPCodes.MSP_PID: @@ -367,104 +367,104 @@ MspHelper.prototype.process_data = function(dataHandler) { for (let i = 0, needle = 0; i < (data.byteLength / 3); i++, needle += 3) { // main for loop selecting the pid section for (var j = 0; j < 3; j++) { - PIDS_ACTIVE[i][j] = data.readU8(); - PIDs[i][j] = PIDS_ACTIVE[i][j]; + FC.PIDS_ACTIVE[i][j] = data.readU8(); + FC.PIDS[i][j] = FC.PIDS_ACTIVE[i][j]; } } break; case MSPCodes.MSP_ARMING_CONFIG: - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { - ARMING_CONFIG.auto_disarm_delay = data.readU8(); - ARMING_CONFIG.disarm_kill_switch = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { + FC.ARMING_CONFIG.auto_disarm_delay = data.readU8(); + FC.ARMING_CONFIG.disarm_kill_switch = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - ARMING_CONFIG.small_angle = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + FC.ARMING_CONFIG.small_angle = data.readU8(); } break; case MSPCodes.MSP_LOOP_TIME: - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { - FC_CONFIG.loopTime = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { + FC.FC_CONFIG.loopTime = data.readU16(); } break; case MSPCodes.MSP_MISC: // 22 bytes - RX_CONFIG.midrc = data.readU16(); - MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000 - MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000 - MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000 - MISC.failsafe_throttle = data.readU16(); // 1000-2000 - GPS_CONFIG.provider = data.readU8(); - MISC.gps_baudrate = data.readU8(); - GPS_CONFIG.ublox_sbas = data.readU8(); - MISC.multiwiicurrentoutput = data.readU8(); - RSSI_CONFIG.channel = data.readU8(); - MISC.placeholder2 = data.readU8(); + FC.RX_CONFIG.midrc = data.readU16(); + FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000 + FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000 + FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000 + FC.MISC.failsafe_throttle = data.readU16(); // 1000-2000 + FC.GPS_CONFIG.provider = data.readU8(); + FC.MISC.gps_baudrate = data.readU8(); + FC.GPS_CONFIG.ublox_sbas = data.readU8(); + FC.MISC.multiwiicurrentoutput = data.readU8(); + FC.RSSI_CONFIG.channel = data.readU8(); + FC.MISC.placeholder2 = data.readU8(); data.read16(); // was mag_declination - MISC.vbatscale = data.readU8(); // was MISC.vbatscale - 10-200 - MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50 - MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 - MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 + FC.MISC.vbatscale = data.readU8(); // was FC.MISC.vbatscale - 10-200 + FC.MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50 + FC.MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50 + FC.MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50 break; case MSPCodes.MSP_MOTOR_CONFIG: - MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000 - MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000 - MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000 - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - MOTOR_CONFIG.motor_count = data.readU8(); - MOTOR_CONFIG.motor_poles = data.readU8(); - MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0; - MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0; + FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000 + FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000 + FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000 + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.MOTOR_CONFIG.motor_count = data.readU8(); + FC.MOTOR_CONFIG.motor_poles = data.readU8(); + FC.MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0; + FC.MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0; } break; case MSPCodes.MSP_GPS_CONFIG: - GPS_CONFIG.provider = data.readU8(); - GPS_CONFIG.ublox_sbas = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.34.0")) { - GPS_CONFIG.auto_config = data.readU8(); - GPS_CONFIG.auto_baud = data.readU8(); + FC.GPS_CONFIG.provider = data.readU8(); + FC.GPS_CONFIG.ublox_sbas = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) { + FC.GPS_CONFIG.auto_config = data.readU8(); + FC.GPS_CONFIG.auto_baud = data.readU8(); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - GPS_CONFIG.home_point_once = data.readU8(); - GPS_CONFIG.ublox_use_galileo = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.GPS_CONFIG.home_point_once = data.readU8(); + FC.GPS_CONFIG.ublox_use_galileo = data.readU8(); } } break; case MSPCodes.MSP_GPS_RESCUE: - GPS_RESCUE.angle = data.readU16(); - GPS_RESCUE.initialAltitudeM = data.readU16(); - GPS_RESCUE.descentDistanceM = data.readU16(); - GPS_RESCUE.rescueGroundspeed = data.readU16(); - GPS_RESCUE.throttleMin = data.readU16(); - GPS_RESCUE.throttleMax = data.readU16(); - GPS_RESCUE.throttleHover = data.readU16(); - GPS_RESCUE.sanityChecks = data.readU8(); - GPS_RESCUE.minSats = data.readU8(); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - GPS_RESCUE.ascendRate = data.readU16(); - GPS_RESCUE.descendRate = data.readU16(); - GPS_RESCUE.allowArmingWithoutFix = data.readU8(); - GPS_RESCUE.altitudeMode = data.readU8(); + FC.GPS_RESCUE.angle = data.readU16(); + FC.GPS_RESCUE.initialAltitudeM = data.readU16(); + FC.GPS_RESCUE.descentDistanceM = data.readU16(); + FC.GPS_RESCUE.rescueGroundspeed = data.readU16(); + FC.GPS_RESCUE.throttleMin = data.readU16(); + FC.GPS_RESCUE.throttleMax = data.readU16(); + FC.GPS_RESCUE.throttleHover = data.readU16(); + FC.GPS_RESCUE.sanityChecks = data.readU8(); + FC.GPS_RESCUE.minSats = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.GPS_RESCUE.ascendRate = data.readU16(); + FC.GPS_RESCUE.descendRate = data.readU16(); + FC.GPS_RESCUE.allowArmingWithoutFix = data.readU8(); + FC.GPS_RESCUE.altitudeMode = data.readU8(); } break; case MSPCodes.MSP_RSSI_CONFIG: - RSSI_CONFIG.channel = data.readU8(); + FC.RSSI_CONFIG.channel = data.readU8(); break; case MSPCodes.MSP_MOTOR_3D_CONFIG: - MOTOR_3D_CONFIG.deadband3d_low = data.readU16(); - MOTOR_3D_CONFIG.deadband3d_high = data.readU16(); - MOTOR_3D_CONFIG.neutral = data.readU16(); - if (semver.lt(CONFIG.apiVersion, "1.17.0")) { - RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16(); + FC.MOTOR_3D_CONFIG.deadband3d_low = data.readU16(); + FC.MOTOR_3D_CONFIG.deadband3d_high = data.readU16(); + FC.MOTOR_3D_CONFIG.neutral = data.readU16(); + if (semver.lt(FC.CONFIG.apiVersion, "1.17.0")) { + FC.RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16(); } break; case MSPCodes.MSP_BOXNAMES: - AUX_CONFIG = []; // empty the array as new data is coming in + FC.AUX_CONFIG = []; // empty the array as new data is coming in var buff = []; for (let i = 0; i < data.byteLength; i++) { var char = data.readU8(); if (char == 0x3B) { // ; (delimeter char) - AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings + FC.AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings // empty buffer buff = []; @@ -474,13 +474,13 @@ MspHelper.prototype.process_data = function(dataHandler) { } break; case MSPCodes.MSP_PIDNAMES: - PID_names = []; // empty the array as new data is coming in + FC.PID_NAMES = []; // empty the array as new data is coming in var buff = []; for (let i = 0; i < data.byteLength; i++) { var char = data.readU8(); if (char == 0x3B) { // ; (delimeter char) - PID_names.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings + FC.PID_NAMES.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings // empty buffer buff = []; @@ -490,18 +490,18 @@ MspHelper.prototype.process_data = function(dataHandler) { } break; case MSPCodes.MSP_BOXIDS: - AUX_CONFIG_IDS = []; // empty the array as new data is coming in + FC.AUX_CONFIG_IDS = []; // empty the array as new data is coming in for (let i = 0; i < data.byteLength; i++) { - AUX_CONFIG_IDS.push(data.readU8()); + FC.AUX_CONFIG_IDS.push(data.readU8()); } break; case MSPCodes.MSP_SERVO_MIX_RULES: break; case MSPCodes.MSP_SERVO_CONFIGURATIONS: - SERVO_CONFIG = []; // empty the array as new data is coming in - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + FC.SERVO_CONFIG = []; // empty the array as new data is coming in + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { if (data.byteLength % 12 == 0) { for (let i = 0; i < data.byteLength; i += 12) { var arr = { @@ -513,10 +513,10 @@ MspHelper.prototype.process_data = function(dataHandler) { 'reversedInputSources': data.readU32() }; - SERVO_CONFIG.push(arr); + FC.SERVO_CONFIG.push(arr); } } - } else if (semver.gte(CONFIG.apiVersion, "1.12.0")) { + } else if (semver.gte(FC.CONFIG.apiVersion, "1.12.0")) { if (data.byteLength % 14 == 0) { for (let i = 0; i < data.byteLength; i += 14) { var arr = { @@ -530,7 +530,7 @@ MspHelper.prototype.process_data = function(dataHandler) { 'reversedInputSources': data.readU32() }; - SERVO_CONFIG.push(arr); + FC.SERVO_CONFIG.push(arr); } } } else { @@ -547,37 +547,37 @@ MspHelper.prototype.process_data = function(dataHandler) { 'reversedInputSources': 0 }; - SERVO_CONFIG.push(arr); + FC.SERVO_CONFIG.push(arr); } } - if (semver.eq(CONFIG.apiVersion, '1.10.0')) { + if (semver.eq(FC.CONFIG.apiVersion, '1.10.0')) { // drop two unused servo configurations due to MSP rx buffer to small) - while (SERVO_CONFIG.length > 8) { - SERVO_CONFIG.pop(); + while (FC.SERVO_CONFIG.length > 8) { + FC.SERVO_CONFIG.pop(); } } } break; case MSPCodes.MSP_RC_DEADBAND: - RC_DEADBAND_CONFIG.deadband = data.readU8(); - RC_DEADBAND_CONFIG.yaw_deadband = data.readU8(); - RC_DEADBAND_CONFIG.alt_hold_deadband = data.readU8(); + FC.RC_DEADBAND_CONFIG.deadband = data.readU8(); + FC.RC_DEADBAND_CONFIG.yaw_deadband = data.readU8(); + FC.RC_DEADBAND_CONFIG.alt_hold_deadband = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.17.0")) { - RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.17.0")) { + FC.RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16(); } break; case MSPCodes.MSP_SENSOR_ALIGNMENT: - SENSOR_ALIGNMENT.align_gyro = data.readU8(); - SENSOR_ALIGNMENT.align_acc = data.readU8(); - SENSOR_ALIGNMENT.align_mag = data.readU8(); + FC.SENSOR_ALIGNMENT.align_gyro = data.readU8(); + FC.SENSOR_ALIGNMENT.align_acc = data.readU8(); + FC.SENSOR_ALIGNMENT.align_mag = data.readU8(); - if (semver.gte(CONFIG.apiVersion, '1.41.0')) { - SENSOR_ALIGNMENT.gyro_detection_flags = data.readU8(); - SENSOR_ALIGNMENT.gyro_to_use = data.readU8(); - SENSOR_ALIGNMENT.gyro_1_align = data.readU8(); - SENSOR_ALIGNMENT.gyro_2_align = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, '1.41.0')) { + FC.SENSOR_ALIGNMENT.gyro_detection_flags = data.readU8(); + FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8(); + FC.SENSOR_ALIGNMENT.gyro_1_align = data.readU8(); + FC.SENSOR_ALIGNMENT.gyro_2_align = data.readU8(); } break; case MSPCodes.MSP_DISPLAYPORT: @@ -586,7 +586,7 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_SET_PID: console.log('PID settings saved'); - PIDS_ACTIVE = PIDs.map(array => array.slice()); + FC.PIDS_ACTIVE = FC.PIDS.map(array => array.slice()); break; case MSPCodes.MSP_SET_RC_TUNING: console.log('RC Tuning saved'); @@ -631,19 +631,19 @@ MspHelper.prototype.process_data = function(dataHandler) { console.log('Voltage config saved'); case MSPCodes.MSP_DEBUG: for (let i = 0; i < 4; i++) - SENSOR_DATA.debug[i] = data.read16(); + FC.SENSOR_DATA.debug[i] = data.read16(); break; case MSPCodes.MSP_SET_MOTOR: console.log('Motor Speeds Updated'); break; case MSPCodes.MSP_UID: - CONFIG.uid[0] = data.readU32(); - CONFIG.uid[1] = data.readU32(); - CONFIG.uid[2] = data.readU32(); + FC.CONFIG.uid[0] = data.readU32(); + FC.CONFIG.uid[1] = data.readU32(); + FC.CONFIG.uid[2] = data.readU32(); break; case MSPCodes.MSP_ACC_TRIM: - CONFIG.accelerometerTrims[0] = data.read16(); // pitch - CONFIG.accelerometerTrims[1] = data.read16(); // roll + FC.CONFIG.accelerometerTrims[0] = data.read16(); // pitch + FC.CONFIG.accelerometerTrims[1] = data.read16(); // roll break; case MSPCodes.MSP_SET_ACC_TRIM: console.log('Accelerometer trimms saved.'); @@ -653,19 +653,19 @@ MspHelper.prototype.process_data = function(dataHandler) { var numCh = data.readU8(); for (let i = 0; i < numCh; i++) { - GPS_DATA.chn[i] = data.readU8(); - GPS_DATA.svid[i] = data.readU8(); - GPS_DATA.quality[i] = data.readU8(); - GPS_DATA.cno[i] = data.readU8(); + FC.GPS_DATA.chn[i] = data.readU8(); + FC.GPS_DATA.svid[i] = data.readU8(); + FC.GPS_DATA.quality[i] = data.readU8(); + FC.GPS_DATA.cno[i] = data.readU8(); } } break; case MSPCodes.MSP_RX_MAP: - RC_MAP = []; // empty the array as new data is coming in + FC.RC_MAP = []; // empty the array as new data is coming in for (let i = 0; i < data.byteLength; i++) { - RC_MAP.push(data.readU8()); + FC.RC_MAP.push(data.readU8()); } break; case MSPCodes.MSP_SET_RX_MAP: @@ -673,36 +673,36 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_MIXER_CONFIG: - MIXER_CONFIG.mixer = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - MIXER_CONFIG.reverseMotorDir = data.readU8(); + FC.MIXER_CONFIG.mixer = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.MIXER_CONFIG.reverseMotorDir = data.readU8(); } break; case MSPCodes.MSP_FEATURE_CONFIG: - FEATURE_CONFIG.features.setMask(data.readU32()); + FC.FEATURE_CONFIG.features.setMask(data.readU32()); - updateTabList(FEATURE_CONFIG.features); + updateTabList(FC.FEATURE_CONFIG.features); break; case MSPCodes.MSP_BEEPER_CONFIG: - BEEPER_CONFIG.beepers.setMask(data.readU32()); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - BEEPER_CONFIG.dshotBeaconTone = data.readU8(); + FC.BEEPER_CONFIG.beepers.setMask(data.readU32()); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + FC.BEEPER_CONFIG.dshotBeaconTone = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - BEEPER_CONFIG.dshotBeaconConditions.setMask(data.readU32()); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + FC.BEEPER_CONFIG.dshotBeaconConditions.setMask(data.readU32()); } break; case MSPCodes.MSP_BOARD_ALIGNMENT_CONFIG: - BOARD_ALIGNMENT_CONFIG.roll = data.read16(); // -180 - 360 - BOARD_ALIGNMENT_CONFIG.pitch = data.read16(); // -180 - 360 - BOARD_ALIGNMENT_CONFIG.yaw = data.read16(); // -180 - 360 + FC.BOARD_ALIGNMENT_CONFIG.roll = data.read16(); // -180 - 360 + FC.BOARD_ALIGNMENT_CONFIG.pitch = data.read16(); // -180 - 360 + FC.BOARD_ALIGNMENT_CONFIG.yaw = data.read16(); // -180 - 360 break; case MSPCodes.MSP_SET_REBOOT: - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { var rebootType = data.read8(); if ((rebootType === self.REBOOT_TYPES.MSC) || (rebootType === self.REBOOT_TYPES.MSC_UTC)) { if (data.read8() === 0) { @@ -717,8 +717,8 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_API_VERSION: - CONFIG.mspProtocolVersion = data.readU8(); - CONFIG.apiVersion = data.readU8() + '.' + data.readU8() + '.0'; + FC.CONFIG.mspProtocolVersion = data.readU8(); + FC.CONFIG.apiVersion = data.readU8() + '.' + data.readU8() + '.0'; break; case MSPCodes.MSP_FC_VARIANT: @@ -726,11 +726,11 @@ MspHelper.prototype.process_data = function(dataHandler) { for (let i = 0; i < 4; i++) { identifier += String.fromCharCode(data.readU8()); } - CONFIG.flightControllerIdentifier = identifier; + FC.CONFIG.flightControllerIdentifier = identifier; break; case MSPCodes.MSP_FC_VERSION: - CONFIG.flightControllerVersion = data.readU8() + '.' + data.readU8() + '.' + data.readU8(); + FC.CONFIG.flightControllerVersion = data.readU8() + '.' + data.readU8() + '.' + data.readU8(); break; case MSPCodes.MSP_BUILD_INFO: @@ -745,7 +745,7 @@ MspHelper.prototype.process_data = function(dataHandler) { for (let i = 0; i < timeLength; i++) { buff.push(data.readU8()); } - CONFIG.buildInfo = String.fromCharCode.apply(null, buff); + FC.CONFIG.buildInfo = String.fromCharCode.apply(null, buff); break; case MSPCodes.MSP_BOARD_INFO: @@ -753,71 +753,71 @@ MspHelper.prototype.process_data = function(dataHandler) { for (let i = 0; i < 4; i++) { identifier += String.fromCharCode(data.readU8()); } - CONFIG.boardIdentifier = identifier; - CONFIG.boardVersion = data.readU16(); + FC.CONFIG.boardIdentifier = identifier; + FC.CONFIG.boardVersion = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.35.0")) { - CONFIG.boardType = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.35.0")) { + FC.CONFIG.boardType = data.readU8(); } else { - CONFIG.boardType = 0; + FC.CONFIG.boardType = 0; } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - CONFIG.targetCapabilities = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + FC.CONFIG.targetCapabilities = data.readU8(); let length = data.readU8(); for (let i = 0; i < length; i++) { - CONFIG.targetName += String.fromCharCode(data.readU8()); + FC.CONFIG.targetName += String.fromCharCode(data.readU8()); } } else { - CONFIG.targetCapabilities = 0; - CONFIG.targetName = ""; + FC.CONFIG.targetCapabilities = 0; + FC.CONFIG.targetName = ""; } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { let length = data.readU8(); for (let i = 0; i < length; i++) { - CONFIG.boardName += String.fromCharCode(data.readU8()); + FC.CONFIG.boardName += String.fromCharCode(data.readU8()); } length = data.readU8(); for (let i = 0; i < length; i++) { - CONFIG.manufacturerId += String.fromCharCode(data.readU8()); + FC.CONFIG.manufacturerId += String.fromCharCode(data.readU8()); } for (let i = 0; i < self.SIGNATURE_LENGTH; i++) { - CONFIG.signature.push(data.readU8()); + FC.CONFIG.signature.push(data.readU8()); } } else { - CONFIG.boardName = ""; - CONFIG.manufacturerId = ""; - CONFIG.signature = []; + FC.CONFIG.boardName = ""; + FC.CONFIG.manufacturerId = ""; + FC.CONFIG.signature = []; } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - CONFIG.mcuTypeId = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.CONFIG.mcuTypeId = data.readU8(); } else { - CONFIG.mcuTypeId = 255; + FC.CONFIG.mcuTypeId = 255; } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - CONFIG.configurationState = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.CONFIG.configurationState = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - CONFIG.sampleRateHz = data.readU16(); - CONFIG.configurationProblems = data.readU32(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.CONFIG.sampleRateHz = data.readU16(); + FC.CONFIG.configurationProblems = data.readU32(); } else { - CONFIG.configurationProblems = 0; + FC.CONFIG.configurationProblems = 0; } break; case MSPCodes.MSP_NAME: - CONFIG.name = ''; + FC.CONFIG.name = ''; var char; while ((char = data.readU8()) !== null) { - CONFIG.name += String.fromCharCode(char); + FC.CONFIG.name += String.fromCharCode(char); } break; @@ -826,20 +826,20 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_CF_SERIAL_CONFIG: - SERIAL_CONFIG.ports = []; - if (semver.lt(CONFIG.apiVersion, "1.6.0")) { + FC.SERIAL_CONFIG.ports = []; + if (semver.lt(FC.CONFIG.apiVersion, "1.6.0")) { const serialPortCount = (data.byteLength - (4 * 4)) / 2; for (let i = 0; i < serialPortCount; i++) { const serialPort = { identifier: data.readU8(), scenario: data.readU8() } - SERIAL_CONFIG.ports.push(serialPort); + FC.SERIAL_CONFIG.ports.push(serialPort); } - SERIAL_CONFIG.mspBaudRate = data.readU32(); - SERIAL_CONFIG.cliBaudRate = data.readU32(); - SERIAL_CONFIG.gpsBaudRate = data.readU32(); - SERIAL_CONFIG.gpsPassthroughBaudRate = data.readU32(); + FC.SERIAL_CONFIG.mspBaudRate = data.readU32(); + FC.SERIAL_CONFIG.cliBaudRate = data.readU32(); + FC.SERIAL_CONFIG.gpsBaudRate = data.readU32(); + FC.SERIAL_CONFIG.gpsPassthroughBaudRate = data.readU32(); } else { const bytesPerPort = 1 + 2 + (1 * 4); @@ -854,13 +854,13 @@ MspHelper.prototype.process_data = function(dataHandler) { blackbox_baudrate: self.BAUD_RATES[data.readU8()] } - SERIAL_CONFIG.ports.push(serialPort); + FC.SERIAL_CONFIG.ports.push(serialPort); } } break; case MSPCodes.MSP2_COMMON_SERIAL_CONFIG: - SERIAL_CONFIG.ports = []; + FC.SERIAL_CONFIG.ports = []; const count = data.readU8(); const portConfigSize = data.remaining() / count; for (let ii = 0; ii < count; ii++) { @@ -873,7 +873,7 @@ MspHelper.prototype.process_data = function(dataHandler) { telemetry_baudrate: self.BAUD_RATES[data.readU8()], blackbox_baudrate: self.BAUD_RATES[data.readU8()], }; - SERIAL_CONFIG.ports.push(serialPort); + FC.SERIAL_CONFIG.ports.push(serialPort); while(start - data.remaining() < portConfigSize && data.remaining() > 0) { data.readU8(); } @@ -889,7 +889,7 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_MODE_RANGES: - MODE_RANGES = []; // empty the array as new data is coming in + FC.MODE_RANGES = []; // empty the array as new data is coming in var modeRangeCount = data.byteLength / 4; // 4 bytes per item. @@ -902,12 +902,12 @@ MspHelper.prototype.process_data = function(dataHandler) { end: 900 + (data.readU8() * 25) } }; - MODE_RANGES.push(modeRange); + FC.MODE_RANGES.push(modeRange); } break; case MSPCodes.MSP_MODE_RANGES_EXTRA: - MODE_RANGES_EXTRA = []; // empty the array as new data is coming in + FC.MODE_RANGES_EXTRA = []; // empty the array as new data is coming in var modeRangeExtraCount = data.readU8(); @@ -917,12 +917,12 @@ MspHelper.prototype.process_data = function(dataHandler) { modeLogic: data.readU8(), linkedTo: data.readU8() }; - MODE_RANGES_EXTRA.push(modeRangeExtra); + FC.MODE_RANGES_EXTRA.push(modeRangeExtra); } break; case MSPCodes.MSP_ADJUSTMENT_RANGES: - ADJUSTMENT_RANGES = []; // empty the array as new data is coming in + FC.ADJUSTMENT_RANGES = []; // empty the array as new data is coming in var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item. @@ -937,67 +937,67 @@ MspHelper.prototype.process_data = function(dataHandler) { adjustmentFunction: data.readU8(), auxSwitchChannelIndex: data.readU8() }; - ADJUSTMENT_RANGES.push(adjustmentRange); + FC.ADJUSTMENT_RANGES.push(adjustmentRange); } break; case MSPCodes.MSP_RX_CONFIG: - RX_CONFIG.serialrx_provider = data.readU8(); - RX_CONFIG.stick_max = data.readU16(); - RX_CONFIG.stick_center = data.readU16(); - RX_CONFIG.stick_min = data.readU16(); - RX_CONFIG.spektrum_sat_bind = data.readU8(); - RX_CONFIG.rx_min_usec = data.readU16(); - RX_CONFIG.rx_max_usec = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - RX_CONFIG.rcInterpolation = data.readU8(); - RX_CONFIG.rcInterpolationInterval = data.readU8(); - RX_CONFIG.airModeActivateThreshold = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { - RX_CONFIG.rxSpiProtocol = data.readU8(); - RX_CONFIG.rxSpiId = data.readU32(); - RX_CONFIG.rxSpiRfChannelCount = data.readU8(); - RX_CONFIG.fpvCamAngleDegrees = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - RX_CONFIG.rcInterpolationChannels = data.readU8(); - RX_CONFIG.rcSmoothingType = data.readU8(); - RX_CONFIG.rcSmoothingInputCutoff = data.readU8(); - RX_CONFIG.rcSmoothingDerivativeCutoff = data.readU8(); - RX_CONFIG.rcSmoothingInputType = data.readU8(); - RX_CONFIG.rcSmoothingDerivativeType = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - RX_CONFIG.usbCdcHidType = data.readU8(); - RX_CONFIG.rcSmoothingAutoSmoothness = data.readU8(); + FC.RX_CONFIG.serialrx_provider = data.readU8(); + FC.RX_CONFIG.stick_max = data.readU16(); + FC.RX_CONFIG.stick_center = data.readU16(); + FC.RX_CONFIG.stick_min = data.readU16(); + FC.RX_CONFIG.spektrum_sat_bind = data.readU8(); + FC.RX_CONFIG.rx_min_usec = data.readU16(); + FC.RX_CONFIG.rx_max_usec = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + FC.RX_CONFIG.rcInterpolation = data.readU8(); + FC.RX_CONFIG.rcInterpolationInterval = data.readU8(); + FC.RX_CONFIG.airModeActivateThreshold = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { + FC.RX_CONFIG.rxSpiProtocol = data.readU8(); + FC.RX_CONFIG.rxSpiId = data.readU32(); + FC.RX_CONFIG.rxSpiRfChannelCount = data.readU8(); + FC.RX_CONFIG.fpvCamAngleDegrees = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + FC.RX_CONFIG.rcInterpolationChannels = data.readU8(); + FC.RX_CONFIG.rcSmoothingType = data.readU8(); + FC.RX_CONFIG.rcSmoothingInputCutoff = data.readU8(); + FC.RX_CONFIG.rcSmoothingDerivativeCutoff = data.readU8(); + FC.RX_CONFIG.rcSmoothingInputType = data.readU8(); + FC.RX_CONFIG.rcSmoothingDerivativeType = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.RX_CONFIG.usbCdcHidType = data.readU8(); + FC.RX_CONFIG.rcSmoothingAutoSmoothness = data.readU8(); } } } else { - RX_CONFIG.rxSpiProtocol = 0; - RX_CONFIG.rxSpiId = 0; - RX_CONFIG.rxSpiRfChannelCount = 0; - RX_CONFIG.fpvCamAngleDegrees = 0; + FC.RX_CONFIG.rxSpiProtocol = 0; + FC.RX_CONFIG.rxSpiId = 0; + FC.RX_CONFIG.rxSpiRfChannelCount = 0; + FC.RX_CONFIG.fpvCamAngleDegrees = 0; } } else { - RX_CONFIG.rcInterpolation = 0; - RX_CONFIG.rcInterpolationInterval = 0; - RX_CONFIG.airModeActivateThreshold = 0; + FC.RX_CONFIG.rcInterpolation = 0; + FC.RX_CONFIG.rcInterpolationInterval = 0; + FC.RX_CONFIG.airModeActivateThreshold = 0; } break; case MSPCodes.MSP_FAILSAFE_CONFIG: - FAILSAFE_CONFIG.failsafe_delay = data.readU8(); - FAILSAFE_CONFIG.failsafe_off_delay = data.readU8(); - FAILSAFE_CONFIG.failsafe_throttle = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { - FAILSAFE_CONFIG.failsafe_switch_mode = data.readU8(); - FAILSAFE_CONFIG.failsafe_throttle_low_delay = data.readU16(); - FAILSAFE_CONFIG.failsafe_procedure = data.readU8(); + FC.FAILSAFE_CONFIG.failsafe_delay = data.readU8(); + FC.FAILSAFE_CONFIG.failsafe_off_delay = data.readU8(); + FC.FAILSAFE_CONFIG.failsafe_throttle = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { + FC.FAILSAFE_CONFIG.failsafe_switch_mode = data.readU8(); + FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay = data.readU16(); + FC.FAILSAFE_CONFIG.failsafe_procedure = data.readU8(); } break; case MSPCodes.MSP_RXFAIL_CONFIG: - RXFAIL_CONFIG = []; // empty the array as new data is coming in + FC.RXFAIL_CONFIG = []; // empty the array as new data is coming in var channelCount = data.byteLength / 3; for (let i = 0; i < channelCount; i++) { @@ -1005,86 +1005,86 @@ MspHelper.prototype.process_data = function(dataHandler) { mode: data.readU8(), value: data.readU16() }; - RXFAIL_CONFIG.push(rxfailChannel); + FC.RXFAIL_CONFIG.push(rxfailChannel); } break; case MSPCodes.MSP_ADVANCED_CONFIG: - PID_ADVANCED_CONFIG.gyro_sync_denom = data.readU8(); - PID_ADVANCED_CONFIG.pid_process_denom = data.readU8(); - PID_ADVANCED_CONFIG.use_unsyncedPwm = data.readU8(); - PID_ADVANCED_CONFIG.fast_pwm_protocol = self.reorderPwmProtocols(data.readU8()); - PID_ADVANCED_CONFIG.motor_pwm_rate = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - PID_ADVANCED_CONFIG.digitalIdlePercent = data.readU16() / 100; + FC.PID_ADVANCED_CONFIG.gyro_sync_denom = data.readU8(); + FC.PID_ADVANCED_CONFIG.pid_process_denom = data.readU8(); + FC.PID_ADVANCED_CONFIG.use_unsyncedPwm = data.readU8(); + FC.PID_ADVANCED_CONFIG.fast_pwm_protocol = self.reorderPwmProtocols(data.readU8()); + FC.PID_ADVANCED_CONFIG.motor_pwm_rate = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + FC.PID_ADVANCED_CONFIG.digitalIdlePercent = data.readU16() / 100; - if (semver.gte(CONFIG.apiVersion, "1.25.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0")) { let gyroUse32kHz = data.readU8(); - if (semver.lt(CONFIG.apiVersion, "1.41.0")) { - PID_ADVANCED_CONFIG.gyroUse32kHz = gyroUse32kHz; + if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + FC.PID_ADVANCED_CONFIG.gyroUse32kHz = gyroUse32kHz; } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - PID_ADVANCED_CONFIG.motorPwmInversion = data.readU8(); - SENSOR_ALIGNMENT.gyro_to_use = data.readU8(); // We don't want to double up on storing this state - PID_ADVANCED_CONFIG.gyroHighFsr = data.readU8(); - PID_ADVANCED_CONFIG.gyroMovementCalibThreshold = data.readU8(); - PID_ADVANCED_CONFIG.gyroCalibDuration = data.readU16(); - PID_ADVANCED_CONFIG.gyroOffsetYaw = data.readU16(); - PID_ADVANCED_CONFIG.gyroCheckOverflow = data.readU8(); - PID_ADVANCED_CONFIG.debugMode = data.readU8(); - PID_ADVANCED_CONFIG.debugModeCount = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.PID_ADVANCED_CONFIG.motorPwmInversion = data.readU8(); + FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8(); // We don't want to double up on storing this state + FC.PID_ADVANCED_CONFIG.gyroHighFsr = data.readU8(); + FC.PID_ADVANCED_CONFIG.gyroMovementCalibThreshold = data.readU8(); + FC.PID_ADVANCED_CONFIG.gyroCalibDuration = data.readU16(); + FC.PID_ADVANCED_CONFIG.gyroOffsetYaw = data.readU16(); + FC.PID_ADVANCED_CONFIG.gyroCheckOverflow = data.readU8(); + FC.PID_ADVANCED_CONFIG.debugMode = data.readU8(); + FC.PID_ADVANCED_CONFIG.debugModeCount = data.readU8(); } } } break; case MSPCodes.MSP_FILTER_CONFIG: - FILTER_CONFIG.gyro_lowpass_hz = data.readU8(); - FILTER_CONFIG.dterm_lowpass_hz = data.readU16(); - FILTER_CONFIG.yaw_lowpass_hz = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - FILTER_CONFIG.gyro_notch_hz = data.readU16(); - FILTER_CONFIG.gyro_notch_cutoff = data.readU16(); - FILTER_CONFIG.dterm_notch_hz = data.readU16(); - FILTER_CONFIG.dterm_notch_cutoff = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { - FILTER_CONFIG.gyro_notch2_hz = data.readU16(); - FILTER_CONFIG.gyro_notch2_cutoff = data.readU16(); + FC.FILTER_CONFIG.gyro_lowpass_hz = data.readU8(); + FC.FILTER_CONFIG.dterm_lowpass_hz = data.readU16(); + FC.FILTER_CONFIG.yaw_lowpass_hz = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + FC.FILTER_CONFIG.gyro_notch_hz = data.readU16(); + FC.FILTER_CONFIG.gyro_notch_cutoff = data.readU16(); + FC.FILTER_CONFIG.dterm_notch_hz = data.readU16(); + FC.FILTER_CONFIG.dterm_notch_cutoff = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { + FC.FILTER_CONFIG.gyro_notch2_hz = data.readU16(); + FC.FILTER_CONFIG.gyro_notch2_cutoff = data.readU16(); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - FILTER_CONFIG.dterm_lowpass_type = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.FILTER_CONFIG.dterm_lowpass_type = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - FILTER_CONFIG.gyro_hardware_lpf = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + FC.FILTER_CONFIG.gyro_hardware_lpf = data.readU8(); let gyro_32khz_hardware_lpf = data.readU8(); - FILTER_CONFIG.gyro_lowpass_hz = data.readU16(); - FILTER_CONFIG.gyro_lowpass2_hz = data.readU16(); - FILTER_CONFIG.gyro_lowpass_type = data.readU8(); - FILTER_CONFIG.gyro_lowpass2_type = data.readU8(); - FILTER_CONFIG.dterm_lowpass2_hz = data.readU16(); - if (semver.lt(CONFIG.apiVersion, "1.41.0")) { - FILTER_CONFIG.gyro_32khz_hardware_lpf = gyro_32khz_hardware_lpf; + FC.FILTER_CONFIG.gyro_lowpass_hz = data.readU16(); + FC.FILTER_CONFIG.gyro_lowpass2_hz = data.readU16(); + FC.FILTER_CONFIG.gyro_lowpass_type = data.readU8(); + FC.FILTER_CONFIG.gyro_lowpass2_type = data.readU8(); + FC.FILTER_CONFIG.dterm_lowpass2_hz = data.readU16(); + if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + FC.FILTER_CONFIG.gyro_32khz_hardware_lpf = gyro_32khz_hardware_lpf; } else { - FILTER_CONFIG.gyro_32khz_hardware_lpf = 0; + FC.FILTER_CONFIG.gyro_32khz_hardware_lpf = 0; - FILTER_CONFIG.dterm_lowpass2_type = data.readU8(); - FILTER_CONFIG.gyro_lowpass_dyn_min_hz = data.readU16(); - FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16(); - FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16(); - FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - FILTER_CONFIG.dyn_notch_range = data.readU8(); - FILTER_CONFIG.dyn_notch_width_percent = data.readU8(); - FILTER_CONFIG.dyn_notch_q = data.readU16(); - FILTER_CONFIG.dyn_notch_min_hz = data.readU16(); + FC.FILTER_CONFIG.dterm_lowpass2_type = data.readU8(); + FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = data.readU16(); + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16(); + FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16(); + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.FILTER_CONFIG.dyn_notch_range = data.readU8(); + FC.FILTER_CONFIG.dyn_notch_width_percent = data.readU8(); + FC.FILTER_CONFIG.dyn_notch_q = data.readU16(); + FC.FILTER_CONFIG.dyn_notch_min_hz = data.readU16(); - FILTER_CONFIG.gyro_rpm_notch_harmonics = data.readU8(); - FILTER_CONFIG.gyro_rpm_notch_min_hz = data.readU8(); + FC.FILTER_CONFIG.gyro_rpm_notch_harmonics = data.readU8(); + FC.FILTER_CONFIG.gyro_rpm_notch_min_hz = data.readU8(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - FILTER_CONFIG.dyn_notch_max_hz = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.FILTER_CONFIG.dyn_notch_max_hz = data.readU16(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - FILTER_CONFIG.dyn_lpf_curve_expo = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + FC.FILTER_CONFIG.dyn_lpf_curve_expo = data.readU8(); } } } @@ -1092,72 +1092,72 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_SET_PID_ADVANCED: console.log("Advanced PID settings saved"); - ADVANCED_TUNING_ACTIVE = { ...ADVANCED_TUNING }; + FC.ADVANCED_TUNING_ACTIVE = { ...FC.ADVANCED_TUNING }; break; case MSPCodes.MSP_PID_ADVANCED: - ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16(); - ADVANCED_TUNING.yawItermIgnoreRate = data.readU16(); - ADVANCED_TUNING.yaw_p_limit = data.readU16(); - ADVANCED_TUNING.deltaMethod = data.readU8(); - ADVANCED_TUNING.vbatPidCompensation = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - ADVANCED_TUNING.feedforwardTransition = data.readU8(); + FC.ADVANCED_TUNING.rollPitchItermIgnoreRate = data.readU16(); + FC.ADVANCED_TUNING.yawItermIgnoreRate = data.readU16(); + FC.ADVANCED_TUNING.yaw_p_limit = data.readU16(); + FC.ADVANCED_TUNING.deltaMethod = data.readU8(); + FC.ADVANCED_TUNING.vbatPidCompensation = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + FC.ADVANCED_TUNING.feedforwardTransition = data.readU8(); } else { - ADVANCED_TUNING.dtermSetpointTransition = data.readU8(); + FC.ADVANCED_TUNING.dtermSetpointTransition = data.readU8(); } - ADVANCED_TUNING.dtermSetpointWeight = data.readU8(); - ADVANCED_TUNING.toleranceBand = data.readU8(); - ADVANCED_TUNING.toleranceBandReduction = data.readU8(); - ADVANCED_TUNING.itermThrottleGain = data.readU8(); - ADVANCED_TUNING.pidMaxVelocity = data.readU16(); - ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - ADVANCED_TUNING.levelAngleLimit = data.readU8(); - ADVANCED_TUNING.levelSensitivity = data.readU8(); + FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU8(); + FC.ADVANCED_TUNING.toleranceBand = data.readU8(); + FC.ADVANCED_TUNING.toleranceBandReduction = data.readU8(); + FC.ADVANCED_TUNING.itermThrottleGain = data.readU8(); + FC.ADVANCED_TUNING.pidMaxVelocity = data.readU16(); + FC.ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + FC.ADVANCED_TUNING.levelAngleLimit = data.readU8(); + FC.ADVANCED_TUNING.levelSensitivity = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - ADVANCED_TUNING.itermThrottleThreshold = data.readU16(); - ADVANCED_TUNING.itermAcceleratorGain = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.ADVANCED_TUNING.itermThrottleThreshold = data.readU16(); + FC.ADVANCED_TUNING.itermAcceleratorGain = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - ADVANCED_TUNING.dtermSetpointWeight = data.readU16(); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + FC.ADVANCED_TUNING.dtermSetpointWeight = data.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - ADVANCED_TUNING.itermRotation = data.readU8(); - ADVANCED_TUNING.smartFeedforward = data.readU8(); - ADVANCED_TUNING.itermRelax = data.readU8(); - ADVANCED_TUNING.itermRelaxType = data.readU8(); - ADVANCED_TUNING.absoluteControlGain = data.readU8(); - ADVANCED_TUNING.throttleBoost = data.readU8(); - ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8(); - ADVANCED_TUNING.feedforwardRoll = data.readU16(); - ADVANCED_TUNING.feedforwardPitch = data.readU16(); - ADVANCED_TUNING.feedforwardYaw = data.readU16(); - ADVANCED_TUNING.antiGravityMode = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + FC.ADVANCED_TUNING.itermRotation = data.readU8(); + FC.ADVANCED_TUNING.smartFeedforward = data.readU8(); + FC.ADVANCED_TUNING.itermRelax = data.readU8(); + FC.ADVANCED_TUNING.itermRelaxType = data.readU8(); + FC.ADVANCED_TUNING.absoluteControlGain = data.readU8(); + FC.ADVANCED_TUNING.throttleBoost = data.readU8(); + FC.ADVANCED_TUNING.acroTrainerAngleLimit = data.readU8(); + FC.ADVANCED_TUNING.feedforwardRoll = data.readU16(); + FC.ADVANCED_TUNING.feedforwardPitch = data.readU16(); + FC.ADVANCED_TUNING.feedforwardYaw = data.readU16(); + FC.ADVANCED_TUNING.antiGravityMode = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - ADVANCED_TUNING.dMinRoll = data.readU8(); - ADVANCED_TUNING.dMinPitch = data.readU8(); - ADVANCED_TUNING.dMinYaw = data.readU8(); - ADVANCED_TUNING.dMinGain = data.readU8(); - ADVANCED_TUNING.dMinAdvance = data.readU8(); - ADVANCED_TUNING.useIntegratedYaw = data.readU8(); - ADVANCED_TUNING.integratedYawRelax = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.ADVANCED_TUNING.dMinRoll = data.readU8(); + FC.ADVANCED_TUNING.dMinPitch = data.readU8(); + FC.ADVANCED_TUNING.dMinYaw = data.readU8(); + FC.ADVANCED_TUNING.dMinGain = data.readU8(); + FC.ADVANCED_TUNING.dMinAdvance = data.readU8(); + FC.ADVANCED_TUNING.useIntegratedYaw = data.readU8(); + FC.ADVANCED_TUNING.integratedYawRelax = data.readU8(); - if(semver.gte(CONFIG.apiVersion, "1.42.0")) { - ADVANCED_TUNING.itermRelaxCutoff = data.readU8(); + if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.ADVANCED_TUNING.itermRelaxCutoff = data.readU8(); - if(semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - ADVANCED_TUNING.motorOutputLimit = data.readU8(); - ADVANCED_TUNING.autoProfileCellCount = data.read8(); - ADVANCED_TUNING.idleMinRpm = data.readU8(); + if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.ADVANCED_TUNING.motorOutputLimit = data.readU8(); + FC.ADVANCED_TUNING.autoProfileCellCount = data.read8(); + FC.ADVANCED_TUNING.idleMinRpm = data.readU8(); - if(semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - ADVANCED_TUNING.ff_interpolate_sp = data.readU8(); - ADVANCED_TUNING.ff_smooth_factor = data.readU8(); - ADVANCED_TUNING.ff_boost = data.readU8(); - ADVANCED_TUNING.vbat_sag_compensation = data.readU8(); + if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + FC.ADVANCED_TUNING.ff_interpolate_sp = data.readU8(); + FC.ADVANCED_TUNING.ff_smooth_factor = data.readU8(); + FC.ADVANCED_TUNING.ff_boost = data.readU8(); + FC.ADVANCED_TUNING.vbat_sag_compensation = data.readU8(); } } } @@ -1167,21 +1167,21 @@ MspHelper.prototype.process_data = function(dataHandler) { } } } - ADVANCED_TUNING_ACTIVE = { ...ADVANCED_TUNING }; + FC.ADVANCED_TUNING_ACTIVE = { ...FC.ADVANCED_TUNING }; break; case MSPCodes.MSP_SENSOR_CONFIG: - SENSOR_CONFIG.acc_hardware = data.readU8(); - SENSOR_CONFIG.baro_hardware = data.readU8(); - SENSOR_CONFIG.mag_hardware = data.readU8(); + FC.SENSOR_CONFIG.acc_hardware = data.readU8(); + FC.SENSOR_CONFIG.baro_hardware = data.readU8(); + FC.SENSOR_CONFIG.mag_hardware = data.readU8(); break; case MSPCodes.MSP_LED_STRIP_CONFIG: - LED_STRIP = []; + FC.LED_STRIP = []; var ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order var ledFunctionLetters = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l']; // in LSB bit order var ledBaseFunctionLetters = ['c', 'f', 'a', 'l', 's', 'g', 'r']; // in LSB bit - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { var ledOverlayLetters = ['t', 'o', 'b', 'n', 'i', 'w']; // in LSB bit } else { var ledOverlayLetters = ['t', 'o', 'b', 'v', 'i', 'w']; // in LSB bit @@ -1189,10 +1189,10 @@ MspHelper.prototype.process_data = function(dataHandler) { var ledCount = data.byteLength / 7; // v1.4.0 and below incorrectly reported 4 bytes per led. - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { ledCount = data.byteLength / 4; } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { // According to betaflight/src/main/msp/msp.c // API 1.41 - add indicator for advanced profile support and the current profile selection // 0 = basic ledstrip available @@ -1202,7 +1202,7 @@ MspHelper.prototype.process_data = function(dataHandler) { } for (let i = 0; i < ledCount; i++) { - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { var directionMask = data.readU16(); var directions = []; @@ -1229,7 +1229,7 @@ MspHelper.prototype.process_data = function(dataHandler) { color: data.readU8() }; - LED_STRIP.push(led); + FC.LED_STRIP.push(led); } else { var mask = data.readU32(); @@ -1265,7 +1265,7 @@ MspHelper.prototype.process_data = function(dataHandler) { parameters: (mask >> 28) & 0xF }; - LED_STRIP.push(led); + FC.LED_STRIP.push(led); } } break; @@ -1274,7 +1274,7 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_LED_COLORS: - LED_COLORS = []; + FC.LED_COLORS = []; var colorCount = data.byteLength / 4; @@ -1285,7 +1285,7 @@ MspHelper.prototype.process_data = function(dataHandler) { s: data.readU8(), v: data.readU8() }; - LED_COLORS.push(color); + FC.LED_COLORS.push(color); } break; @@ -1293,9 +1293,9 @@ MspHelper.prototype.process_data = function(dataHandler) { console.log('Led strip colors saved'); break; case MSPCodes.MSP_LED_STRIP_MODECOLOR: - if (semver.gte(CONFIG.apiVersion, "1.19.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) { - LED_MODE_COLORS = []; + FC.LED_MODE_COLORS = []; var colorCount = data.byteLength / 3; @@ -1306,7 +1306,7 @@ MspHelper.prototype.process_data = function(dataHandler) { direction: data.readU8(), color: data.readU8() }; - LED_MODE_COLORS.push(mode_color); + FC.LED_MODE_COLORS.push(mode_color); } } break; @@ -1317,18 +1317,18 @@ MspHelper.prototype.process_data = function(dataHandler) { case MSPCodes.MSP_DATAFLASH_SUMMARY: if (data.byteLength >= 13) { var flags = data.readU8(); - DATAFLASH.ready = (flags & 1) != 0; - DATAFLASH.supported = (flags & 2) != 0; - DATAFLASH.sectors = data.readU32(); - DATAFLASH.totalSize = data.readU32(); - DATAFLASH.usedSize = data.readU32(); + FC.DATAFLASH.ready = (flags & 1) != 0; + FC.DATAFLASH.supported = (flags & 2) != 0; + FC.DATAFLASH.sectors = data.readU32(); + FC.DATAFLASH.totalSize = data.readU32(); + FC.DATAFLASH.usedSize = data.readU32(); } else { // Firmware version too old to support MSP_DATAFLASH_SUMMARY - DATAFLASH.ready = false; - DATAFLASH.supported = false; - DATAFLASH.sectors = 0; - DATAFLASH.totalSize = 0; - DATAFLASH.usedSize = 0; + FC.DATAFLASH.ready = false; + FC.DATAFLASH.supported = false; + FC.DATAFLASH.sectors = 0; + FC.DATAFLASH.totalSize = 0; + FC.DATAFLASH.usedSize = 0; } update_dataflash_global(); break; @@ -1341,22 +1341,22 @@ MspHelper.prototype.process_data = function(dataHandler) { case MSPCodes.MSP_SDCARD_SUMMARY: var flags = data.readU8(); - SDCARD.supported = (flags & 0x01) != 0; - SDCARD.state = data.readU8(); - SDCARD.filesystemLastError = data.readU8(); - SDCARD.freeSizeKB = data.readU32(); - SDCARD.totalSizeKB = data.readU32(); + FC.SDCARD.supported = (flags & 0x01) != 0; + FC.SDCARD.state = data.readU8(); + FC.SDCARD.filesystemLastError = data.readU8(); + FC.SDCARD.freeSizeKB = data.readU32(); + FC.SDCARD.totalSizeKB = data.readU32(); break; case MSPCodes.MSP_BLACKBOX_CONFIG: - BLACKBOX.supported = (data.readU8() & 1) != 0; - BLACKBOX.blackboxDevice = data.readU8(); - BLACKBOX.blackboxRateNum = data.readU8(); - BLACKBOX.blackboxRateDenom = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - BLACKBOX.blackboxPDenom = data.readU16(); + FC.BLACKBOX.supported = (data.readU8() & 1) != 0; + FC.BLACKBOX.blackboxDevice = data.readU8(); + FC.BLACKBOX.blackboxRateNum = data.readU8(); + FC.BLACKBOX.blackboxRateDenom = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.BLACKBOX.blackboxPDenom = data.readU16(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - BLACKBOX.blackboxSampleRate = data.readU8(); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + FC.BLACKBOX.blackboxSampleRate = data.readU8(); } break; case MSPCodes.MSP_SET_BLACKBOX_CONFIG: @@ -1364,12 +1364,12 @@ MspHelper.prototype.process_data = function(dataHandler) { break; case MSPCodes.MSP_TRANSPONDER_CONFIG: var bytesRemaining = data.byteLength; - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { var providerCount = data.readU8(); bytesRemaining--; - TRANSPONDER.supported = providerCount > 0; - TRANSPONDER.providers = []; + FC.TRANSPONDER.supported = providerCount > 0; + FC.TRANSPONDER.providers = []; for (let i = 0; i < providerCount; i++) { var provider = { @@ -1378,25 +1378,25 @@ MspHelper.prototype.process_data = function(dataHandler) { }; bytesRemaining -= 2; - TRANSPONDER.providers.push(provider); + FC.TRANSPONDER.providers.push(provider); } - TRANSPONDER.provider = data.readU8(); + FC.TRANSPONDER.provider = data.readU8(); bytesRemaining--; } else { - TRANSPONDER.supported = (data.readU8() & 1) != 0; + FC.TRANSPONDER.supported = (data.readU8() & 1) != 0; bytesRemaining--; // only ILAP was supported prior to 1.33.0 - TRANSPONDER.providers = [{ + FC.TRANSPONDER.providers = [{ id: 1, // ILAP dataLength: 6 }]; - TRANSPONDER.provider = TRANSPONDER.providers[0].id; + FC.TRANSPONDER.provider = FC.TRANSPONDER.providers[0].id; } - TRANSPONDER.data = []; + FC.TRANSPONDER.data = []; for (let i = 0; i < bytesRemaining; i++) { - TRANSPONDER.data.push(data.readU8()); + FC.TRANSPONDER.data.push(data.readU8()); } break; @@ -1406,22 +1406,22 @@ MspHelper.prototype.process_data = function(dataHandler) { case MSPCodes.MSP_VTX_CONFIG: - VTX_CONFIG.vtx_type = data.readU8(); - VTX_CONFIG.vtx_band = data.readU8(); - VTX_CONFIG.vtx_channel = data.readU8(); - VTX_CONFIG.vtx_power = data.readU8(); - VTX_CONFIG.vtx_pit_mode = data.readU8() != 0; - VTX_CONFIG.vtx_frequency = data.readU16(); - VTX_CONFIG.vtx_device_ready = data.readU8() != 0; - VTX_CONFIG.vtx_low_power_disarm = data.readU8(); + FC.VTX_CONFIG.vtx_type = data.readU8(); + FC.VTX_CONFIG.vtx_band = data.readU8(); + FC.VTX_CONFIG.vtx_channel = data.readU8(); + FC.VTX_CONFIG.vtx_power = data.readU8(); + FC.VTX_CONFIG.vtx_pit_mode = data.readU8() != 0; + FC.VTX_CONFIG.vtx_frequency = data.readU16(); + FC.VTX_CONFIG.vtx_device_ready = data.readU8() != 0; + FC.VTX_CONFIG.vtx_low_power_disarm = data.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - VTX_CONFIG.vtx_pit_mode_frequency = data.readU16(); - VTX_CONFIG.vtx_table_available = data.readU8() != 0; - VTX_CONFIG.vtx_table_bands = data.readU8(); - VTX_CONFIG.vtx_table_channels = data.readU8(); - VTX_CONFIG.vtx_table_powerlevels = data.readU8(); - VTX_CONFIG.vtx_table_clear = false; + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.VTX_CONFIG.vtx_pit_mode_frequency = data.readU16(); + FC.VTX_CONFIG.vtx_table_available = data.readU8() != 0; + FC.VTX_CONFIG.vtx_table_bands = data.readU8(); + FC.VTX_CONFIG.vtx_table_channels = data.readU8(); + FC.VTX_CONFIG.vtx_table_powerlevels = data.readU8(); + FC.VTX_CONFIG.vtx_table_clear = false; } break; @@ -1431,21 +1431,21 @@ MspHelper.prototype.process_data = function(dataHandler) { case MSPCodes.MSP_VTXTABLE_BAND: - VTXTABLE_BAND.vtxtable_band_number = data.readU8(); + FC.VTXTABLE_BAND.vtxtable_band_number = data.readU8(); let bandNameLength = data.readU8(); - VTXTABLE_BAND.vtxtable_band_name = ''; + FC.VTXTABLE_BAND.vtxtable_band_name = ''; for (let i = 0; i < bandNameLength; i++) { - VTXTABLE_BAND.vtxtable_band_name += String.fromCharCode(data.readU8()); + FC.VTXTABLE_BAND.vtxtable_band_name += String.fromCharCode(data.readU8()); } - VTXTABLE_BAND.vtxtable_band_letter = String.fromCharCode(data.readU8()); - VTXTABLE_BAND.vtxtable_band_is_factory_band = data.readU8() != 0; + FC.VTXTABLE_BAND.vtxtable_band_letter = String.fromCharCode(data.readU8()); + FC.VTXTABLE_BAND.vtxtable_band_is_factory_band = data.readU8() != 0; let bandFrequenciesLength = data.readU8(); - VTXTABLE_BAND.vtxtable_band_frequencies = []; + FC.VTXTABLE_BAND.vtxtable_band_frequencies = []; for (let i = 0; i < bandFrequenciesLength; i++) { - VTXTABLE_BAND.vtxtable_band_frequencies.push(data.readU16()); + FC.VTXTABLE_BAND.vtxtable_band_frequencies.push(data.readU16()); } break; @@ -1456,13 +1456,13 @@ MspHelper.prototype.process_data = function(dataHandler) { case MSPCodes.MSP_VTXTABLE_POWERLEVEL: - VTXTABLE_POWERLEVEL.vtxtable_powerlevel_number = data.readU8(); - VTXTABLE_POWERLEVEL.vtxtable_powerlevel_value = data.readU16(); + FC.VTXTABLE_POWERLEVEL.vtxtable_powerlevel_number = data.readU8(); + FC.VTXTABLE_POWERLEVEL.vtxtable_powerlevel_value = data.readU16(); let powerLabelLength = data.readU8(); - VTXTABLE_POWERLEVEL.vtxtable_powerlevel_label = ''; + FC.VTXTABLE_POWERLEVEL.vtxtable_powerlevel_label = ''; for (let i = 0; i < powerLabelLength; i++) { - VTXTABLE_POWERLEVEL.vtxtable_powerlevel_label += String.fromCharCode(data.readU8()); + FC.VTXTABLE_POWERLEVEL.vtxtable_powerlevel_label += String.fromCharCode(data.readU8()); } break; @@ -1481,7 +1481,7 @@ MspHelper.prototype.process_data = function(dataHandler) { console.log('Board alignment saved'); break; case MSPCodes.MSP_PID_CONTROLLER: - PID.controller = data.readU8(); + FC.PID.controller = data.readU8(); break; case MSPCodes.MSP_SET_PID_CONTROLLER: console.log('PID controller changed'); @@ -1634,219 +1634,219 @@ MspHelper.prototype.crunch = function(code) { switch (code) { case MSPCodes.MSP_SET_FEATURE_CONFIG: - var featureMask = FEATURE_CONFIG.features.getMask(); + var featureMask = FC.FEATURE_CONFIG.features.getMask(); buffer.push32(featureMask); break; case MSPCodes.MSP_SET_BEEPER_CONFIG: - var beeperMask = BEEPER_CONFIG.beepers.getMask(); + var beeperMask = FC.BEEPER_CONFIG.beepers.getMask(); buffer.push32(beeperMask); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - buffer.push8(BEEPER_CONFIG.dshotBeaconTone); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + buffer.push8(FC.BEEPER_CONFIG.dshotBeaconTone); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - buffer.push32(BEEPER_CONFIG.dshotBeaconConditions.getMask()); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + buffer.push32(FC.BEEPER_CONFIG.dshotBeaconConditions.getMask()); } break; case MSPCodes.MSP_SET_MIXER_CONFIG: - buffer.push8(MIXER_CONFIG.mixer) - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - buffer.push8(MIXER_CONFIG.reverseMotorDir); + buffer.push8(FC.MIXER_CONFIG.mixer) + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + buffer.push8(FC.MIXER_CONFIG.reverseMotorDir); } break; case MSPCodes.MSP_SET_BOARD_ALIGNMENT_CONFIG: - buffer.push16(BOARD_ALIGNMENT_CONFIG.roll) - .push16(BOARD_ALIGNMENT_CONFIG.pitch) - .push16(BOARD_ALIGNMENT_CONFIG.yaw); + buffer.push16(FC.BOARD_ALIGNMENT_CONFIG.roll) + .push16(FC.BOARD_ALIGNMENT_CONFIG.pitch) + .push16(FC.BOARD_ALIGNMENT_CONFIG.yaw); break; case MSPCodes.MSP_SET_PID_CONTROLLER: - buffer.push8(PID.controller); + buffer.push8(FC.PID.controller); break; case MSPCodes.MSP_SET_PID: - for (let i = 0; i < PIDs.length; i++) { + for (let i = 0; i < FC.PIDS.length; i++) { for (let j = 0; j < 3; j++) { - buffer.push8(parseInt(PIDs[i][j])); + buffer.push8(parseInt(FC.PIDS[i][j])); } } break; case MSPCodes.MSP_SET_RC_TUNING: - buffer.push8(Math.round(RC_tuning.RC_RATE * 100)) - .push8(Math.round(RC_tuning.RC_EXPO * 100)); - if (semver.lt(CONFIG.apiVersion, "1.7.0")) { - buffer.push8(Math.round(RC_tuning.roll_pitch_rate * 100)); + buffer.push8(Math.round(FC.RC_TUNING.RC_RATE * 100)) + .push8(Math.round(FC.RC_TUNING.RC_EXPO * 100)); + if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) { + buffer.push8(Math.round(FC.RC_TUNING.roll_pitch_rate * 100)); } else { - buffer.push8(Math.round(RC_tuning.roll_rate * 100)) - .push8(Math.round(RC_tuning.pitch_rate * 100)); + buffer.push8(Math.round(FC.RC_TUNING.roll_rate * 100)) + .push8(Math.round(FC.RC_TUNING.pitch_rate * 100)); } - buffer.push8(Math.round(RC_tuning.yaw_rate * 100)) - .push8(Math.round(RC_tuning.dynamic_THR_PID * 100)) - .push8(Math.round(RC_tuning.throttle_MID * 100)) - .push8(Math.round(RC_tuning.throttle_EXPO * 100)); - if (semver.gte(CONFIG.apiVersion, "1.7.0")) { - buffer.push16(RC_tuning.dynamic_THR_breakpoint); + buffer.push8(Math.round(FC.RC_TUNING.yaw_rate * 100)) + .push8(Math.round(FC.RC_TUNING.dynamic_THR_PID * 100)) + .push8(Math.round(FC.RC_TUNING.throttle_MID * 100)) + .push8(Math.round(FC.RC_TUNING.throttle_EXPO * 100)); + if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) { + buffer.push16(FC.RC_TUNING.dynamic_THR_breakpoint); } - if (semver.gte(CONFIG.apiVersion, "1.10.0")) { - buffer.push8(Math.round(RC_tuning.RC_YAW_EXPO * 100)); - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - buffer.push8(Math.round(RC_tuning.rcYawRate * 100)); + if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) { + buffer.push8(Math.round(FC.RC_TUNING.RC_YAW_EXPO * 100)); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + buffer.push8(Math.round(FC.RC_TUNING.rcYawRate * 100)); } } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - buffer.push8(Math.round(RC_tuning.rcPitchRate * 100)); - buffer.push8(Math.round(RC_tuning.RC_PITCH_EXPO * 100)); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + buffer.push8(Math.round(FC.RC_TUNING.rcPitchRate * 100)); + buffer.push8(Math.round(FC.RC_TUNING.RC_PITCH_EXPO * 100)); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - buffer.push8(RC_tuning.throttleLimitType); - buffer.push8(RC_tuning.throttleLimitPercent); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + buffer.push8(FC.RC_TUNING.throttleLimitType); + buffer.push8(FC.RC_TUNING.throttleLimitPercent); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push16(RC_tuning.roll_rate_limit); - buffer.push16(RC_tuning.pitch_rate_limit); - buffer.push16(RC_tuning.yaw_rate_limit); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push16(FC.RC_TUNING.roll_rate_limit); + buffer.push16(FC.RC_TUNING.pitch_rate_limit); + buffer.push16(FC.RC_TUNING.yaw_rate_limit); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - buffer.push8(RC_tuning.rates_type); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + buffer.push8(FC.RC_TUNING.rates_type); } break; case MSPCodes.MSP_SET_RX_MAP: - for (let i = 0; i < RC_MAP.length; i++) { - buffer.push8(RC_MAP[i]); + for (let i = 0; i < FC.RC_MAP.length; i++) { + buffer.push8(FC.RC_MAP[i]); } break; case MSPCodes.MSP_SET_ACC_TRIM: - buffer.push16(CONFIG.accelerometerTrims[0]) - .push16(CONFIG.accelerometerTrims[1]); + buffer.push16(FC.CONFIG.accelerometerTrims[0]) + .push16(FC.CONFIG.accelerometerTrims[1]); break; case MSPCodes.MSP_SET_ARMING_CONFIG: - buffer.push8(ARMING_CONFIG.auto_disarm_delay) - .push8(ARMING_CONFIG.disarm_kill_switch); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - buffer.push8(ARMING_CONFIG.small_angle); + buffer.push8(FC.ARMING_CONFIG.auto_disarm_delay) + .push8(FC.ARMING_CONFIG.disarm_kill_switch); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + buffer.push8(FC.ARMING_CONFIG.small_angle); } break; case MSPCodes.MSP_SET_LOOP_TIME: - buffer.push16(FC_CONFIG.loopTime); + buffer.push16(FC.FC_CONFIG.loopTime); break; case MSPCodes.MSP_SET_MISC: - buffer.push16(RX_CONFIG.midrc) - .push16(MOTOR_CONFIG.minthrottle) - .push16(MOTOR_CONFIG.maxthrottle) - .push16(MOTOR_CONFIG.mincommand) - .push16(MISC.failsafe_throttle) - .push8(GPS_CONFIG.provider) - .push8(MISC.gps_baudrate) - .push8(GPS_CONFIG.ublox_sbas) - .push8(MISC.multiwiicurrentoutput) - .push8(RSSI_CONFIG.channel) - .push8(MISC.placeholder2) + buffer.push16(FC.RX_CONFIG.midrc) + .push16(FC.MOTOR_CONFIG.minthrottle) + .push16(FC.MOTOR_CONFIG.maxthrottle) + .push16(FC.MOTOR_CONFIG.mincommand) + .push16(FC.MISC.failsafe_throttle) + .push8(FC.GPS_CONFIG.provider) + .push8(FC.MISC.gps_baudrate) + .push8(FC.GPS_CONFIG.ublox_sbas) + .push8(FC.MISC.multiwiicurrentoutput) + .push8(FC.RSSI_CONFIG.channel) + .push8(FC.MISC.placeholder2) .push16(0) // was mag_declination - .push8(MISC.vbatscale) - .push8(Math.round(MISC.vbatmincellvoltage * 10)) - .push8(Math.round(MISC.vbatmaxcellvoltage * 10)) - .push8(Math.round(MISC.vbatwarningcellvoltage * 10)); + .push8(FC.MISC.vbatscale) + .push8(Math.round(FC.MISC.vbatmincellvoltage * 10)) + .push8(Math.round(FC.MISC.vbatmaxcellvoltage * 10)) + .push8(Math.round(FC.MISC.vbatwarningcellvoltage * 10)); break; case MSPCodes.MSP_SET_MOTOR_CONFIG: - buffer.push16(MOTOR_CONFIG.minthrottle) - .push16(MOTOR_CONFIG.maxthrottle) - .push16(MOTOR_CONFIG.mincommand); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push8(MOTOR_CONFIG.motor_poles); - buffer.push8(MOTOR_CONFIG.use_dshot_telemetry ? 1 : 0); + buffer.push16(FC.MOTOR_CONFIG.minthrottle) + .push16(FC.MOTOR_CONFIG.maxthrottle) + .push16(FC.MOTOR_CONFIG.mincommand); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push8(FC.MOTOR_CONFIG.motor_poles); + buffer.push8(FC.MOTOR_CONFIG.use_dshot_telemetry ? 1 : 0); } break; case MSPCodes.MSP_SET_GPS_CONFIG: - buffer.push8(GPS_CONFIG.provider) - .push8(GPS_CONFIG.ublox_sbas); - if (semver.gte(CONFIG.apiVersion, "1.34.0")) { - buffer.push8(GPS_CONFIG.auto_config) - .push8(GPS_CONFIG.auto_baud); + buffer.push8(FC.GPS_CONFIG.provider) + .push8(FC.GPS_CONFIG.ublox_sbas); + if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) { + buffer.push8(FC.GPS_CONFIG.auto_config) + .push8(FC.GPS_CONFIG.auto_baud); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - buffer.push8(GPS_CONFIG.home_point_once) - .push8(GPS_CONFIG.ublox_use_galileo); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + buffer.push8(FC.GPS_CONFIG.home_point_once) + .push8(FC.GPS_CONFIG.ublox_use_galileo); } } break; case MSPCodes.MSP_SET_GPS_RESCUE: - buffer.push16(GPS_RESCUE.angle) - .push16(GPS_RESCUE.initialAltitudeM) - .push16(GPS_RESCUE.descentDistanceM) - .push16(GPS_RESCUE.rescueGroundspeed) - .push16(GPS_RESCUE.throttleMin) - .push16(GPS_RESCUE.throttleMax) - .push16(GPS_RESCUE.throttleHover) - .push8(GPS_RESCUE.sanityChecks) - .push8(GPS_RESCUE.minSats); + buffer.push16(FC.GPS_RESCUE.angle) + .push16(FC.GPS_RESCUE.initialAltitudeM) + .push16(FC.GPS_RESCUE.descentDistanceM) + .push16(FC.GPS_RESCUE.rescueGroundspeed) + .push16(FC.GPS_RESCUE.throttleMin) + .push16(FC.GPS_RESCUE.throttleMax) + .push16(FC.GPS_RESCUE.throttleHover) + .push8(FC.GPS_RESCUE.sanityChecks) + .push8(FC.GPS_RESCUE.minSats); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - buffer.push16(GPS_RESCUE.ascendRate) - .push16(GPS_RESCUE.descendRate) - .push8(GPS_RESCUE.allowArmingWithoutFix) - .push8(GPS_RESCUE.altitudeMode); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + buffer.push16(FC.GPS_RESCUE.ascendRate) + .push16(FC.GPS_RESCUE.descendRate) + .push8(FC.GPS_RESCUE.allowArmingWithoutFix) + .push8(FC.GPS_RESCUE.altitudeMode); } break; case MSPCodes.MSP_SET_RSSI_CONFIG: - buffer.push8(RSSI_CONFIG.channel); + buffer.push8(FC.RSSI_CONFIG.channel); break; case MSPCodes.MSP_SET_BATTERY_CONFIG: - buffer.push8(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 10)) - .push8(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 10)) - .push8(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 10)) - .push16(BATTERY_CONFIG.capacity) - .push8(BATTERY_CONFIG.voltageMeterSource) - .push8(BATTERY_CONFIG.currentMeterSource); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - buffer.push16(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)) - .push16(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)) - .push16(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)); + buffer.push8(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 10)) + .push8(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 10)) + .push8(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 10)) + .push16(FC.BATTERY_CONFIG.capacity) + .push8(FC.BATTERY_CONFIG.voltageMeterSource) + .push8(FC.BATTERY_CONFIG.currentMeterSource); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + buffer.push16(Math.round(FC.BATTERY_CONFIG.vbatmincellvoltage * 100)) + .push16(Math.round(FC.BATTERY_CONFIG.vbatmaxcellvoltage * 100)) + .push16(Math.round(FC.BATTERY_CONFIG.vbatwarningcellvoltage * 100)); } break; case MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG: - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { - buffer.push8(MISC.vbatscale) - .push8(Math.round(MISC.vbatmincellvoltage * 10)) - .push8(Math.round(MISC.vbatmaxcellvoltage * 10)) - .push8(Math.round(MISC.vbatwarningcellvoltage * 10)); - if (semver.gte(CONFIG.apiVersion, "1.23.0")) { - buffer.push8(MISC.batterymetertype); + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { + buffer.push8(FC.MISC.vbatscale) + .push8(Math.round(FC.MISC.vbatmincellvoltage * 10)) + .push8(Math.round(FC.MISC.vbatmaxcellvoltage * 10)) + .push8(Math.round(FC.MISC.vbatwarningcellvoltage * 10)); + if (semver.gte(FC.CONFIG.apiVersion, "1.23.0")) { + buffer.push8(FC.MISC.batterymetertype); } } break; case MSPCodes.MSP_SET_CURRENT_METER_CONFIG: - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { - buffer.push16(BF_CONFIG.currentscale) - .push16(BF_CONFIG.currentoffset) - .push8(BF_CONFIG.currentmetertype) - .push16(BF_CONFIG.batterycapacity) + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { + buffer.push16(FC.BF_CONFIG.currentscale) + .push16(FC.BF_CONFIG.currentoffset) + .push8(FC.BF_CONFIG.currentmetertype) + .push16(FC.BF_CONFIG.batterycapacity) } break; case MSPCodes.MSP_SET_RX_CONFIG: - buffer.push8(RX_CONFIG.serialrx_provider) - .push16(RX_CONFIG.stick_max) - .push16(RX_CONFIG.stick_center) - .push16(RX_CONFIG.stick_min) - .push8(RX_CONFIG.spektrum_sat_bind) - .push16(RX_CONFIG.rx_min_usec) - .push16(RX_CONFIG.rx_max_usec); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - buffer.push8(RX_CONFIG.rcInterpolation) - .push8(RX_CONFIG.rcInterpolationInterval) - .push16(RX_CONFIG.airModeActivateThreshold); - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { - buffer.push8(RX_CONFIG.rxSpiProtocol) - .push32(RX_CONFIG.rxSpiId) - .push8(RX_CONFIG.rxSpiRfChannelCount) - .push8(RX_CONFIG.fpvCamAngleDegrees); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - buffer.push8(RX_CONFIG.rcInterpolationChannels) - .push8(RX_CONFIG.rcSmoothingType) - .push8(RX_CONFIG.rcSmoothingInputCutoff) - .push8(RX_CONFIG.rcSmoothingDerivativeCutoff) - .push8(RX_CONFIG.rcSmoothingInputType) - .push8(RX_CONFIG.rcSmoothingDerivativeType); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push8(RX_CONFIG.usbCdcHidType) - .push8(RX_CONFIG.rcSmoothingAutoSmoothness); + buffer.push8(FC.RX_CONFIG.serialrx_provider) + .push16(FC.RX_CONFIG.stick_max) + .push16(FC.RX_CONFIG.stick_center) + .push16(FC.RX_CONFIG.stick_min) + .push8(FC.RX_CONFIG.spektrum_sat_bind) + .push16(FC.RX_CONFIG.rx_min_usec) + .push16(FC.RX_CONFIG.rx_max_usec); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + buffer.push8(FC.RX_CONFIG.rcInterpolation) + .push8(FC.RX_CONFIG.rcInterpolationInterval) + .push16(FC.RX_CONFIG.airModeActivateThreshold); + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { + buffer.push8(FC.RX_CONFIG.rxSpiProtocol) + .push32(FC.RX_CONFIG.rxSpiId) + .push8(FC.RX_CONFIG.rxSpiRfChannelCount) + .push8(FC.RX_CONFIG.fpvCamAngleDegrees); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + buffer.push8(FC.RX_CONFIG.rcInterpolationChannels) + .push8(FC.RX_CONFIG.rcSmoothingType) + .push8(FC.RX_CONFIG.rcSmoothingInputCutoff) + .push8(FC.RX_CONFIG.rcSmoothingDerivativeCutoff) + .push8(FC.RX_CONFIG.rcSmoothingInputType) + .push8(FC.RX_CONFIG.rcSmoothingDerivativeType); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push8(FC.RX_CONFIG.usbCdcHidType) + .push8(FC.RX_CONFIG.rcSmoothingAutoSmoothness); } } } @@ -1855,28 +1855,28 @@ MspHelper.prototype.crunch = function(code) { break; case MSPCodes.MSP_SET_FAILSAFE_CONFIG: - buffer.push8(FAILSAFE_CONFIG.failsafe_delay) - .push8(FAILSAFE_CONFIG.failsafe_off_delay) - .push16(FAILSAFE_CONFIG.failsafe_throttle); - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { - buffer.push8(FAILSAFE_CONFIG.failsafe_switch_mode) - .push16(FAILSAFE_CONFIG.failsafe_throttle_low_delay) - .push8(FAILSAFE_CONFIG.failsafe_procedure); + buffer.push8(FC.FAILSAFE_CONFIG.failsafe_delay) + .push8(FC.FAILSAFE_CONFIG.failsafe_off_delay) + .push16(FC.FAILSAFE_CONFIG.failsafe_throttle); + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { + buffer.push8(FC.FAILSAFE_CONFIG.failsafe_switch_mode) + .push16(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay) + .push8(FC.FAILSAFE_CONFIG.failsafe_procedure); } break; case MSPCodes.MSP_SET_TRANSPONDER_CONFIG: - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { - buffer.push8(TRANSPONDER.provider); // + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { + buffer.push8(FC.TRANSPONDER.provider); // } - for (let i = 0; i < TRANSPONDER.data.length; i++) { - buffer.push8(TRANSPONDER.data[i]); + for (let i = 0; i < FC.TRANSPONDER.data.length; i++) { + buffer.push8(FC.TRANSPONDER.data[i]); } break; case MSPCodes.MSP_SET_CHANNEL_FORWARDING: - for (let i = 0; i < SERVO_CONFIG.length; i++) { - var out = SERVO_CONFIG[i].indexOfChannelToForward; + for (let i = 0; i < FC.SERVO_CONFIG.length; i++) { + var out = FC.SERVO_CONFIG[i].indexOfChannelToForward; if (out == undefined) { out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF" } @@ -1884,18 +1884,18 @@ MspHelper.prototype.crunch = function(code) { } break; case MSPCodes.MSP_SET_CF_SERIAL_CONFIG: - if (semver.lt(CONFIG.apiVersion, "1.6.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.6.0")) { - for (let i = 0; i < SERIAL_CONFIG.ports.length; i++) { - buffer.push8(SERIAL_CONFIG.ports[i].scenario); + for (let i = 0; i < FC.SERIAL_CONFIG.ports.length; i++) { + buffer.push8(FC.SERIAL_CONFIG.ports[i].scenario); } - buffer.push32(SERIAL_CONFIG.mspBaudRate) - .push32(SERIAL_CONFIG.cliBaudRate) - .push32(SERIAL_CONFIG.gpsBaudRate) - .push32(SERIAL_CONFIG.gpsPassthroughBaudRate); + buffer.push32(FC.SERIAL_CONFIG.mspBaudRate) + .push32(FC.SERIAL_CONFIG.cliBaudRate) + .push32(FC.SERIAL_CONFIG.gpsBaudRate) + .push32(FC.SERIAL_CONFIG.gpsPassthroughBaudRate); } else { - for (let i = 0; i < SERIAL_CONFIG.ports.length; i++) { - const serialPort = SERIAL_CONFIG.ports[i]; + for (let i = 0; i < FC.SERIAL_CONFIG.ports.length; i++) { + const serialPort = FC.SERIAL_CONFIG.ports[i]; buffer.push8(serialPort.identifier); @@ -1910,10 +1910,10 @@ MspHelper.prototype.crunch = function(code) { break; case MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG: - buffer.push8(SERIAL_CONFIG.ports.length); + buffer.push8(FC.SERIAL_CONFIG.ports.length); - for (let i = 0; i < SERIAL_CONFIG.ports.length; i++) { - const serialPort = SERIAL_CONFIG.ports[i]; + for (let i = 0; i < FC.SERIAL_CONFIG.ports.length; i++) { + const serialPort = FC.SERIAL_CONFIG.ports[i]; buffer.push8(serialPort.identifier); @@ -1927,180 +1927,180 @@ MspHelper.prototype.crunch = function(code) { break; case MSPCodes.MSP_SET_MOTOR_3D_CONFIG: - buffer.push16(MOTOR_3D_CONFIG.deadband3d_low) - .push16(MOTOR_3D_CONFIG.deadband3d_high) - .push16(MOTOR_3D_CONFIG.neutral); - if (semver.lt(CONFIG.apiVersion, "1.17.0")) { - buffer.push16(RC_DEADBAND_CONFIG.deadband3d_throttle); + buffer.push16(FC.MOTOR_3D_CONFIG.deadband3d_low) + .push16(FC.MOTOR_3D_CONFIG.deadband3d_high) + .push16(FC.MOTOR_3D_CONFIG.neutral); + if (semver.lt(FC.CONFIG.apiVersion, "1.17.0")) { + buffer.push16(FC.RC_DEADBAND_CONFIG.deadband3d_throttle); } break; case MSPCodes.MSP_SET_RC_DEADBAND: - buffer.push8(RC_DEADBAND_CONFIG.deadband) - .push8(RC_DEADBAND_CONFIG.yaw_deadband) - .push8(RC_DEADBAND_CONFIG.alt_hold_deadband); - if (semver.gte(CONFIG.apiVersion, "1.17.0")) { - buffer.push16(RC_DEADBAND_CONFIG.deadband3d_throttle); + buffer.push8(FC.RC_DEADBAND_CONFIG.deadband) + .push8(FC.RC_DEADBAND_CONFIG.yaw_deadband) + .push8(FC.RC_DEADBAND_CONFIG.alt_hold_deadband); + if (semver.gte(FC.CONFIG.apiVersion, "1.17.0")) { + buffer.push16(FC.RC_DEADBAND_CONFIG.deadband3d_throttle); } break; case MSPCodes.MSP_SET_SENSOR_ALIGNMENT: - buffer.push8(SENSOR_ALIGNMENT.align_gyro) - .push8(SENSOR_ALIGNMENT.align_acc) - .push8(SENSOR_ALIGNMENT.align_mag); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - buffer.push8(SENSOR_ALIGNMENT.gyro_to_use) - .push8(SENSOR_ALIGNMENT.gyro_1_align) - .push8(SENSOR_ALIGNMENT.gyro_2_align); + buffer.push8(FC.SENSOR_ALIGNMENT.align_gyro) + .push8(FC.SENSOR_ALIGNMENT.align_acc) + .push8(FC.SENSOR_ALIGNMENT.align_mag); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + buffer.push8(FC.SENSOR_ALIGNMENT.gyro_to_use) + .push8(FC.SENSOR_ALIGNMENT.gyro_1_align) + .push8(FC.SENSOR_ALIGNMENT.gyro_2_align); } break; case MSPCodes.MSP_SET_ADVANCED_CONFIG: - buffer.push8(PID_ADVANCED_CONFIG.gyro_sync_denom) - .push8(PID_ADVANCED_CONFIG.pid_process_denom) - .push8(PID_ADVANCED_CONFIG.use_unsyncedPwm) - .push8(self.reorderPwmProtocols(PID_ADVANCED_CONFIG.fast_pwm_protocol)) - .push16(PID_ADVANCED_CONFIG.motor_pwm_rate); - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - buffer.push16(PID_ADVANCED_CONFIG.digitalIdlePercent * 100); + buffer.push8(FC.PID_ADVANCED_CONFIG.gyro_sync_denom) + .push8(FC.PID_ADVANCED_CONFIG.pid_process_denom) + .push8(FC.PID_ADVANCED_CONFIG.use_unsyncedPwm) + .push8(self.reorderPwmProtocols(FC.PID_ADVANCED_CONFIG.fast_pwm_protocol)) + .push16(FC.PID_ADVANCED_CONFIG.motor_pwm_rate); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + buffer.push16(FC.PID_ADVANCED_CONFIG.digitalIdlePercent * 100); - if (semver.gte(CONFIG.apiVersion, "1.25.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0")) { let gyroUse32kHz = 0; - if (semver.lt(CONFIG.apiVersion, "1.41.0")) { - gyroUse32kHz = PID_ADVANCED_CONFIG.gyroUse32kHz; + if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + gyroUse32kHz = FC.PID_ADVANCED_CONFIG.gyroUse32kHz; } buffer.push8(gyroUse32kHz); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push8(PID_ADVANCED_CONFIG.motorPwmInversion) - .push8(SENSOR_ALIGNMENT.gyro_to_use) // We don't want to double up on storing this state - .push8(PID_ADVANCED_CONFIG.gyroHighFsr) - .push8(PID_ADVANCED_CONFIG.gyroMovementCalibThreshold) - .push16(PID_ADVANCED_CONFIG.gyroCalibDuration) - .push16(PID_ADVANCED_CONFIG.gyroOffsetYaw) - .push8(PID_ADVANCED_CONFIG.gyroCheckOverflow) - .push8(PID_ADVANCED_CONFIG.debugMode); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push8(FC.PID_ADVANCED_CONFIG.motorPwmInversion) + .push8(FC.SENSOR_ALIGNMENT.gyro_to_use) // We don't want to double up on storing this state + .push8(FC.PID_ADVANCED_CONFIG.gyroHighFsr) + .push8(FC.PID_ADVANCED_CONFIG.gyroMovementCalibThreshold) + .push16(FC.PID_ADVANCED_CONFIG.gyroCalibDuration) + .push16(FC.PID_ADVANCED_CONFIG.gyroOffsetYaw) + .push8(FC.PID_ADVANCED_CONFIG.gyroCheckOverflow) + .push8(FC.PID_ADVANCED_CONFIG.debugMode); } } } break; case MSPCodes.MSP_SET_FILTER_CONFIG: - buffer.push8(FILTER_CONFIG.gyro_lowpass_hz) - .push16(FILTER_CONFIG.dterm_lowpass_hz) - .push16(FILTER_CONFIG.yaw_lowpass_hz); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - buffer.push16(FILTER_CONFIG.gyro_notch_hz) - .push16(FILTER_CONFIG.gyro_notch_cutoff) - .push16(FILTER_CONFIG.dterm_notch_hz) - .push16(FILTER_CONFIG.dterm_notch_cutoff); - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { - buffer.push16(FILTER_CONFIG.gyro_notch2_hz) - .push16(FILTER_CONFIG.gyro_notch2_cutoff) + buffer.push8(FC.FILTER_CONFIG.gyro_lowpass_hz) + .push16(FC.FILTER_CONFIG.dterm_lowpass_hz) + .push16(FC.FILTER_CONFIG.yaw_lowpass_hz); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + buffer.push16(FC.FILTER_CONFIG.gyro_notch_hz) + .push16(FC.FILTER_CONFIG.gyro_notch_cutoff) + .push16(FC.FILTER_CONFIG.dterm_notch_hz) + .push16(FC.FILTER_CONFIG.dterm_notch_cutoff); + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { + buffer.push16(FC.FILTER_CONFIG.gyro_notch2_hz) + .push16(FC.FILTER_CONFIG.gyro_notch2_cutoff) } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - buffer.push8(FILTER_CONFIG.dterm_lowpass_type); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + buffer.push8(FC.FILTER_CONFIG.dterm_lowpass_type); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { let gyro_32khz_hardware_lpf = 0; - if (semver.lt(CONFIG.apiVersion, "1.41.0")) { - gyro_32khz_hardware_lpf = FILTER_CONFIG.gyro_32khz_hardware_lpf; + if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + gyro_32khz_hardware_lpf = FC.FILTER_CONFIG.gyro_32khz_hardware_lpf; } - buffer.push8(FILTER_CONFIG.gyro_hardware_lpf) + buffer.push8(FC.FILTER_CONFIG.gyro_hardware_lpf) .push8(gyro_32khz_hardware_lpf) - .push16(FILTER_CONFIG.gyro_lowpass_hz) - .push16(FILTER_CONFIG.gyro_lowpass2_hz) - .push8(FILTER_CONFIG.gyro_lowpass_type) - .push8(FILTER_CONFIG.gyro_lowpass2_type) - .push16(FILTER_CONFIG.dterm_lowpass2_hz); + .push16(FC.FILTER_CONFIG.gyro_lowpass_hz) + .push16(FC.FILTER_CONFIG.gyro_lowpass2_hz) + .push8(FC.FILTER_CONFIG.gyro_lowpass_type) + .push8(FC.FILTER_CONFIG.gyro_lowpass2_type) + .push16(FC.FILTER_CONFIG.dterm_lowpass2_hz); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - buffer.push8(FILTER_CONFIG.dterm_lowpass2_type) - .push16(FILTER_CONFIG.gyro_lowpass_dyn_min_hz) - .push16(FILTER_CONFIG.gyro_lowpass_dyn_max_hz) - .push16(FILTER_CONFIG.dterm_lowpass_dyn_min_hz) - .push16(FILTER_CONFIG.dterm_lowpass_dyn_max_hz); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + buffer.push8(FC.FILTER_CONFIG.dterm_lowpass2_type) + .push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz) + .push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) + .push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz) + .push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push8(FILTER_CONFIG.dyn_notch_range) - .push8(FILTER_CONFIG.dyn_notch_width_percent) - .push16(FILTER_CONFIG.dyn_notch_q) - .push16(FILTER_CONFIG.dyn_notch_min_hz) - .push8(FILTER_CONFIG.gyro_rpm_notch_harmonics) - .push8(FILTER_CONFIG.gyro_rpm_notch_min_hz); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push8(FC.FILTER_CONFIG.dyn_notch_range) + .push8(FC.FILTER_CONFIG.dyn_notch_width_percent) + .push16(FC.FILTER_CONFIG.dyn_notch_q) + .push16(FC.FILTER_CONFIG.dyn_notch_min_hz) + .push8(FC.FILTER_CONFIG.gyro_rpm_notch_harmonics) + .push8(FC.FILTER_CONFIG.gyro_rpm_notch_min_hz); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - buffer.push16(FILTER_CONFIG.dyn_notch_max_hz); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + buffer.push16(FC.FILTER_CONFIG.dyn_notch_max_hz); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - buffer.push8(FILTER_CONFIG.dyn_lpf_curve_expo); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + buffer.push8(FC.FILTER_CONFIG.dyn_lpf_curve_expo); } } break; case MSPCodes.MSP_SET_PID_ADVANCED: - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate) - .push16(ADVANCED_TUNING.yawItermIgnoreRate) - .push16(ADVANCED_TUNING.yaw_p_limit) - .push8(ADVANCED_TUNING.deltaMethod) - .push8(ADVANCED_TUNING.vbatPidCompensation); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate) + .push16(FC.ADVANCED_TUNING.yawItermIgnoreRate) + .push16(FC.ADVANCED_TUNING.yaw_p_limit) + .push8(FC.ADVANCED_TUNING.deltaMethod) + .push8(FC.ADVANCED_TUNING.vbatPidCompensation); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - buffer.push8(ADVANCED_TUNING.feedforwardTransition); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + buffer.push8(FC.ADVANCED_TUNING.feedforwardTransition); } else { - buffer.push8(ADVANCED_TUNING.dtermSetpointTransition); + buffer.push8(FC.ADVANCED_TUNING.dtermSetpointTransition); } - buffer.push8(Math.min(ADVANCED_TUNING.dtermSetpointWeight, 254)) - .push8(ADVANCED_TUNING.toleranceBand) - .push8(ADVANCED_TUNING.toleranceBandReduction) - .push8(ADVANCED_TUNING.itermThrottleGain) - .push16(ADVANCED_TUNING.pidMaxVelocity) - .push16(ADVANCED_TUNING.pidMaxVelocityYaw); + buffer.push8(Math.min(FC.ADVANCED_TUNING.dtermSetpointWeight, 254)) + .push8(FC.ADVANCED_TUNING.toleranceBand) + .push8(FC.ADVANCED_TUNING.toleranceBandReduction) + .push8(FC.ADVANCED_TUNING.itermThrottleGain) + .push16(FC.ADVANCED_TUNING.pidMaxVelocity) + .push16(FC.ADVANCED_TUNING.pidMaxVelocityYaw); - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - buffer.push8(ADVANCED_TUNING.levelAngleLimit) - .push8(ADVANCED_TUNING.levelSensitivity); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + buffer.push8(FC.ADVANCED_TUNING.levelAngleLimit) + .push8(FC.ADVANCED_TUNING.levelSensitivity); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - buffer.push16(ADVANCED_TUNING.itermThrottleThreshold) - .push16(ADVANCED_TUNING.itermAcceleratorGain); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + buffer.push16(FC.ADVANCED_TUNING.itermThrottleThreshold) + .push16(FC.ADVANCED_TUNING.itermAcceleratorGain); - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - buffer.push16(ADVANCED_TUNING.dtermSetpointWeight); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + buffer.push16(FC.ADVANCED_TUNING.dtermSetpointWeight); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - buffer.push8(ADVANCED_TUNING.itermRotation) - .push8(ADVANCED_TUNING.smartFeedforward) - .push8(ADVANCED_TUNING.itermRelax) - .push8(ADVANCED_TUNING.itermRelaxType) - .push8(ADVANCED_TUNING.absoluteControlGain) - .push8(ADVANCED_TUNING.throttleBoost) - .push8(ADVANCED_TUNING.acroTrainerAngleLimit) - .push16(ADVANCED_TUNING.feedforwardRoll) - .push16(ADVANCED_TUNING.feedforwardPitch) - .push16(ADVANCED_TUNING.feedforwardYaw) - .push8(ADVANCED_TUNING.antiGravityMode); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + buffer.push8(FC.ADVANCED_TUNING.itermRotation) + .push8(FC.ADVANCED_TUNING.smartFeedforward) + .push8(FC.ADVANCED_TUNING.itermRelax) + .push8(FC.ADVANCED_TUNING.itermRelaxType) + .push8(FC.ADVANCED_TUNING.absoluteControlGain) + .push8(FC.ADVANCED_TUNING.throttleBoost) + .push8(FC.ADVANCED_TUNING.acroTrainerAngleLimit) + .push16(FC.ADVANCED_TUNING.feedforwardRoll) + .push16(FC.ADVANCED_TUNING.feedforwardPitch) + .push16(FC.ADVANCED_TUNING.feedforwardYaw) + .push8(FC.ADVANCED_TUNING.antiGravityMode); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - buffer.push8(ADVANCED_TUNING.dMinRoll) - .push8(ADVANCED_TUNING.dMinPitch) - .push8(ADVANCED_TUNING.dMinYaw) - .push8(ADVANCED_TUNING.dMinGain) - .push8(ADVANCED_TUNING.dMinAdvance) - .push8(ADVANCED_TUNING.useIntegratedYaw) - .push8(ADVANCED_TUNING.integratedYawRelax); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + buffer.push8(FC.ADVANCED_TUNING.dMinRoll) + .push8(FC.ADVANCED_TUNING.dMinPitch) + .push8(FC.ADVANCED_TUNING.dMinYaw) + .push8(FC.ADVANCED_TUNING.dMinGain) + .push8(FC.ADVANCED_TUNING.dMinAdvance) + .push8(FC.ADVANCED_TUNING.useIntegratedYaw) + .push8(FC.ADVANCED_TUNING.integratedYawRelax); - if(semver.gte(CONFIG.apiVersion, "1.42.0")) { - buffer.push8(ADVANCED_TUNING.itermRelaxCutoff); + if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + buffer.push8(FC.ADVANCED_TUNING.itermRelaxCutoff); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - buffer.push8(ADVANCED_TUNING.motorOutputLimit) - .push8(ADVANCED_TUNING.autoProfileCellCount) - .push8(ADVANCED_TUNING.idleMinRpm); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + buffer.push8(FC.ADVANCED_TUNING.motorOutputLimit) + .push8(FC.ADVANCED_TUNING.autoProfileCellCount) + .push8(FC.ADVANCED_TUNING.idleMinRpm); - if(semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - buffer.push8(ADVANCED_TUNING.ff_interpolate_sp) - .push8(ADVANCED_TUNING.ff_smooth_factor) - .push8(ADVANCED_TUNING.ff_boost) - .push8(ADVANCED_TUNING.vbat_sag_compensation); + if(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + buffer.push8(FC.ADVANCED_TUNING.ff_interpolate_sp) + .push8(FC.ADVANCED_TUNING.ff_smooth_factor) + .push8(FC.ADVANCED_TUNING.ff_boost) + .push8(FC.ADVANCED_TUNING.vbat_sag_compensation); } } } @@ -2112,53 +2112,53 @@ MspHelper.prototype.crunch = function(code) { } // only supports 1 version pre bf 3.0 else { - buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate) - .push16(ADVANCED_TUNING.yawItermIgnoreRate) - .push16(ADVANCED_TUNING.yaw_p_limit) - .push8(ADVANCED_TUNING.deltaMethod) - .push8(ADVANCED_TUNING.vbatPidCompensation); + buffer.push16(FC.ADVANCED_TUNING.rollPitchItermIgnoreRate) + .push16(FC.ADVANCED_TUNING.yawItermIgnoreRate) + .push16(FC.ADVANCED_TUNING.yaw_p_limit) + .push8(FC.ADVANCED_TUNING.deltaMethod) + .push8(FC.ADVANCED_TUNING.vbatPidCompensation); } break; case MSPCodes.MSP_SET_SENSOR_CONFIG: - buffer.push8(SENSOR_CONFIG.acc_hardware) - .push8(SENSOR_CONFIG.baro_hardware) - .push8(SENSOR_CONFIG.mag_hardware); + buffer.push8(FC.SENSOR_CONFIG.acc_hardware) + .push8(FC.SENSOR_CONFIG.baro_hardware) + .push8(FC.SENSOR_CONFIG.mag_hardware); break; case MSPCodes.MSP_SET_NAME: var MSP_BUFFER_SIZE = 64; - for (let i = 0; i 0) { + while (FC.MULTIPLE_MSP.msp_commands.length > 0) { - let mspCommand = MULTIPLE_MSP.msp_commands.shift(); + let mspCommand = FC.MULTIPLE_MSP.msp_commands.shift(); self.mspMultipleCache.push(mspCommand); buffer.push8(mspCommand); @@ -2283,11 +2283,11 @@ MspHelper.prototype.setRawRx = function(channels) { MspHelper.prototype.dataflashRead = function(address, blockSize, onDataCallback) { var outData = [address & 0xFF, (address >> 8) & 0xFF, (address >> 16) & 0xFF, (address >> 24) & 0xFF]; - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { outData = outData.concat([blockSize & 0xFF, (blockSize >> 8) & 0xFF]); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { // Allow compression outData = outData.concat([1]); } @@ -2299,7 +2299,7 @@ MspHelper.prototype.dataflashRead = function(address, blockSize, onDataCallback) var headerSize = 4; var dataSize = response.data.buffer.byteLength - headerSize; var dataCompressionType = 0; - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { headerSize = headerSize + 3; dataSize = response.data.readU16(); dataCompressionType = response.data.readU8(); @@ -2340,7 +2340,7 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) { var servoIndex = 0; - if (SERVO_CONFIG.length == 0) { + if (FC.SERVO_CONFIG.length == 0) { onCompleteCallback(); } else { nextFunction(); @@ -2351,20 +2351,20 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) { var buffer = []; - if (semver.lt(CONFIG.apiVersion, "1.12.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.12.0")) { // send all in one go // 1.9.0 had a bug where the MSP input buffer was too small, limit to 8. - for (let i = 0; i < SERVO_CONFIG.length && i < 8; i++) { - buffer.push16(SERVO_CONFIG[i].min) - .push16(SERVO_CONFIG[i].max) - .push16(SERVO_CONFIG[i].middle) - .push8(SERVO_CONFIG[i].rate); + for (let i = 0; i < FC.SERVO_CONFIG.length && i < 8; i++) { + buffer.push16(FC.SERVO_CONFIG[i].min) + .push16(FC.SERVO_CONFIG[i].max) + .push16(FC.SERVO_CONFIG[i].middle) + .push8(FC.SERVO_CONFIG[i].rate); } nextFunction = send_channel_forwarding; } else { // send one at a time, with index - var servoConfiguration = SERVO_CONFIG[servoIndex]; + var servoConfiguration = FC.SERVO_CONFIG[servoIndex]; buffer.push8(servoIndex) .push16(servoConfiguration.min) @@ -2372,7 +2372,7 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) { .push16(servoConfiguration.middle) .push8(servoConfiguration.rate); - if (semver.lt(CONFIG.apiVersion, "1.33.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.33.0")) { buffer.push8(servoConfiguration.angleAtMin) .push8(servoConfiguration.angleAtMax); } @@ -2386,7 +2386,7 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) { // prepare for next iteration servoIndex++; - if (servoIndex == SERVO_CONFIG.length) { + if (servoIndex == FC.SERVO_CONFIG.length) { nextFunction = onCompleteCallback; } } @@ -2396,8 +2396,8 @@ MspHelper.prototype.sendServoConfigurations = function(onCompleteCallback) { function send_channel_forwarding() { var buffer = []; - for (let i = 0; i < SERVO_CONFIG.length; i++) { - var out = SERVO_CONFIG[i].indexOfChannelToForward; + for (let i = 0; i < FC.SERVO_CONFIG.length; i++) { + var out = FC.SERVO_CONFIG[i].indexOfChannelToForward; if (out == undefined) { out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF" } @@ -2415,7 +2415,7 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) { var modeRangeIndex = 0; - if (MODE_RANGES.length == 0) { + if (FC.MODE_RANGES.length == 0) { onCompleteCallback(); } else { send_next_mode_range(); @@ -2423,7 +2423,7 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) { function send_next_mode_range() { - var modeRange = MODE_RANGES[modeRangeIndex]; + var modeRange = FC.MODE_RANGES[modeRangeIndex]; var buffer = []; buffer.push8(modeRangeIndex) @@ -2432,8 +2432,8 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) { .push8((modeRange.range.start - 900) / 25) .push8((modeRange.range.end - 900) / 25); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - var modeRangeExtra = MODE_RANGES_EXTRA[modeRangeIndex]; + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + var modeRangeExtra = FC.MODE_RANGES_EXTRA[modeRangeIndex]; buffer.push8(modeRangeExtra.modeLogic) .push8(modeRangeExtra.linkedTo); @@ -2441,7 +2441,7 @@ MspHelper.prototype.sendModeRanges = function(onCompleteCallback) { // prepare for next iteration modeRangeIndex++; - if (modeRangeIndex == MODE_RANGES.length) { + if (modeRangeIndex == FC.MODE_RANGES.length) { nextFunction = onCompleteCallback; } MSP.send_message(MSPCodes.MSP_SET_MODE_RANGE, buffer, false, nextFunction); @@ -2453,7 +2453,7 @@ MspHelper.prototype.sendAdjustmentRanges = function(onCompleteCallback) { var adjustmentRangeIndex = 0; - if (ADJUSTMENT_RANGES.length == 0) { + if (FC.ADJUSTMENT_RANGES.length == 0) { onCompleteCallback(); } else { send_next_adjustment_range(); @@ -2462,7 +2462,7 @@ MspHelper.prototype.sendAdjustmentRanges = function(onCompleteCallback) { function send_next_adjustment_range() { - var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex]; + var adjustmentRange = FC.ADJUSTMENT_RANGES[adjustmentRangeIndex]; var buffer = []; buffer.push8(adjustmentRangeIndex) @@ -2475,7 +2475,7 @@ MspHelper.prototype.sendAdjustmentRanges = function(onCompleteCallback) { // prepare for next iteration adjustmentRangeIndex++; - if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) { + if (adjustmentRangeIndex == FC.ADJUSTMENT_RANGES.length) { nextFunction = onCompleteCallback; } @@ -2489,7 +2489,7 @@ MspHelper.prototype.sendVoltageConfig = function(onCompleteCallback) { var configIndex = 0; - if (VOLTAGE_METER_CONFIGS.length == 0) { + if (FC.VOLTAGE_METER_CONFIGS.length == 0) { onCompleteCallback(); } else { send_next_voltage_config(); @@ -2498,14 +2498,14 @@ MspHelper.prototype.sendVoltageConfig = function(onCompleteCallback) { function send_next_voltage_config() { var buffer = []; - buffer.push8(VOLTAGE_METER_CONFIGS[configIndex].id) - .push8(VOLTAGE_METER_CONFIGS[configIndex].vbatscale) - .push8(VOLTAGE_METER_CONFIGS[configIndex].vbatresdivval) - .push8(VOLTAGE_METER_CONFIGS[configIndex].vbatresdivmultiplier); + buffer.push8(FC.VOLTAGE_METER_CONFIGS[configIndex].id) + .push8(FC.VOLTAGE_METER_CONFIGS[configIndex].vbatscale) + .push8(FC.VOLTAGE_METER_CONFIGS[configIndex].vbatresdivval) + .push8(FC.VOLTAGE_METER_CONFIGS[configIndex].vbatresdivmultiplier); // prepare for next iteration configIndex++; - if (configIndex == VOLTAGE_METER_CONFIGS.length) { + if (configIndex == FC.VOLTAGE_METER_CONFIGS.length) { nextFunction = onCompleteCallback; } @@ -2520,7 +2520,7 @@ MspHelper.prototype.sendCurrentConfig = function(onCompleteCallback) { var configIndex = 0; - if (CURRENT_METER_CONFIGS.length == 0) { + if (FC.CURRENT_METER_CONFIGS.length == 0) { onCompleteCallback(); } else { send_next_current_config(); @@ -2529,13 +2529,13 @@ MspHelper.prototype.sendCurrentConfig = function(onCompleteCallback) { function send_next_current_config() { var buffer = []; - buffer.push8(CURRENT_METER_CONFIGS[configIndex].id) - .push16(CURRENT_METER_CONFIGS[configIndex].scale) - .push16(CURRENT_METER_CONFIGS[configIndex].offset); + buffer.push8(FC.CURRENT_METER_CONFIGS[configIndex].id) + .push16(FC.CURRENT_METER_CONFIGS[configIndex].scale) + .push16(FC.CURRENT_METER_CONFIGS[configIndex].offset); // prepare for next iteration configIndex++; - if (configIndex == CURRENT_METER_CONFIGS.length) { + if (configIndex == FC.CURRENT_METER_CONFIGS.length) { nextFunction = onCompleteCallback; } @@ -2550,7 +2550,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) { var ledIndex = 0; - if (LED_STRIP.length == 0) { + if (FC.LED_STRIP.length == 0) { onCompleteCallback(); } else { send_next_led_strip_config(); @@ -2558,11 +2558,11 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) { function send_next_led_strip_config() { - var led = LED_STRIP[ledIndex]; + var led = FC.LED_STRIP[ledIndex]; var ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order var ledFunctionLetters = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l']; // in LSB bit order var ledBaseFunctionLetters = ['c', 'f', 'a', 'l', 's', 'g', 'r']; // in LSB bit - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { var ledOverlayLetters = ['t', 'o', 'b', 'w', 'i', 'w']; // in LSB bit } else { var ledOverlayLetters = ['t', 'o', 'b', 'v', 'i', 'w']; // in LSB bit @@ -2572,7 +2572,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) { buffer.push(ledIndex); - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { var directionMask = 0; for (var directionLetterIndex = 0; directionLetterIndex < led.directions.length; directionLetterIndex++) { var bitIndex = ledDirectionLetters.indexOf(led.directions[directionLetterIndex]); @@ -2633,7 +2633,7 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) { // prepare for next iteration ledIndex++; - if (ledIndex == LED_STRIP.length) { + if (ledIndex == FC.LED_STRIP.length) { nextFunction = onCompleteCallback; } @@ -2642,13 +2642,13 @@ MspHelper.prototype.sendLedStripConfig = function(onCompleteCallback) { } MspHelper.prototype.sendLedStripColors = function(onCompleteCallback) { - if (LED_COLORS.length == 0) { + if (FC.LED_COLORS.length == 0) { onCompleteCallback(); } else { var buffer = []; - for (var colorIndex = 0; colorIndex < LED_COLORS.length; colorIndex++) { - var color = LED_COLORS[colorIndex]; + for (var colorIndex = 0; colorIndex < FC.LED_COLORS.length; colorIndex++) { + var color = FC.LED_COLORS[colorIndex]; buffer.push16(color.h) .push8(color.s) @@ -2663,7 +2663,7 @@ MspHelper.prototype.sendLedStripModeColors = function(onCompleteCallback) { var nextFunction = send_next_led_strip_mode_color; var index = 0; - if (LED_MODE_COLORS.length == 0) { + if (FC.LED_MODE_COLORS.length == 0) { onCompleteCallback(); } else { send_next_led_strip_mode_color(); @@ -2672,7 +2672,7 @@ MspHelper.prototype.sendLedStripModeColors = function(onCompleteCallback) { function send_next_led_strip_mode_color() { var buffer = []; - var mode_color = LED_MODE_COLORS[index]; + var mode_color = FC.LED_MODE_COLORS[index]; buffer.push8(mode_color.mode) .push8(mode_color.direction) @@ -2680,7 +2680,7 @@ MspHelper.prototype.sendLedStripModeColors = function(onCompleteCallback) { // prepare for next iteration index++; - if (index == LED_MODE_COLORS.length) { + if (index == FC.LED_MODE_COLORS.length) { nextFunction = onCompleteCallback; } @@ -2723,7 +2723,7 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) { var rxFailIndex = 0; - if (RXFAIL_CONFIG.length == 0) { + if (FC.RXFAIL_CONFIG.length == 0) { onCompleteCallback(); } else { send_next_rxfail_config(); @@ -2731,7 +2731,7 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) { function send_next_rxfail_config() { - var rxFail = RXFAIL_CONFIG[rxFailIndex]; + var rxFail = FC.RXFAIL_CONFIG[rxFailIndex]; var buffer = []; buffer.push8(rxFailIndex) @@ -2741,7 +2741,7 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) { // prepare for next iteration rxFailIndex++; - if (rxFailIndex == RXFAIL_CONFIG.length) { + if (rxFailIndex == FC.RXFAIL_CONFIG.length) { nextFunction = onCompleteCallback; } @@ -2750,9 +2750,9 @@ MspHelper.prototype.sendRxFailConfig = function(onCompleteCallback) { } MspHelper.prototype.setArmingEnabled = function(doEnable, disableRunawayTakeoffPrevention, onCompleteCallback) { - if (semver.gte(CONFIG.apiVersion, "1.37.0") && (CONFIG.armingDisabled === doEnable || CONFIG.runawayTakeoffPreventionDisabled !== disableRunawayTakeoffPrevention)) { - CONFIG.armingDisabled = !doEnable; - CONFIG.runawayTakeoffPreventionDisabled = disableRunawayTakeoffPrevention; + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0") && (FC.CONFIG.armingDisabled === doEnable || FC.CONFIG.runawayTakeoffPreventionDisabled !== disableRunawayTakeoffPrevention)) { + FC.CONFIG.armingDisabled = !doEnable; + FC.CONFIG.runawayTakeoffPreventionDisabled = disableRunawayTakeoffPrevention; MSP.send_message(MSPCodes.MSP_ARMING_DISABLE, mspHelper.crunch(MSPCodes.MSP_ARMING_DISABLE), false, function () { if (doEnable) { @@ -2778,12 +2778,12 @@ MspHelper.prototype.setArmingEnabled = function(doEnable, disableRunawayTakeoffP } MspHelper.prototype.loadSerialConfig = function(callback) { - const mspCode = semver.gte(CONFIG.apiVersion, API_VERSION_1_43) ? MSPCodes.MSP2_COMMON_SERIAL_CONFIG : MSPCodes.MSP_CF_SERIAL_CONFIG; + const mspCode = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? MSPCodes.MSP2_COMMON_SERIAL_CONFIG : MSPCodes.MSP_CF_SERIAL_CONFIG; MSP.send_message(mspCode, false, false, callback); }; MspHelper.prototype.sendSerialConfig = function(callback) { - const mspCode = semver.gte(CONFIG.apiVersion, API_VERSION_1_43) ? MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG : MSPCodes.MSP_SET_CF_SERIAL_CONFIG; + const mspCode = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG : MSPCodes.MSP_SET_CF_SERIAL_CONFIG; MSP.send_message(mspCode, mspHelper.crunch(mspCode), false, callback); }; diff --git a/src/js/peripherals.js b/src/js/peripherals.js index fd333c8e..f9b926e2 100644 --- a/src/js/peripherals.js +++ b/src/js/peripherals.js @@ -2,8 +2,8 @@ // return true if user has choose a special peripheral function isPeripheralSelected(peripheralName) { - for (var portIndex = 0; portIndex < SERIAL_CONFIG.ports.length; portIndex++) { - var serialPort = SERIAL_CONFIG.ports[portIndex]; + for (var portIndex = 0; portIndex < FC.SERIAL_CONFIG.ports.length; portIndex++) { + var serialPort = FC.SERIAL_CONFIG.ports[portIndex]; if (serialPort.functions.indexOf(peripheralName) >= 0) { return true; } diff --git a/src/js/protocols/stm32.js b/src/js/protocols/stm32.js index f540bab0..917e7c01 100644 --- a/src/js/protocols/stm32.js +++ b/src/js/protocols/stm32.js @@ -139,9 +139,9 @@ STM32_protocol.prototype.connect = function (port, baud, hex, options, callback) var onConnectHandler = function () { - GUI.log(i18n.getMessage('apiVersionReceived', [CONFIG.apiVersion])); + GUI.log(i18n.getMessage('apiVersionReceived', [FC.CONFIG.apiVersion])); - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { self.msp_connector.disconnect(function (disconnectionResult) { @@ -153,7 +153,7 @@ STM32_protocol.prototype.connect = function (port, baud, hex, options, callback) MSP.send_message(MSPCodes.MSP_BOARD_INFO, false, false, function () { var rebootMode = 0; // FIRMWARE - if (bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_FLASH_BOOTLOADER)) { + if (bit_check(FC.CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_FLASH_BOOTLOADER)) { // Board has flash bootloader GUI.log(i18n.getMessage('deviceRebooting_flashBootloader')); console.log('flash bootloader detected'); diff --git a/src/js/serial.js b/src/js/serial.js index 6cd8bc9a..7783deee 100644 --- a/src/js/serial.js +++ b/src/js/serial.js @@ -122,8 +122,8 @@ var serial = { case 'device_lost': default: console.log("serial disconnecting: " + info.error); - CONFIG.armingDisabled = false; - CONFIG.runawayTakeoffPreventionDisabled = false; + FC.CONFIG.armingDisabled = false; + FC.CONFIG.runawayTakeoffPreventionDisabled = false; if (GUI.connected_to || GUI.connecting_to) { $('a.connect').click(); diff --git a/src/js/serial_backend.js b/src/js/serial_backend.js index 2235276f..b236386f 100644 --- a/src/js/serial_backend.js +++ b/src/js/serial_backend.js @@ -178,7 +178,7 @@ function finishClose(finishedCallback) { // Reset various UI elements $('span.i2c-error').text(0); $('span.cycle-time').text(0); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) $('span.cpu-load').text(''); // unlock port select & baud @@ -247,31 +247,31 @@ function onOpen(openInfo) { // request configuration data MSP.send_message(MSPCodes.MSP_API_VERSION, false, false, function () { - analytics.setFlightControllerData(analytics.DATA.API_VERSION, CONFIG.apiVersion); + analytics.setFlightControllerData(analytics.DATA.API_VERSION, FC.CONFIG.apiVersion); - GUI.log(i18n.getMessage('apiVersionReceived', [CONFIG.apiVersion])); + GUI.log(i18n.getMessage('apiVersionReceived', [FC.CONFIG.apiVersion])); - if (semver.gte(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_ACCEPTED)) { + if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_ACCEPTED)) { MSP.send_message(MSPCodes.MSP_FC_VARIANT, false, false, function () { - analytics.setFlightControllerData(analytics.DATA.FIRMWARE_TYPE, CONFIG.flightControllerIdentifier); - if (CONFIG.flightControllerIdentifier === 'BTFL') { + analytics.setFlightControllerData(analytics.DATA.FIRMWARE_TYPE, FC.CONFIG.flightControllerIdentifier); + if (FC.CONFIG.flightControllerIdentifier === 'BTFL') { MSP.send_message(MSPCodes.MSP_FC_VERSION, false, false, function () { - analytics.setFlightControllerData(analytics.DATA.FIRMWARE_VERSION, CONFIG.flightControllerVersion); + analytics.setFlightControllerData(analytics.DATA.FIRMWARE_VERSION, FC.CONFIG.flightControllerVersion); - GUI.log(i18n.getMessage('fcInfoReceived', [CONFIG.flightControllerIdentifier, CONFIG.flightControllerVersion])); - updateStatusBarVersion(CONFIG.flightControllerVersion, CONFIG.flightControllerIdentifier); - updateTopBarVersion(CONFIG.flightControllerVersion, CONFIG.flightControllerIdentifier); + GUI.log(i18n.getMessage('fcInfoReceived', [FC.CONFIG.flightControllerIdentifier, FC.CONFIG.flightControllerVersion])); + updateStatusBarVersion(FC.CONFIG.flightControllerVersion, FC.CONFIG.flightControllerIdentifier); + updateTopBarVersion(FC.CONFIG.flightControllerVersion, FC.CONFIG.flightControllerIdentifier); MSP.send_message(MSPCodes.MSP_BUILD_INFO, false, false, function () { - GUI.log(i18n.getMessage('buildInfoReceived', [CONFIG.buildInfo])); + GUI.log(i18n.getMessage('buildInfoReceived', [FC.CONFIG.buildInfo])); MSP.send_message(MSPCodes.MSP_BOARD_INFO, false, false, processBoardInfo); }); }); } else { - analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'ConnectionRefusedFirmwareType', CONFIG.flightControllerIdentifier); + analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'ConnectionRefusedFirmwareType', FC.CONFIG.flightControllerIdentifier); var dialog = $('.dialogConnectWarning')[0]; @@ -287,7 +287,7 @@ function onOpen(openInfo) { } }); } else { - analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'ConnectionRefusedFirmwareVersion', CONFIG.apiVersion); + analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'ConnectionRefusedFirmwareVersion', FC.CONFIG.apiVersion); var dialog = $('.dialogConnectWarning')[0]; @@ -324,17 +324,17 @@ function abortConnect() { } function processBoardInfo() { - analytics.setFlightControllerData(analytics.DATA.BOARD_TYPE, CONFIG.boardIdentifier); - analytics.setFlightControllerData(analytics.DATA.TARGET_NAME, CONFIG.targetName); - analytics.setFlightControllerData(analytics.DATA.BOARD_NAME, CONFIG.boardName); - analytics.setFlightControllerData(analytics.DATA.MANUFACTURER_ID, CONFIG.manufacturerId); + analytics.setFlightControllerData(analytics.DATA.BOARD_TYPE, FC.CONFIG.boardIdentifier); + analytics.setFlightControllerData(analytics.DATA.TARGET_NAME, FC.CONFIG.targetName); + analytics.setFlightControllerData(analytics.DATA.BOARD_NAME, FC.CONFIG.boardName); + analytics.setFlightControllerData(analytics.DATA.MANUFACTURER_ID, FC.CONFIG.manufacturerId); analytics.setFlightControllerData(analytics.DATA.MCU_TYPE, FC.getMcuType()); - GUI.log(i18n.getMessage('boardInfoReceived', [FC.getHardwareName(), CONFIG.boardVersion])); - updateStatusBarVersion(CONFIG.flightControllerVersion, CONFIG.flightControllerIdentifier, FC.getHardwareName()); - updateTopBarVersion(CONFIG.flightControllerVersion, CONFIG.flightControllerIdentifier, FC.getHardwareName()); + GUI.log(i18n.getMessage('boardInfoReceived', [FC.getHardwareName(), FC.CONFIG.boardVersion])); + updateStatusBarVersion(FC.CONFIG.flightControllerVersion, FC.CONFIG.flightControllerIdentifier, FC.getHardwareName()); + updateTopBarVersion(FC.CONFIG.flightControllerVersion, FC.CONFIG.flightControllerIdentifier, FC.getHardwareName()); - if (bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.SUPPORTS_CUSTOM_DEFAULTS) && bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_CUSTOM_DEFAULTS) && CONFIG.configurationState === FC.CONFIGURATION_STATES.DEFAULTS_BARE) { + if (bit_check(FC.CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.SUPPORTS_CUSTOM_DEFAULTS) && bit_check(FC.CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.HAS_CUSTOM_DEFAULTS) && FC.CONFIG.configurationState === FC.CONFIGURATION_STATES.DEFAULTS_BARE) { var dialog = $('#dialogResetToCustomDefaults')[0]; $('#dialogResetToCustomDefaults-acceptbtn').click(function() { @@ -374,7 +374,7 @@ function checkReportProblems() { const problemItemTemplate = $('#dialogReportProblems-listItemTemplate'); function checkReportProblem(problemName, problemDialogList) { - if (bit_check(CONFIG.configurationProblems, FC.CONFIGURATION_PROBLEM_FLAGS[problemName])) { + if (bit_check(FC.CONFIG.configurationProblems, FC.CONFIGURATION_PROBLEM_FLAGS[problemName])) { problemItemTemplate.clone().html(i18n.getMessage(`reportProblemsDialog${problemName}`)).appendTo(problemDialogList); analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, PROBLEM_ANALYTICS_EVENT, problemName); @@ -390,19 +390,19 @@ function checkReportProblems() { const problemDialogList = $('#dialogReportProblems-list'); problemDialogList.empty(); - if (semver.gt(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MAX_SUPPORTED)) { + if (semver.gt(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MAX_SUPPORTED)) { const problemName = 'API_VERSION_MAX_SUPPORTED'; problemItemTemplate.clone().html(i18n.getMessage(`reportProblemsDialog${problemName}`, - [CONFIGURATOR.latestVersion, CONFIGURATOR.latestVersionReleaseUrl, CONFIGURATOR.version, CONFIG.flightControllerVersion])).appendTo(problemDialogList); + [CONFIGURATOR.latestVersion, CONFIGURATOR.latestVersionReleaseUrl, CONFIGURATOR.version, FC.CONFIG.flightControllerVersion])).appendTo(problemDialogList); needsProblemReportingDialog = true; analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, PROBLEM_ANALYTICS_EVENT, - `${problemName};${CONFIGURATOR.API_VERSION_MAX_SUPPORTED};${CONFIG.apiVersion}`); + `${problemName};${CONFIGURATOR.API_VERSION_MAX_SUPPORTED};${FC.CONFIG.apiVersion}`); } needsProblemReportingDialog = checkReportProblem('MOTOR_PROTOCOL_DISABLED', problemDialogList) || needsProblemReportingDialog; - if (have_sensor(CONFIG.activeSensors, 'acc')) { + if (have_sensor(FC.CONFIG.activeSensors, 'acc')) { needsProblemReportingDialog = checkReportProblem('ACC_NEEDS_CALIBRATION', problemDialogList) || needsProblemReportingDialog; } @@ -422,14 +422,14 @@ function checkReportProblems() { function processUid() { MSP.send_message(MSPCodes.MSP_UID, false, false, function () { - var uniqueDeviceIdentifier = CONFIG.uid[0].toString(16) + CONFIG.uid[1].toString(16) + CONFIG.uid[2].toString(16); + var uniqueDeviceIdentifier = FC.CONFIG.uid[0].toString(16) + FC.CONFIG.uid[1].toString(16) + FC.CONFIG.uid[2].toString(16); analytics.setFlightControllerData(analytics.DATA.MCU_ID, objectHash.sha1(uniqueDeviceIdentifier)); analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'Connected'); connectionTimestamp = Date.now(); GUI.log(i18n.getMessage('uniqueDeviceIdReceived', [uniqueDeviceIdentifier])); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { processName(); } else { setRtc(); @@ -439,15 +439,15 @@ function processUid() { function processName() { MSP.send_message(MSPCodes.MSP_NAME, false, false, function () { - GUI.log(i18n.getMessage('craftNameReceived', [CONFIG.name])); + GUI.log(i18n.getMessage('craftNameReceived', [FC.CONFIG.name])); - CONFIG.armingDisabled = false; + FC.CONFIG.armingDisabled = false; mspHelper.setArmingEnabled(false, false, setRtc); }); } function setRtc() { - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { MSP.send_message(MSPCodes.MSP_SET_RTC, mspHelper.crunch(MSPCodes.MSP_SET_RTC), false, finishOpen); } else { finishOpen(); @@ -457,7 +457,7 @@ function setRtc() { function finishOpen() { CONFIGURATOR.connectionValid = true; GUI.allowedTabs = GUI.defaultAllowedFCTabsWhenConnected.slice(); - if (semver.lt(CONFIG.apiVersion, "1.4.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.4.0")) { GUI.allowedTabs.splice(GUI.allowedTabs.indexOf('led_strip'), 1); } @@ -502,7 +502,7 @@ function onConnect() { } }); - if (CONFIG.boardType == 0) { + if (FC.CONFIG.boardType == 0) { if (classes.indexOf("osd-required") >= 0) { found = false; } @@ -511,21 +511,21 @@ function onConnect() { return found; }).show(); - if (CONFIG.flightControllerVersion !== '') { - FEATURE_CONFIG.features = new Features(CONFIG); - BEEPER_CONFIG.beepers = new Beepers(CONFIG); - BEEPER_CONFIG.dshotBeaconConditions = new Beepers(CONFIG, [ "RX_LOST", "RX_SET" ]); + if (FC.CONFIG.flightControllerVersion !== '') { + FC.FEATURE_CONFIG.features = new Features(FC.CONFIG); + FC.BEEPER_CONFIG.beepers = new Beepers(FC.CONFIG); + FC.BEEPER_CONFIG.dshotBeaconConditions = new Beepers(FC.CONFIG, [ "RX_LOST", "RX_SET" ]); $('#tabs ul.mode-connected').show(); MSP.send_message(MSPCodes.MSP_FEATURE_CONFIG, false, false); - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_BATTERY_CONFIG, false, false); } MSP.send_message(MSPCodes.MSP_STATUS_EX, false, false); MSP.send_message(MSPCodes.MSP_DATAFLASH_SUMMARY, false, false); - if (CONFIG.boardType == 0 || CONFIG.boardType == 2) { + if (FC.CONFIG.boardType == 0 || FC.CONFIG.boardType == 2) { startLiveDataRefreshTimer(); } } @@ -606,7 +606,7 @@ function sensor_status(sensors_detected) { $('.accicon', e_sensor_status).removeClass('active'); } - if ((CONFIG.boardType == 0 || CONFIG.boardType == 2) && have_sensor(sensors_detected, 'gyro')) { + if ((FC.CONFIG.boardType == 0 || FC.CONFIG.boardType == 2) && have_sensor(sensors_detected, 'gyro')) { $('.gyro', e_sensor_status).addClass('on'); $('.gyroicon', e_sensor_status).addClass('active'); } else { @@ -660,7 +660,7 @@ function have_sensor(sensors_detected, sensor_code) { case 'sonar': return bit_check(sensors_detected, 4); case 'gyro': - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { return bit_check(sensors_detected, 5); } else { return true; @@ -684,7 +684,7 @@ function update_live_status() { if (GUI.active_tab != 'cli') { MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false); - if (semver.gte(CONFIG.apiVersion, "1.32.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.32.0")) { MSP.send_message(MSPCodes.MSP_STATUS_EX, false, false); } else { MSP.send_message(MSPCodes.MSP_STATUS, false, false); @@ -692,55 +692,55 @@ function update_live_status() { MSP.send_message(MSPCodes.MSP_ANALOG, false, false); } - var active = ((Date.now() - ANALOG.last_received_timestamp) < 300); + var active = ((Date.now() - FC.ANALOG.last_received_timestamp) < 300); - for (var i = 0; i < AUX_CONFIG.length; i++) { - if (AUX_CONFIG[i] == 'ARM') { - if (bit_check(CONFIG.mode, i)) + for (var i = 0; i < FC.AUX_CONFIG.length; i++) { + if (FC.AUX_CONFIG[i] == 'ARM') { + if (bit_check(FC.CONFIG.mode, i)) $(".armedicon").addClass('active'); else $(".armedicon").removeClass('active'); } - if (AUX_CONFIG[i] == 'FAILSAFE') { - if (bit_check(CONFIG.mode, i)) + if (FC.AUX_CONFIG[i] == 'FAILSAFE') { + if (bit_check(FC.CONFIG.mode, i)) $(".failsafeicon").addClass('active'); else $(".failsafeicon").removeClass('active'); } } - if (ANALOG != undefined) { - var nbCells = Math.floor(ANALOG.voltage / BATTERY_CONFIG.vbatmaxcellvoltage) + 1; + if (FC.ANALOG != undefined) { + var nbCells = Math.floor(FC.ANALOG.voltage / FC.BATTERY_CONFIG.vbatmaxcellvoltage) + 1; - if (ANALOG.voltage == 0) { + if (FC.ANALOG.voltage == 0) { nbCells = 1; } - var min = BATTERY_CONFIG.vbatmincellvoltage * nbCells; - var max = BATTERY_CONFIG.vbatmaxcellvoltage * nbCells; - var warn = BATTERY_CONFIG.vbatwarningcellvoltage * nbCells; + var min = FC.BATTERY_CONFIG.vbatmincellvoltage * nbCells; + var max = FC.BATTERY_CONFIG.vbatmaxcellvoltage * nbCells; + var warn = FC.BATTERY_CONFIG.vbatwarningcellvoltage * nbCells; const NO_BATTERY_VOLTAGE_MAXIMUM = 1.8; // Maybe is better to add a call to MSP_BATTERY_STATE but is not available for all versions - if (ANALOG.voltage < min && ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM) { + if (FC.ANALOG.voltage < min && FC.ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM) { $(".battery-status").addClass('state-empty').removeClass('state-ok').removeClass('state-warning'); $(".battery-status").css({ width: "100%", }); } else { $(".battery-status").css({ - width: ((ANALOG.voltage - min) / (max - min) * 100) + "%", + width: ((FC.ANALOG.voltage - min) / (max - min) * 100) + "%", }); - if (ANALOG.voltage < warn) { + if (FC.ANALOG.voltage < warn) { $(".battery-status").addClass('state-warning').removeClass('state-empty').removeClass('state-ok'); } else { $(".battery-status").addClass('state-ok').removeClass('state-warning').removeClass('state-empty'); } } - let cellsText = (ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM)? nbCells + 'S' : 'USB'; - $(".battery-legend").text(ANALOG.voltage.toFixed(2) + "V (" + cellsText + ")"); + let cellsText = (FC.ANALOG.voltage > NO_BATTERY_VOLTAGE_MAXIMUM)? nbCells + 'S' : 'USB'; + $(".battery-legend").text(FC.ANALOG.voltage.toFixed(2) + "V (" + cellsText + ")"); } @@ -787,7 +787,7 @@ function update_dataflash_global() { return megabytes.toFixed(1) + "MB"; } - var supportsDataflash = DATAFLASH.totalSize > 0; + var supportsDataflash = FC.DATAFLASH.totalSize > 0; if (supportsDataflash){ $(".noflash_global").css({ @@ -799,10 +799,10 @@ function update_dataflash_global() { }); $(".dataflash-free_global").css({ - width: (100-(DATAFLASH.totalSize - DATAFLASH.usedSize) / DATAFLASH.totalSize * 100) + "%", + width: (100-(FC.DATAFLASH.totalSize - FC.DATAFLASH.usedSize) / FC.DATAFLASH.totalSize * 100) + "%", display: 'block' }); - $(".dataflash-free_global div").text('Dataflash: free ' + formatFilesize(DATAFLASH.totalSize - DATAFLASH.usedSize)); + $(".dataflash-free_global div").text('Dataflash: free ' + formatFilesize(FC.DATAFLASH.totalSize - FC.DATAFLASH.usedSize)); } else { $(".noflash_global").css({ display: 'block' diff --git a/src/js/tabs/adjustments.js b/src/js/tabs/adjustments.js index 7e023eb5..36ccf522 100644 --- a/src/js/tabs/adjustments.js +++ b/src/js/tabs/adjustments.js @@ -37,7 +37,7 @@ TABS.adjustments.initialize = function (callback) { // update selected slot // - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { var adjustmentList = $(newAdjustment).find('.adjustmentSlot .slot'); adjustmentList.val(adjustmentRange.slotIndex); } @@ -156,16 +156,16 @@ TABS.adjustments.initialize = function (callback) { self.adjust_template(); - var auxChannelCount = RC.active_channels - 4; + var auxChannelCount = FC.RC.active_channels - 4; var modeTableBodyElement = $('.tab-adjustments .adjustments tbody'); - for (var adjustmentIndex = 0; adjustmentIndex < ADJUSTMENT_RANGES.length; adjustmentIndex++) { - var newAdjustment = addAdjustment(adjustmentIndex, ADJUSTMENT_RANGES[adjustmentIndex], auxChannelCount); + for (var adjustmentIndex = 0; adjustmentIndex < FC.ADJUSTMENT_RANGES.length; adjustmentIndex++) { + var newAdjustment = addAdjustment(adjustmentIndex, FC.ADJUSTMENT_RANGES[adjustmentIndex], auxChannelCount); modeTableBodyElement.append(newAdjustment); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { $('.tab-adjustments .adjustmentSlotsHelp').hide(); $('.tab-adjustments .adjustmentSlotHeader').hide(); $('.tab-adjustments .adjustmentSlot').hide(); @@ -178,9 +178,9 @@ TABS.adjustments.initialize = function (callback) { $('a.save').click(function () { // update internal data structures based on current UI elements - var requiredAdjustmentRangeCount = ADJUSTMENT_RANGES.length; + var requiredAdjustmentRangeCount = FC.ADJUSTMENT_RANGES.length; - ADJUSTMENT_RANGES = []; + FC.ADJUSTMENT_RANGES = []; var defaultAdjustmentRange = { slotIndex: 0, @@ -199,7 +199,7 @@ TABS.adjustments.initialize = function (callback) { if ($(adjustmentElement).find('.enable').prop("checked")) { var rangeValues = $(this).find('.range .channel-slider').val(); var slotIndex = 0; - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { slotIndex = parseInt($(this).find('.adjustmentSlot .slot').val()); } @@ -213,14 +213,14 @@ TABS.adjustments.initialize = function (callback) { adjustmentFunction: parseInt($(this).find('.functionSelection .function').val()), auxSwitchChannelIndex: parseInt($(this).find('.functionSwitchChannel .channel').val()) }; - ADJUSTMENT_RANGES.push(adjustmentRange); + FC.ADJUSTMENT_RANGES.push(adjustmentRange); } else { - ADJUSTMENT_RANGES.push(defaultAdjustmentRange); + FC.ADJUSTMENT_RANGES.push(defaultAdjustmentRange); } }); - for (var adjustmentRangeIndex = ADJUSTMENT_RANGES.length; adjustmentRangeIndex < requiredAdjustmentRangeCount; adjustmentRangeIndex++) { - ADJUSTMENT_RANGES.push(defaultAdjustmentRange); + for (var adjustmentRangeIndex = FC.ADJUSTMENT_RANGES.length; adjustmentRangeIndex < requiredAdjustmentRangeCount; adjustmentRangeIndex++) { + FC.ADJUSTMENT_RANGES.push(defaultAdjustmentRange); } // @@ -260,10 +260,10 @@ TABS.adjustments.initialize = function (callback) { } function update_ui() { - var auxChannelCount = RC.active_channels - 4; + var auxChannelCount = FC.RC.active_channels - 4; for (var auxChannelIndex = 0; auxChannelIndex < auxChannelCount; auxChannelIndex++) { - update_marker(auxChannelIndex, RC.channels[auxChannelIndex + 4]); + update_marker(auxChannelIndex, FC.RC.channels[auxChannelIndex + 4]); } } @@ -291,13 +291,13 @@ TABS.adjustments.adjust_template = function () { var selectFunction = $('#functionSelectionSelect'); var elementsNumber; - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { elementsNumber = 31; // OSD Profile Select & LED Profile Select - } else if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + } else if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { elementsNumber = 29; // PID Audio - } else if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + } else if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { elementsNumber = 26; // PID Audio - } else if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + } else if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { elementsNumber = 25; // Horizon Strength } else { elementsNumber = 24; // Setpoint transition @@ -308,7 +308,7 @@ TABS.adjustments.adjust_template = function () { } // For 1.40, the D Setpoint has been replaced, so we replace it with the correct values - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { var element22 = selectFunction.find("option[value='22']"); var element23 = selectFunction.find("option[value='23']"); diff --git a/src/js/tabs/auxiliary.js b/src/js/tabs/auxiliary.js index 359502f5..fb3bfbb4 100644 --- a/src/js/tabs/auxiliary.js +++ b/src/js/tabs/auxiliary.js @@ -9,7 +9,7 @@ TABS.auxiliary.initialize = function (callback) { function get_mode_ranges() { MSP.send_message(MSPCodes.MSP_MODE_RANGES, false, false, - semver.gte(CONFIG.apiVersion, "1.41.0") ? get_mode_ranges_extra : get_box_ids); + semver.gte(FC.CONFIG.apiVersion, "1.41.0") ? get_mode_ranges_extra : get_box_ids); } function get_mode_ranges_extra() { @@ -42,7 +42,7 @@ TABS.auxiliary.initialize = function (callback) { var modeTemplate = $('#tab-auxiliary-templates .mode'); var newMode = modeTemplate.clone(); - var modeName = AUX_CONFIG[modeIndex]; + var modeName = FC.AUX_CONFIG[modeIndex]; // Adjust the name of the box if a peripheral is selected modeName = adjustBoxNameIfPeripheralWithModeID(modeId, modeName); @@ -57,7 +57,7 @@ TABS.auxiliary.initialize = function (callback) { $(newMode).find('a.addLink').data('modeElement', newMode); // hide link button for ARM - if (modeId == 0 || semver.lt(CONFIG.apiVersion, "1.41.0")) { + if (modeId == 0 || semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { $(newMode).find('.addLink').hide(); } @@ -75,7 +75,7 @@ TABS.auxiliary.initialize = function (callback) { logicOption.val(0); logicList.append(logicOption); - if(semver.gte(CONFIG.apiVersion, "1.41.0")){ + if(semver.gte(FC.CONFIG.apiVersion, "1.41.0")){ var logicOption = logicOptionTemplate.clone(); logicOption.text(i18n.getMessage('auxiliaryModeLogicAND')); logicOption.val(1); @@ -122,10 +122,10 @@ TABS.auxiliary.initialize = function (callback) { linkOption.val(0); linkList.append(linkOption); - for (var index = 1; index < AUX_CONFIG.length; index++) { + for (var index = 1; index < FC.AUX_CONFIG.length; index++) { var linkOption = linkOptionTemplate.clone(); - linkOption.text(AUX_CONFIG[index]); - linkOption.val(AUX_CONFIG_IDS[index]); // set value to mode id + linkOption.text(FC.AUX_CONFIG[index]); + linkOption.val(FC.AUX_CONFIG_IDS[index]); // set value to mode id linkList.append(linkOption); } @@ -249,30 +249,30 @@ TABS.auxiliary.initialize = function (callback) { } function process_html() { - var auxChannelCount = RC.active_channels - 4; + var auxChannelCount = FC.RC.active_channels - 4; configureRangeTemplate(auxChannelCount); configureLinkTemplate(); const modeTableBodyElement = $('.tab-auxiliary .modes'); - for (var modeIndex = 0; modeIndex < AUX_CONFIG.length; modeIndex++) { + for (var modeIndex = 0; modeIndex < FC.AUX_CONFIG.length; modeIndex++) { - var modeId = AUX_CONFIG_IDS[modeIndex]; + var modeId = FC.AUX_CONFIG_IDS[modeIndex]; var newMode = createMode(modeIndex, modeId); modeTableBodyElement.append(newMode); // generate ranges from the supplied AUX names and MODE_RANGES[_EXTRA] data // skip linked modes for now - for (var modeRangeIndex = 0; modeRangeIndex < MODE_RANGES.length; modeRangeIndex++) { - var modeRange = MODE_RANGES[modeRangeIndex]; + for (var modeRangeIndex = 0; modeRangeIndex < FC.MODE_RANGES.length; modeRangeIndex++) { + var modeRange = FC.MODE_RANGES[modeRangeIndex]; var modeRangeExtra = { id: modeRange.id, modeLogic: 0, linkedTo: 0 }; - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - modeRangeExtra = MODE_RANGES_EXTRA[modeRangeIndex]; + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + modeRangeExtra = FC.MODE_RANGES_EXTRA[modeRangeIndex]; } if (modeRange.id != modeId || modeRangeExtra.id != modeId) { @@ -314,10 +314,10 @@ TABS.auxiliary.initialize = function (callback) { // update internal data structures based on current UI elements // we must send this many back to the FC - overwrite all of the old ones to be sure. - var requiredModesRangeCount = MODE_RANGES.length; + var requiredModesRangeCount = FC.MODE_RANGES.length; - MODE_RANGES = []; - MODE_RANGES_EXTRA = []; + FC.MODE_RANGES = []; + FC.MODE_RANGES_EXTRA = []; $('.tab-auxiliary .modes .mode').each(function () { var modeElement = $(this); @@ -333,14 +333,14 @@ TABS.auxiliary.initialize = function (callback) { end: rangeValues[1] } }; - MODE_RANGES.push(modeRange); + FC.MODE_RANGES.push(modeRange); var modeRangeExtra = { id: modeId, modeLogic: parseInt($(this).find('.logic').val()), linkedTo: 0 }; - MODE_RANGES_EXTRA.push(modeRangeExtra); + FC.MODE_RANGES_EXTRA.push(modeRangeExtra); }); $(modeElement).find('.link').each(function() { @@ -357,19 +357,19 @@ TABS.auxiliary.initialize = function (callback) { end: 900 } }; - MODE_RANGES.push(modeRange); + FC.MODE_RANGES.push(modeRange); var modeRangeExtra = { id: modeId, modeLogic: parseInt($(this).find('.logic').val()), linkedTo: linkedToSelection }; - MODE_RANGES_EXTRA.push(modeRangeExtra); + FC.MODE_RANGES_EXTRA.push(modeRangeExtra); } }); }); - for (var modeRangeIndex = MODE_RANGES.length; modeRangeIndex < requiredModesRangeCount; modeRangeIndex++) { + for (var modeRangeIndex = FC.MODE_RANGES.length; modeRangeIndex < requiredModesRangeCount; modeRangeIndex++) { var defaultModeRange = { id: 0, auxChannelIndex: 0, @@ -378,14 +378,14 @@ TABS.auxiliary.initialize = function (callback) { end: 900 } }; - MODE_RANGES.push(defaultModeRange); + FC.MODE_RANGES.push(defaultModeRange); var defaultModeRangeExtra = { id: 0, modeLogic: 0, linkedTo: 0 }; - MODE_RANGES_EXTRA.push(defaultModeRangeExtra); + FC.MODE_RANGES_EXTRA.push(defaultModeRangeExtra); } // @@ -430,7 +430,7 @@ TABS.auxiliary.initialize = function (callback) { function update_ui() { let hasUsedMode = false; - for (let i = 0; i < AUX_CONFIG.length; i++) { + for (let i = 0; i < FC.AUX_CONFIG.length; i++) { let modeElement = $('#mode-' + i); if (modeElement.find(' .range').length == 0 && modeElement.find(' .link').length == 0) { // if the mode is unused, skip it @@ -438,12 +438,12 @@ TABS.auxiliary.initialize = function (callback) { continue; } - if (bit_check(CONFIG.mode, i)) { + if (bit_check(FC.CONFIG.mode, i)) { $('.mode .name').eq(i).data('modeElement').addClass('on').removeClass('off').removeClass('disabled'); // ARM mode is a special case if (i == 0) { - $('.mode .name').eq(i).html(AUX_CONFIG[i]); + $('.mode .name').eq(i).html(FC.AUX_CONFIG[i]); } } else { @@ -451,11 +451,11 @@ TABS.auxiliary.initialize = function (callback) { if (i == 0) { var armSwitchActive = false; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - if (CONFIG.armingDisableCount > 0) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + if (FC.CONFIG.armingDisableCount > 0) { // check the highest bit of the armingDisableFlags. This will be the ARMING_DISABLED_ARMSWITCH flag. - var armSwitchMask = 1 << (CONFIG.armingDisableCount - 1); - if ((CONFIG.armingDisableFlags & armSwitchMask) > 0) { + var armSwitchMask = 1 << (FC.CONFIG.armingDisableCount - 1); + if ((FC.CONFIG.armingDisableFlags & armSwitchMask) > 0) { armSwitchActive = true; } } @@ -466,10 +466,10 @@ TABS.auxiliary.initialize = function (callback) { // that arming is disabled. if (armSwitchActive) { $('.mode .name').eq(i).data('modeElement').removeClass('on').removeClass('off').addClass('disabled'); - $('.mode .name').eq(i).html(AUX_CONFIG[i] + '
' + i18n.getMessage('auxiliaryDisabled')); + $('.mode .name').eq(i).html(FC.AUX_CONFIG[i] + '
' + i18n.getMessage('auxiliaryDisabled')); } else { $('.mode .name').eq(i).data('modeElement').removeClass('on').removeClass('disabled').addClass('off'); - $('.mode .name').eq(i).html(AUX_CONFIG[i]); + $('.mode .name').eq(i).html(FC.AUX_CONFIG[i]); } } else { $('.mode .name').eq(i).data('modeElement').removeClass('on').removeClass('disabled').addClass('off'); @@ -479,19 +479,19 @@ TABS.auxiliary.initialize = function (callback) { } let hideUnused = hideUnusedModes && hasUsedMode; - for (let i = 0; i < AUX_CONFIG.length; i++) { + for (let i = 0; i < FC.AUX_CONFIG.length; i++) { let modeElement = $('#mode-' + i); if (modeElement.find(' .range').length == 0 && modeElement.find(' .link').length == 0) { modeElement.toggle(!hideUnused); } } - auto_select_channel(RC.channels, RSSI_CONFIG.channel); + auto_select_channel(FC.RC.channels, FC.RSSI_CONFIG.channel); - var auxChannelCount = RC.active_channels - 4; + var auxChannelCount = FC.RC.active_channels - 4; for (var i = 0; i < (auxChannelCount); i++) { - update_marker(i, limit_channel(RC.channels[i + 4])); + update_marker(i, limit_channel(FC.RC.channels[i + 4])); } } diff --git a/src/js/tabs/configuration.js b/src/js/tabs/configuration.js index 92029cdb..c2587d18 100644 --- a/src/js/tabs/configuration.js +++ b/src/js/tabs/configuration.js @@ -19,7 +19,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { GUI.configuration_loaded = true; } - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { //Show old battery configuration for pre-BF-3.2 self.SHOW_OLD_BATTERY_CONFIG = true; } else { @@ -32,7 +32,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_beeper_config() { var next_callback = load_serial_config; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { MSP.send_message(MSPCodes.MSP_BEEPER_CONFIG, false, false, next_callback); } else { next_callback(); @@ -61,7 +61,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_motor_config() { var next_callback = load_gps_config; - if(semver.gte(CONFIG.apiVersion, "1.33.0")) { + if(semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_MOTOR_CONFIG, false, false, next_callback); } else { next_callback(); @@ -70,7 +70,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_gps_config() { var next_callback = load_acc_trim; - if(semver.gte(CONFIG.apiVersion, "1.33.0")) { + if(semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_GPS_CONFIG, false, false, load_acc_trim); } else { next_callback(); @@ -83,7 +83,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_misc() { var next_callback = load_arming_config; - if (semver.lt(CONFIG.apiVersion, "1.33.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_MISC, false, false, next_callback); } else { next_callback(); @@ -92,7 +92,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_arming_config() { var next_callback = load_3d; - if (semver.gte(CONFIG.apiVersion, "1.8.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, next_callback); } else { next_callback(); @@ -101,7 +101,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_3d() { var next_callback = load_rc_deadband; - if (semver.gte(CONFIG.apiVersion, "1.14.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { MSP.send_message(MSPCodes.MSP_MOTOR_3D_CONFIG, false, false, next_callback); } else { next_callback(); @@ -110,7 +110,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_rc_deadband() { var next_callback = esc_protocol; - if (semver.gte(CONFIG.apiVersion, "1.17.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.17.0")) { MSP.send_message(MSPCodes.MSP_RC_DEADBAND, false, false, next_callback); } else { next_callback(); @@ -119,7 +119,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function esc_protocol() { var next_callback = sensor_config; - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, next_callback); } else { next_callback(); @@ -128,7 +128,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function sensor_config() { var next_callback = load_sensor_alignment; - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { MSP.send_message(MSPCodes.MSP_SENSOR_CONFIG, false, false, next_callback); } else { next_callback(); @@ -137,7 +137,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_sensor_alignment() { var next_callback = load_name; - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, next_callback); } else { next_callback(); @@ -151,7 +151,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { next_callback = load_battery; } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { MSP.send_message(MSPCodes.MSP_NAME, false, false, next_callback); } else { next_callback(); @@ -160,7 +160,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_battery() { var next_callback = load_current; - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { MSP.send_message(MSPCodes.MSP_VOLTAGE_METER_CONFIG, false, false, next_callback); } else { next_callback(); @@ -169,7 +169,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_current() { var next_callback = load_rx_config; - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { MSP.send_message(MSPCodes.MSP_CURRENT_METER_CONFIG, false, false, next_callback); } else { next_callback(); @@ -178,7 +178,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_rx_config() { const next_callback = load_filter_config; - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { MSP.send_message(MSPCodes.MSP_RX_CONFIG, false, false, next_callback); } else { next_callback(); @@ -187,7 +187,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function load_filter_config() { const next_callback = load_html; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { MSP.send_message(MSPCodes.MSP_FILTER_CONFIG, false, false, next_callback); } else { next_callback(); @@ -213,11 +213,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function refreshMixerPreview() { - var mixer = MIXER_CONFIG.mixer + var mixer = FC.MIXER_CONFIG.mixer var reverse = ""; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - reverse = MIXER_CONFIG.reverseMotorDir ? "_reversed" : ""; + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + reverse = FC.MIXER_CONFIG.reverseMotorDir ? "_reversed" : ""; } $('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[mixer - 1].image + reverse + '.svg'); @@ -227,30 +227,30 @@ TABS.configuration.initialize = function (callback, scrollPosition) { var reverseMotor_e = $('.reverseMotor'); reverseMotorSwitch_e.change(function() { - MIXER_CONFIG.reverseMotorDir = $(this).prop('checked') ? 1 : 0; + FC.MIXER_CONFIG.reverseMotorDir = $(this).prop('checked') ? 1 : 0; refreshMixerPreview(); }); - reverseMotorSwitch_e.prop('checked', MIXER_CONFIG.reverseMotorDir != 0).change(); + reverseMotorSwitch_e.prop('checked', FC.MIXER_CONFIG.reverseMotorDir != 0).change(); mixer_list_e.change(function () { var mixerValue = parseInt($(this).val()); var newValue; - if (mixerValue !== MIXER_CONFIG.mixer) { + if (mixerValue !== FC.MIXER_CONFIG.mixer) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['Mixer'] = newValue; - MIXER_CONFIG.mixer = mixerValue; + FC.MIXER_CONFIG.mixer = mixerValue; refreshMixerPreview(); }); // select current mixer configuration - mixer_list_e.val(MIXER_CONFIG.mixer).change(); + mixer_list_e.val(FC.MIXER_CONFIG.mixer).change(); var features_e = $('.tab-configuration .features'); - FEATURE_CONFIG.features.generateElements(features_e); + FC.FEATURE_CONFIG.features.generateElements(features_e); // Dshot Beeper var dshotBeeper_e = $('.tab-configuration .dshotbeeper'); @@ -260,7 +260,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { var dshotBeaconCondition_e = $('tbody.dshotBeaconConditions'); var dshotBeaconSwitch_e = $('tr.dshotBeaconSwitch'); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { for (var i = 1; i <= 5; i++) { dshotBeeperBeaconTone.append(''); } @@ -270,19 +270,19 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } dshotBeeperBeaconTone.change(function() { - BEEPER_CONFIG.dshotBeaconTone = dshotBeeperBeaconTone.val(); + FC.BEEPER_CONFIG.dshotBeaconTone = dshotBeeperBeaconTone.val(); }); - dshotBeeperBeaconTone.val(BEEPER_CONFIG.dshotBeaconTone); + dshotBeeperBeaconTone.val(FC.BEEPER_CONFIG.dshotBeaconTone); var template = $('.beepers .beeper-template'); - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { dshotBeaconSwitch_e.hide(); - BEEPER_CONFIG.dshotBeaconConditions.generateElements(template, dshotBeaconCondition_e); + FC.BEEPER_CONFIG.dshotBeaconConditions.generateElements(template, dshotBeaconCondition_e); $('input.condition', dshotBeaconCondition_e).change(function () { var element = $(this); - BEEPER_CONFIG.dshotBeaconConditions.updateData(element); + FC.BEEPER_CONFIG.dshotBeaconConditions.updateData(element); }); } else { dshotBeaconCondition_e.hide(); @@ -299,15 +299,15 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } }); - dshotBeeperSwitch.prop('checked', BEEPER_CONFIG.dshotBeaconTone !== 0).change(); + dshotBeeperSwitch.prop('checked', FC.BEEPER_CONFIG.dshotBeaconTone !== 0).change(); } // Analog Beeper var destination = $('.beepers .beeper-configuration'); var beeper_e = $('.tab-configuration .beepers'); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - BEEPER_CONFIG.beepers.generateElements(template, destination); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.BEEPER_CONFIG.beepers.generateElements(template, destination); } else { beeper_e.hide(); reverseMotor_e.hide(); @@ -327,7 +327,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'CW 270° flip' ]; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { alignments.push('Custom'); } @@ -344,7 +344,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { var orientation_gyro_2_align_e = $('select.gyro_2_align'); gyro_align_content_e.hide(); // default value - if (semver.lt(CONFIG.apiVersion, "1.15.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.15.0")) { $('.tab-configuration .sensoralignment').hide(); } else { @@ -354,48 +354,48 @@ TABS.configuration.initialize = function (callback, scrollPosition) { orientation_mag_e.append(''); } - orientation_gyro_e.val(SENSOR_ALIGNMENT.align_gyro); - orientation_acc_e.val(SENSOR_ALIGNMENT.align_acc); - orientation_mag_e.val(SENSOR_ALIGNMENT.align_mag); + orientation_gyro_e.val(FC.SENSOR_ALIGNMENT.align_gyro); + orientation_acc_e.val(FC.SENSOR_ALIGNMENT.align_acc); + orientation_mag_e.val(FC.SENSOR_ALIGNMENT.align_mag); orientation_gyro_e.change(function () { let value = parseInt($(this).val()); let newValue = undefined; - if (value !== SENSOR_ALIGNMENT.align_gyro) { + if (value !== FC.SENSOR_ALIGNMENT.align_gyro) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['GyroAlignment'] = newValue; - SENSOR_ALIGNMENT.align_gyro = value; + FC.SENSOR_ALIGNMENT.align_gyro = value; }); orientation_acc_e.change(function () { let value = parseInt($(this).val()); let newValue = undefined; - if (value !== SENSOR_ALIGNMENT.align_acc) { + if (value !== FC.SENSOR_ALIGNMENT.align_acc) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['AccAlignment'] = newValue; - SENSOR_ALIGNMENT.align_acc = value; + FC.SENSOR_ALIGNMENT.align_acc = value; }); orientation_mag_e.change(function () { let value = parseInt($(this).val()); let newValue = undefined; - if (value !== SENSOR_ALIGNMENT.align_mag) { + if (value !== FC.SENSOR_ALIGNMENT.align_mag) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['MagAlignment'] = newValue; - SENSOR_ALIGNMENT.align_mag = value; + FC.SENSOR_ALIGNMENT.align_mag = value; }); // Multi gyro config - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { gyro_align_content_e.show(); legacy_gyro_alignment_e.hide(); @@ -407,9 +407,9 @@ TABS.configuration.initialize = function (callback, scrollPosition) { DETECTED_DUAL_GYROS: (1 << 7) }; - var detected_gyro_1 = (SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_GYRO_1) != 0; - var detected_gyro_2 = (SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_GYRO_2) != 0; - var detected_dual_gyros = (SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_DUAL_GYROS) != 0; + var detected_gyro_1 = (FC.SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_GYRO_1) != 0; + var detected_gyro_2 = (FC.SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_GYRO_2) != 0; + var detected_dual_gyros = (FC.SENSOR_ALIGNMENT.gyro_detection_flags & GYRO_DETECTION_FLAGS.DETECTED_DUAL_GYROS) != 0; if (detected_gyro_1) { orientation_gyro_to_use_e.append(''); @@ -426,9 +426,9 @@ TABS.configuration.initialize = function (callback, scrollPosition) { orientation_gyro_2_align_e.append(''); } - orientation_gyro_to_use_e.val(SENSOR_ALIGNMENT.gyro_to_use); - orientation_gyro_1_align_e.val(SENSOR_ALIGNMENT.gyro_1_align); - orientation_gyro_2_align_e.val(SENSOR_ALIGNMENT.gyro_2_align); + orientation_gyro_to_use_e.val(FC.SENSOR_ALIGNMENT.gyro_to_use); + orientation_gyro_1_align_e.val(FC.SENSOR_ALIGNMENT.gyro_1_align); + orientation_gyro_2_align_e.val(FC.SENSOR_ALIGNMENT.gyro_2_align); $('.gyro_alignment_inputs_first').toggle(detected_gyro_1); $('.gyro_alignment_inputs_second').toggle(detected_gyro_2); @@ -439,24 +439,24 @@ TABS.configuration.initialize = function (callback, scrollPosition) { let value = parseInt($(this).val()); let newValue = undefined; - if (value !== SENSOR_ALIGNMENT.gyro_1_align) { + if (value !== FC.SENSOR_ALIGNMENT.gyro_1_align) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['Gyro1Alignment'] = newValue; - SENSOR_ALIGNMENT.gyro_1_align = value; + FC.SENSOR_ALIGNMENT.gyro_1_align = value; }); orientation_gyro_2_align_e.change(function () { let value = parseInt($(this).val()); let newValue = undefined; - if (value !== SENSOR_ALIGNMENT.gyro_2_align) { + if (value !== FC.SENSOR_ALIGNMENT.gyro_2_align) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['Gyro2Alignment'] = newValue; - SENSOR_ALIGNMENT.gyro_2_align = value; + FC.SENSOR_ALIGNMENT.gyro_2_align = value; }); } } @@ -469,25 +469,25 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'MULTISHOT' ]; - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { escProtocols.push('BRUSHED'); } - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { escProtocols.push('DSHOT150'); escProtocols.push('DSHOT300'); escProtocols.push('DSHOT600'); - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { escProtocols.push('DSHOT1200'); } } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { escProtocols.push('PROSHOT1000'); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { escProtocols.push('DISABLED'); } @@ -505,51 +505,51 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } }); - $('input[id="unsyncedPWMSwitch"]').prop('checked', PID_ADVANCED_CONFIG.use_unsyncedPwm !== 0).change(); - $('input[name="unsyncedpwmfreq"]').val(PID_ADVANCED_CONFIG.motor_pwm_rate); - $('input[name="digitalIdlePercent"]').val(PID_ADVANCED_CONFIG.digitalIdlePercent); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + $('input[id="unsyncedPWMSwitch"]').prop('checked', FC.PID_ADVANCED_CONFIGuse_unsyncedPwm !== 0).change(); + $('input[name="unsyncedpwmfreq"]').val(FC.PID_ADVANCED_CONFIG.motor_pwm_rate); + $('input[name="digitalIdlePercent"]').val(FC.PID_ADVANCED_CONFIG.digitalIdlePercent); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { let dshotBidirectional_e = $('input[id="dshotBidir"]'); - dshotBidirectional_e.prop('checked', MOTOR_CONFIG.use_dshot_telemetry).change(); + dshotBidirectional_e.prop('checked', FC.MOTOR_CONFIGuse_dshot_telemetry).change(); - self.previousDshotBidir = MOTOR_CONFIG.use_dshot_telemetry; - self.previousFilterDynQ = FILTER_CONFIG.dyn_notch_q; - self.previousFilterDynWidth = FILTER_CONFIG.dyn_notch_width_percent; + self.previousDshotBidir = FC.MOTOR_CONFIG.use_dshot_telemetry; + self.previousFilterDynQ = FC.FILTER_CONFIG.dyn_notch_q; + self.previousFilterDynWidth = FC.FILTER_CONFIG.dyn_notch_width_percent; dshotBidirectional_e.change(function () { let value = $(this).prop('checked'); var newValue = undefined; - if (value !== MOTOR_CONFIG.use_dshot_telemetry) { + if (value !== FC.MOTOR_CONFIGuse_dshot_telemetry) { newValue = value ? 'On' : 'Off'; } self.analyticsChanges['BidirectionalDshot'] = newValue; - MOTOR_CONFIG.use_dshot_telemetry = value; + FC.MOTOR_CONFIG.use_dshot_telemetry = value; - FILTER_CONFIG.dyn_notch_width_percent = self.previousFilterDynWidth; - FILTER_CONFIG.dyn_notch_q = self.previousFilterDynQ; + FC.FILTER_CONFIG.dyn_notch_width_percent = self.previousFilterDynWidth; + FC.FILTER_CONFIG.dyn_notch_q = self.previousFilterDynQ; - if (FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0) { // if rpm filter is active + if (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0) { // if rpm filter is active if (value && !self.previousDshotBidir) { - FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent_rpm; - FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q_rpm; + FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent_rpm; + FC.FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q_rpm; } else if (!value && self.previousDshotBidir) { - FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent; - FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q; + FC.FILTER_CONFIG.dyn_notch_width_percent = FILTER_DEFAULT.dyn_notch_width_percent; + FC.FILTER_CONFIG.dyn_notch_q = FILTER_DEFAULT.dyn_notch_q; } } - if (FILTER_CONFIG.dyn_notch_width_percent !== self.previousFilterDynWidth) { + if (FC.FILTER_CONFIG.dyn_notch_width_percent !== self.previousFilterDynWidth) { showDialogDynFiltersChange(); } }); - $('input[name="motorPoles"]').val(MOTOR_CONFIG.motor_poles); + $('input[name="motorPoles"]').val(FC.MOTOR_CONFIG.motor_poles); } - $('#escProtocolTooltip').toggle(semver.lt(CONFIG.apiVersion, "1.42.0")); - $('#escProtocolTooltipNoDSHOT1200').toggle(semver.gte(CONFIG.apiVersion, "1.42.0")); + $('#escProtocolTooltip').toggle(semver.lt(FC.CONFIG.apiVersion, "1.42.0")); + $('#escProtocolTooltipNoDSHOT1200').toggle(semver.gte(FC.CONFIG.apiVersion, "1.42.0")); function updateVisibility() { // Hide unused settings @@ -581,8 +581,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('div.digitalIdlePercent').toggle(protocolConfigured && digitalProtocol); $('.escSensor').toggle(protocolConfigured && digitalProtocol); - $('div.checkboxDshotBidir').toggle(protocolConfigured && semver.gte(CONFIG.apiVersion, "1.42.0") && digitalProtocol); - $('div.motorPoles').toggle(protocolConfigured && rpmFeaturesVisible && semver.gte(CONFIG.apiVersion, "1.42.0")); + $('div.checkboxDshotBidir').toggle(protocolConfigured && semver.gte(FC.CONFIG.apiVersion, "1.42.0") && digitalProtocol); + $('div.motorPoles').toggle(protocolConfigured && rpmFeaturesVisible && semver.gte(FC.CONFIG.apiVersion, "1.42.0")); $('.escMotorStop').toggle(protocolConfigured); @@ -592,12 +592,12 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $("input[id='unsyncedPWMSwitch']").change(); } - esc_protocol_e.val(PID_ADVANCED_CONFIG.fast_pwm_protocol + 1); + esc_protocol_e.val(FC.PID_ADVANCED_CONFIG.fast_pwm_protocol + 1); esc_protocol_e.change(function () { const escProtocolValue = parseInt($(this).val()) - 1; let newValue = undefined; - if (escProtocolValue !== PID_ADVANCED_CONFIG.fast_pwm_protocol) { + if (escProtocolValue !== FC.PID_ADVANCED_CONFIGfast_pwm_protocol) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['EscProtocol'] = newValue; @@ -633,7 +633,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { gyroSelectElement.empty(); - const MAX_DENOM = semver.gte(CONFIG.apiVersion, "1.25.0") ? 32 : 8; + const MAX_DENOM = semver.gte(FC.CONFIG.apiVersion, "1.25.0") ? 32 : 8; for (let denom = 1; denom <= MAX_DENOM; denom++) { addDenomOption(gyroSelectElement, denom, gyroBaseFreq); } @@ -655,8 +655,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) { gyroTextElement.val(gyroContent); }; - if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0")) { - gyroUse32kHzElement.prop('checked', PID_ADVANCED_CONFIG.gyroUse32kHz !== 0); + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0") && semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + gyroUse32kHzElement.prop('checked', FC.PID_ADVANCED_CONFIGgyroUse32kHz !== 0); gyroUse32kHzElement.change(function () { const gyroBaseFreq = ($(this).is(':checked'))? 32 : 8; @@ -668,14 +668,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('div.gyroUse32kHz').hide(); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - updateGyroDenomReadOnly(CONFIG.sampleRateHz); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + updateGyroDenomReadOnly(FC.CONFIG.sampleRateHz); } else { updateGyroDenom(8); } } - gyroSelectElement.val(PID_ADVANCED_CONFIG.gyro_sync_denom); + gyroSelectElement.val(FC.PID_ADVANCED_CONFIG.gyro_sync_denom); $('.systemconfigNote').html(i18n.getMessage('configurationLoopTimeHelp')); @@ -683,11 +683,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) { const originalPidDenom = pidSelectElement.val(); let pidBaseFreq; - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - pidBaseFreq = CONFIG.sampleRateHz / 1000; + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + pidBaseFreq = FC.CONFIGsampleRateHz / 1000; } else { pidBaseFreq = 8; - if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && gyroUse32kHzElement.is(':checked')) { + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0") && semver.lt(FC.CONFIG.apiVersion, "1.41.0") && gyroUse32kHzElement.is(':checked')) { pidBaseFreq = 32; } pidBaseFreq = pidBaseFreq / parseInt($(this).val()); @@ -695,7 +695,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { pidSelectElement.empty(); - const MAX_DENOM = semver.gte(CONFIG.apiVersion, "1.24.0") ? 16 : 8; + const MAX_DENOM = semver.gte(FC.CONFIG.apiVersion, "1.24.0") ? 16 : 8; for (let denom = 1; denom <= MAX_DENOM; denom++) { addDenomOption(pidSelectElement, denom, pidBaseFreq); @@ -704,35 +704,35 @@ TABS.configuration.initialize = function (callback, scrollPosition) { pidSelectElement.val(originalPidDenom); }).change(); - pidSelectElement.val(PID_ADVANCED_CONFIG.pid_process_denom); + pidSelectElement.val(FC.PID_ADVANCED_CONFIG.pid_process_denom); - $('input[id="accHardwareSwitch"]').prop('checked', SENSOR_CONFIG.acc_hardware !== 1); - $('input[id="baroHardwareSwitch"]').prop('checked', SENSOR_CONFIG.baro_hardware !== 1); - $('input[id="magHardwareSwitch"]').prop('checked', SENSOR_CONFIG.mag_hardware !== 1); + $('input[id="accHardwareSwitch"]').prop('checked', FC.SENSOR_CONFIGacc_hardware !== 1); + $('input[id="baroHardwareSwitch"]').prop('checked', FC.SENSOR_CONFIGbaro_hardware !== 1); + $('input[id="magHardwareSwitch"]').prop('checked', FC.SENSOR_CONFIGmag_hardware !== 1); // Only show these sections for supported FW - if (semver.lt(CONFIG.apiVersion, "1.16.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.16.0")) { $('.selectProtocol').hide(); $('.checkboxPwm').hide(); $('.selectPidProcessDenom').hide(); } - if (semver.lt(CONFIG.apiVersion, "1.16.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.16.0")) { $('.hardwareSelection').hide(); } - $('input[name="craftName"]').val(CONFIG.name); + $('input[name="craftName"]').val(FC.CONFIG.name); - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { - $('input[name="fpvCamAngleDegrees"]').val(RX_CONFIG.fpvCamAngleDegrees); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { + $('input[name="fpvCamAngleDegrees"]').val(FC.RX_CONFIG.fpvCamAngleDegrees); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { $('input[name="fpvCamAngleDegrees"]').attr("max", 90); } } else { $('div.fpvCamAngleDegrees').hide(); } - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { $('.miscSettings').hide(); } @@ -741,7 +741,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'NMEA', 'UBLOX' ]; - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { gpsProtocols.push('MSP'); } @@ -760,7 +760,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { i18n.getMessage('gpsSbasJapaneseMSAS'), i18n.getMessage('gpsSbasIndianGAGAN'), ]; - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { gpsSbas.push(i18n.getMessage('gpsSbasNone')); } @@ -782,29 +782,29 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } gpsProtocolElement.change(function () { - GPS_CONFIG.provider = parseInt($(this).val()); + FC.GPS_CONFIGprovider = parseInt($(this).val()); // Call this to enable or disable auto config elements depending on the protocol gpsAutoConfigElement.change(); - }).val(GPS_CONFIG.provider).change(); + }).val(FC.GPS_CONFIG.provider).change(); - gpsAutoBaudElement.prop('checked', GPS_CONFIG.auto_baud === 1); + gpsAutoBaudElement.prop('checked', FC.GPS_CONFIGauto_baud === 1); gpsAutoConfigElement.change(function () { const checked = $(this).is(":checked"); - const ubloxSelected = GPS_CONFIG.provider === gpsProtocols.indexOf('UBLOX'); + const ubloxSelected = FC.GPS_CONFIGprovider === gpsProtocols.indexOf('UBLOX'); - const enableGalileoVisible = checked && ubloxSelected && semver.gte(CONFIG.apiVersion, API_VERSION_1_43); + const enableGalileoVisible = checked && ubloxSelected && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43); gpsUbloxGalileoGroup.toggle(enableGalileoVisible); const enableSbasVisible = checked && ubloxSelected; gpsUbloxSbasGroup.toggle(enableSbasVisible); - }).prop('checked', GPS_CONFIG.auto_config === 1).change(); + }).prop('checked', FC.GPS_CONFIGauto_config === 1).change(); - if (semver.gte(CONFIG.apiVersion, "1.34.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) { gpsAutoBaudGroup.show(); gpsAutoConfigGroup.show(); } else { @@ -813,31 +813,31 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } gpsUbloxGalileoElement.change(function() { - GPS_CONFIG.ublox_use_galileo = $(this).is(':checked') ? 1 : 0; - }).prop('checked', GPS_CONFIG.ublox_use_galileo > 0).change(); + FC.GPS_CONFIGublox_use_galileo = $(this).is(':checked') ? 1 : 0; + }).prop('checked', FC.GPS_CONFIGublox_use_galileo > 0).change(); for (let sbasIndex = 0; sbasIndex < gpsSbas.length; sbasIndex++) { gpsUbloxSbasElement.append(``); } gpsUbloxSbasElement.change(function () { - GPS_CONFIG.ublox_sbas = parseInt($(this).val()); - }).val(GPS_CONFIG.ublox_sbas); + FC.GPS_CONFIGublox_sbas = parseInt($(this).val()); + }).val(FC.GPS_CONFIG.ublox_sbas); - $('.gps_home_once').toggle(semver.gte(CONFIG.apiVersion, API_VERSION_1_43)); + $('.gps_home_once').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)); gpsHomeOnceElement.change(function() { - GPS_CONFIG.home_point_once = $(this).is(':checked') ? 1 : 0; - }).prop('checked', GPS_CONFIG.home_point_once > 0).change(); + FC.GPS_CONFIGhome_point_once = $(this).is(':checked') ? 1 : 0; + }).prop('checked', FC.GPS_CONFIGhome_point_once > 0).change(); for (let baudRateIndex = 0; baudRateIndex < gpsBaudRates.length; baudRateIndex++) { gpsBaudrateElement.append(``); } - if (semver.lt(CONFIG.apiVersion, "1.6.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.6.0")) { gpsBaudrateElement.change(function () { - SERIAL_CONFIG.gpsBaudRate = parseInt($(this).val()); + FC.SERIAL_CONFIGgpsBaudRate = parseInt($(this).val()); }); - gpsBaudrateElement.val(SERIAL_CONFIG.gpsBaudRate); + gpsBaudrateElement.val(FC.SERIAL_CONFIG.gpsBaudRate); } else { gpsBaudrateElement.prop("disabled", true); gpsBaudrateElement.parent().hide(); @@ -854,32 +854,32 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'XBUS_MODE_B_RJ01' ]; - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { serialRXtypes.push('IBUS'); } - if ((CONFIG.flightControllerIdentifier === 'BTFL' && semver.gte(CONFIG.flightControllerVersion, "2.6.0")) || - (CONFIG.flightControllerIdentifier === 'CLFL' && semver.gte(CONFIG.apiVersion, "1.31.0"))) { + if ((FC.CONFIG.flightControllerIdentifier === 'BTFL' && semver.gte(FC.CONFIG.flightControllerVersion, "2.6.0")) || + (FC.CONFIG.flightControllerIdentifier === 'CLFL' && semver.gte(FC.CONFIG.apiVersion, "1.31.0"))) { serialRXtypes.push('JETIEXBUS'); } - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { serialRXtypes.push('CRSF'); } - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { serialRXtypes.push('SPEKTRUM2048/SRXL'); } - if (semver.gte(CONFIG.apiVersion, "1.35.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.35.0")) { serialRXtypes.push('TARGET_CUSTOM'); } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { serialRXtypes.push('FrSky FPort'); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { serialRXtypes.push('SPEKTRUM SRXL2'); } @@ -892,18 +892,18 @@ TABS.configuration.initialize = function (callback, scrollPosition) { var serialRxValue = parseInt($(this).val()); var newValue; - if (serialRxValue !== RX_CONFIG.serialrx_provider) { + if (serialRxValue !== FC.RX_CONFIGserialrx_provider) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['SerialRx'] = newValue; - RX_CONFIG.serialrx_provider = serialRxValue; + FC.RX_CONFIGserialrx_provider = serialRxValue; }); // select current serial RX type - serialRX_e.val(RX_CONFIG.serialrx_provider); + serialRX_e.val(FC.RX_CONFIG.serialrx_provider); - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { var spiRxTypes = [ 'NRF24_V202_250K', 'NRF24_V202_1M', @@ -916,7 +916,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'FRSKY_D' ]; - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { spiRxTypes.push( 'FRSKY_X', 'A7105_FLYSKY', @@ -925,7 +925,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { ); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { spiRxTypes.push( 'SFHSS', 'SPEKTRUM', @@ -933,13 +933,13 @@ TABS.configuration.initialize = function (callback, scrollPosition) { ); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { spiRxTypes.push( 'REDPINE', ); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { spiRxTypes.push( 'FRSKY_X_V2', 'FRSKY_X_LBT_V2' @@ -955,16 +955,16 @@ TABS.configuration.initialize = function (callback, scrollPosition) { const value = parseInt($(this).val()); let newValue = undefined; - if (value !== RX_CONFIG.rxSpiProtocol) { + if (value !== FC.RX_CONFIGrxSpiProtocol) { newValue = $(this).find('option:selected').text(); } self.analyticsChanges['SPIRXProtocol'] = newValue; - RX_CONFIG.rxSpiProtocol = value; + FC.RX_CONFIGrxSpiProtocol = value; }); // select current serial RX type - spiRx_e.val(RX_CONFIG.rxSpiProtocol); + spiRx_e.val(FC.RX_CONFIG.rxSpiProtocol); } // for some odd reason chrome 38+ changes scroll according to the touched select element @@ -973,41 +973,41 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('#content').scrollTop((scrollPosition) ? scrollPosition : 0); // fill board alignment - $('input[name="board_align_roll"]').val(BOARD_ALIGNMENT_CONFIG.roll); - $('input[name="board_align_pitch"]').val(BOARD_ALIGNMENT_CONFIG.pitch); - $('input[name="board_align_yaw"]').val(BOARD_ALIGNMENT_CONFIG.yaw); + $('input[name="board_align_roll"]').val(FC.BOARD_ALIGNMENT_CONFIG.roll); + $('input[name="board_align_pitch"]').val(FC.BOARD_ALIGNMENT_CONFIG.pitch); + $('input[name="board_align_yaw"]').val(FC.BOARD_ALIGNMENT_CONFIG.yaw); // fill accel trims - $('input[name="roll"]').val(CONFIG.accelerometerTrims[1]); - $('input[name="pitch"]').val(CONFIG.accelerometerTrims[0]); + $('input[name="roll"]').val(FC.CONFIG.accelerometerTrims[1]); + $('input[name="pitch"]').val(FC.CONFIG.accelerometerTrims[0]); //fill motor disarm params and FC loop time - if(semver.gte(CONFIG.apiVersion, "1.8.0")) { - $('input[name="autodisarmdelay"]').val(ARMING_CONFIG.auto_disarm_delay); - $('input[id="disarmkillswitch"]').prop('checked', ARMING_CONFIG.disarm_kill_switch !== 0); + if(semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { + $('input[name="autodisarmdelay"]').val(FC.ARMING_CONFIG.auto_disarm_delay); + $('input[id="disarmkillswitch"]').prop('checked', FC.ARMING_CONFIGdisarm_kill_switch !== 0); $('div.disarm').show(); $('div.cycles').show(); } - if(semver.gte(CONFIG.apiVersion, "1.37.0") || !isExpertModeEnabled()) { + if(semver.gte(FC.CONFIG.apiVersion, "1.37.0") || !isExpertModeEnabled()) { $('input[id="disarmkillswitch"]').prop('checked', true); $('div.disarm').hide(); } - $('._smallAngle').toggle(semver.gte(CONFIG.apiVersion, "1.37.0")); - if(semver.gte(CONFIG.apiVersion, "1.37.0")) { - $('input[id="configurationSmallAngle"]').val(ARMING_CONFIG.small_angle); + $('._smallAngle').toggle(semver.gte(FC.CONFIG.apiVersion, "1.37.0")); + if(semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + $('input[id="configurationSmallAngle"]').val(FC.ARMING_CONFIG.small_angle); } // fill throttle - $('input[name="minthrottle"]').val(MOTOR_CONFIG.minthrottle); - $('input[name="maxthrottle"]').val(MOTOR_CONFIG.maxthrottle); - $('input[name="mincommand"]').val(MOTOR_CONFIG.mincommand); + $('input[name="minthrottle"]').val(FC.MOTOR_CONFIG.minthrottle); + $('input[name="maxthrottle"]').val(FC.MOTOR_CONFIG.maxthrottle); + $('input[name="mincommand"]').val(FC.MOTOR_CONFIG.mincommand); // fill battery if (self.SHOW_OLD_BATTERY_CONFIG) { - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { var batteryMeterTypes = [ 'Onboard ADC', 'ESC Sensor' @@ -1019,24 +1019,24 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } batteryMeterType_e.change(function () { - MISC.batterymetertype = parseInt($(this).val()); + FC.MISCbatterymetertype = parseInt($(this).val()); checkUpdateVbatControls(); }); - batteryMeterType_e.val(MISC.batterymetertype).change(); + batteryMeterType_e.val(FC.MISC.batterymetertype).change(); } else { $('div.batterymetertype').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { $('input[name="mincellvoltage"]').prop('step','0.01'); $('input[name="maxcellvoltage"]').prop('step','0.01'); $('input[name="warningcellvoltage"]').prop('step','0.01'); } - $('input[name="mincellvoltage"]').val(MISC.vbatmincellvoltage); - $('input[name="maxcellvoltage"]').val(MISC.vbatmaxcellvoltage); - $('input[name="warningcellvoltage"]').val(MISC.vbatwarningcellvoltage); - $('input[name="voltagescale"]').val(MISC.vbatscale); + $('input[name="mincellvoltage"]').val(FC.MISC.vbatmincellvoltage); + $('input[name="maxcellvoltage"]').val(FC.MISC.vbatmaxcellvoltage); + $('input[name="warningcellvoltage"]').val(FC.MISC.vbatwarningcellvoltage); + $('input[name="voltagescale"]').val(FC.MISC.vbatscale); // fill current var currentMeterTypes = [ @@ -1045,7 +1045,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { 'Virtual' ]; - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { currentMeterTypes.push('ESC Sensor'); } @@ -1055,26 +1055,26 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } currentMeterType_e.change(function () { - BF_CONFIG.currentmetertype = parseInt($(this).val()); + FC.BF_CONFIGcurrentmetertype = parseInt($(this).val()); checkUpdateCurrentControls(); }); - currentMeterType_e.val(BF_CONFIG.currentmetertype).change(); + currentMeterType_e.val(FC.BF_CONFIG.currentmetertype).change(); - $('input[name="currentscale"]').val(BF_CONFIG.currentscale); - $('input[name="currentoffset"]').val(BF_CONFIG.currentoffset); - $('input[name="multiwiicurrentoutput"]').prop('checked', MISC.multiwiicurrentoutput !== 0); + $('input[name="currentscale"]').val(FC.BF_CONFIG.currentscale); + $('input[name="currentoffset"]').val(FC.BF_CONFIG.currentoffset); + $('input[name="multiwiicurrentoutput"]').prop('checked', FC.MISCmultiwiicurrentoutput !== 0); } else { $('.oldBatteryConfig').hide(); } function checkUpdateVbatControls() { - if (FEATURE_CONFIG.features.isEnabled('VBAT')) { + if (FC.FEATURE_CONFIG.features.isEnabled('VBAT')) { $('.vbatmonitoring').show(); - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { $('select.batterymetertype').show(); - if (MISC.batterymetertype !== 0) { + if (FC.MISC.batterymetertype !== 0) { $('.vbatCalibration').hide(); } } else { @@ -1086,10 +1086,10 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function checkUpdateCurrentControls() { - if (FEATURE_CONFIG.features.isEnabled('CURRENT_METER')) { + if (FC.FEATURE_CONFIG.features.isEnabled('CURRENT_METER')) { $('.currentMonitoring').show(); - switch(BF_CONFIG.currentmetertype) { + switch(FC.BF_CONFIG.currentmetertype) { case 0: $('.currentCalibration').hide(); $('.currentOutput').hide(); @@ -1099,7 +1099,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('.currentCalibration').hide(); } - if (BF_CONFIG.currentmetertype !== 1 && BF_CONFIG.currentmetertype !== 2) { + if (FC.BF_CONFIG.currentmetertype !== 1 && FC.BF_CONFIGcurrentmetertype !== 2) { $('.currentCalibration').hide(); } } else { @@ -1108,17 +1108,17 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } //fill 3D - if (semver.lt(CONFIG.apiVersion, "1.14.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.14.0")) { $('.tab-configuration ._3d').hide(); } else { - $('input[name="3ddeadbandlow"]').val(MOTOR_3D_CONFIG.deadband3d_low); - $('input[name="3ddeadbandhigh"]').val(MOTOR_3D_CONFIG.deadband3d_high); - $('input[name="3dneutral"]').val(MOTOR_3D_CONFIG.neutral); + $('input[name="3ddeadbandlow"]').val(FC.MOTOR_3D_CONFIG.deadband3d_low); + $('input[name="3ddeadbandhigh"]').val(FC.MOTOR_3D_CONFIG.deadband3d_high); + $('input[name="3dneutral"]').val(FC.MOTOR_3D_CONFIG.neutral); } // UI hooks function checkShowDisarmDelay() { - if (FEATURE_CONFIG.features.isEnabled('MOTOR_STOP')) { + if (FC.FEATURE_CONFIG.features.isEnabled('MOTOR_STOP')) { $('div.disarmdelay').show(); } else { $('div.disarmdelay').hide(); @@ -1126,7 +1126,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function checkShowSerialRxBox() { - if (FEATURE_CONFIG.features.isEnabled('RX_SERIAL')) { + if (FC.FEATURE_CONFIG.features.isEnabled('RX_SERIAL')) { $('div.serialRXBox').show(); } else { $('div.serialRXBox').hide(); @@ -1134,7 +1134,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function checkShowSpiRxBox() { - if (FEATURE_CONFIG.features.isEnabled('RX_SPI')) { + if (FC.FEATURE_CONFIG.features.isEnabled('RX_SPI')) { $('div.spiRxBox').show(); } else { $('div.spiRxBox').hide(); @@ -1142,7 +1142,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function checkUpdateGpsControls() { - if (FEATURE_CONFIG.features.isEnabled('GPS')) { + if (FC.FEATURE_CONFIG.features.isEnabled('GPS')) { $('.gpsSettings').show(); } else { $('.gpsSettings').hide(); @@ -1150,7 +1150,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function checkUpdate3dControls() { - if (FEATURE_CONFIG.features.isEnabled('3D')) { + if (FC.FEATURE_CONFIG.features.isEnabled('3D')) { $('._3dSettings').show(); } else { $('._3dSettings').hide(); @@ -1160,8 +1160,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('input.feature', features_e).change(function () { var element = $(this); - FEATURE_CONFIG.features.updateData(element); - updateTabList(FEATURE_CONFIG.features); + FC.FEATURE_CONFIGfeatures.updateData(element); + updateTabList(FC.FEATURE_CONFIG.features); switch (element.attr('name')) { case 'MOTOR_STOP': @@ -1193,7 +1193,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { }); $('input[id="accHardwareSwitch"]').change(function() { - if(semver.gte(CONFIG.apiVersion, "1.37.0")) { + if(semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { var checked = $(this).is(':checked'); $('.accelNeeded').toggle(checked); } @@ -1202,8 +1202,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $(features_e).filter('select').change(function () { var element = $(this); - FEATURE_CONFIG.features.updateData(element); - updateTabList(FEATURE_CONFIG.features); + FC.FEATURE_CONFIGfeatures.updateData(element); + updateTabList(FC.FEATURE_CONFIG.features); switch (element.attr('name')) { case 'rxMode': @@ -1218,7 +1218,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('input.condition', beeper_e).change(function () { var element = $(this); - BEEPER_CONFIG.beepers.updateData(element); + FC.BEEPER_CONFIG.beepers.updateData(element); }); checkShowDisarmDelay(); @@ -1234,73 +1234,73 @@ TABS.configuration.initialize = function (callback, scrollPosition) { $('a.save').click(function () { // gather data that doesn't have automatic change event bound - BOARD_ALIGNMENT_CONFIG.roll = parseInt($('input[name="board_align_roll"]').val()); - BOARD_ALIGNMENT_CONFIG.pitch = parseInt($('input[name="board_align_pitch"]').val()); - BOARD_ALIGNMENT_CONFIG.yaw = parseInt($('input[name="board_align_yaw"]').val()); + FC.BOARD_ALIGNMENT_CONFIGroll = parseInt($('input[name="board_align_roll"]').val()); + FC.BOARD_ALIGNMENT_CONFIGpitch = parseInt($('input[name="board_align_pitch"]').val()); + FC.BOARD_ALIGNMENT_CONFIGyaw = parseInt($('input[name="board_align_yaw"]').val()); - CONFIG.accelerometerTrims[1] = parseInt($('input[name="roll"]').val()); - CONFIG.accelerometerTrims[0] = parseInt($('input[name="pitch"]').val()); + FC.CONFIGaccelerometerTrims[1] = parseInt($('input[name="roll"]').val()); + FC.CONFIGaccelerometerTrims[0] = parseInt($('input[name="pitch"]').val()); // motor disarm - if(semver.gte(CONFIG.apiVersion, "1.8.0")) { - ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val()); - ARMING_CONFIG.disarm_kill_switch = $('input[id="disarmkillswitch"]').is(':checked') ? 1 : 0; + if(semver.gte(FC.CONFIG.apiVersion, "1.8.0")) { + FC.ARMING_CONFIGauto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val()); + FC.ARMING_CONFIGdisarm_kill_switch = $('input[id="disarmkillswitch"]').is(':checked') ? 1 : 0; } - if(semver.gte(CONFIG.apiVersion, "1.37.0")) { - ARMING_CONFIG.small_angle = parseInt($('input[id="configurationSmallAngle"]').val()); + if(semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + FC.ARMING_CONFIGsmall_angle = parseInt($('input[id="configurationSmallAngle"]').val()); } - MOTOR_CONFIG.minthrottle = parseInt($('input[name="minthrottle"]').val()); - MOTOR_CONFIG.maxthrottle = parseInt($('input[name="maxthrottle"]').val()); - MOTOR_CONFIG.mincommand = parseInt($('input[name="mincommand"]').val()); - if(semver.gte(CONFIG.apiVersion, "1.42.0")) { - MOTOR_CONFIG.motor_poles = parseInt($('input[name="motorPoles"]').val()); + FC.MOTOR_CONFIGminthrottle = parseInt($('input[name="minthrottle"]').val()); + FC.MOTOR_CONFIGmaxthrottle = parseInt($('input[name="maxthrottle"]').val()); + FC.MOTOR_CONFIGmincommand = parseInt($('input[name="mincommand"]').val()); + if(semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.MOTOR_CONFIGmotor_poles = parseInt($('input[name="motorPoles"]').val()); } if(self.SHOW_OLD_BATTERY_CONFIG) { - MISC.vbatmincellvoltage = parseFloat($('input[name="mincellvoltage"]').val()); - MISC.vbatmaxcellvoltage = parseFloat($('input[name="maxcellvoltage"]').val()); - MISC.vbatwarningcellvoltage = parseFloat($('input[name="warningcellvoltage"]').val()); - MISC.vbatscale = parseInt($('input[name="voltagescale"]').val()); + FC.MISCvbatmincellvoltage = parseFloat($('input[name="mincellvoltage"]').val()); + FC.MISCvbatmaxcellvoltage = parseFloat($('input[name="maxcellvoltage"]').val()); + FC.MISCvbatwarningcellvoltage = parseFloat($('input[name="warningcellvoltage"]').val()); + FC.MISCvbatscale = parseInt($('input[name="voltagescale"]').val()); - BF_CONFIG.currentscale = parseInt($('input[name="currentscale"]').val()); - BF_CONFIG.currentoffset = parseInt($('input[name="currentoffset"]').val()); - MISC.multiwiicurrentoutput = $('input[name="multiwiicurrentoutput"]').is(':checked') ? 1 : 0; + FC.BF_CONFIGcurrentscale = parseInt($('input[name="currentscale"]').val()); + FC.BF_CONFIGcurrentoffset = parseInt($('input[name="currentoffset"]').val()); + FC.MISCmultiwiicurrentoutput = $('input[name="multiwiicurrentoutput"]').is(':checked') ? 1 : 0; } - if(semver.gte(CONFIG.apiVersion, "1.14.0")) { - MOTOR_3D_CONFIG.deadband3d_low = parseInt($('input[name="3ddeadbandlow"]').val()); - MOTOR_3D_CONFIG.deadband3d_high = parseInt($('input[name="3ddeadbandhigh"]').val()); - MOTOR_3D_CONFIG.neutral = parseInt($('input[name="3dneutral"]').val()); + if(semver.gte(FC.CONFIG.apiVersion, "1.14.0")) { + FC.MOTOR_3D_CONFIGdeadband3d_low = parseInt($('input[name="3ddeadbandlow"]').val()); + FC.MOTOR_3D_CONFIGdeadband3d_high = parseInt($('input[name="3ddeadbandhigh"]').val()); + FC.MOTOR_3D_CONFIGneutral = parseInt($('input[name="3dneutral"]').val()); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val()); } - PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(esc_protocol_e.val()-1); - PID_ADVANCED_CONFIG.use_unsyncedPwm = $('input[id="unsyncedPWMSwitch"]').is(':checked') ? 1 : 0; - PID_ADVANCED_CONFIG.motor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val()); - PID_ADVANCED_CONFIG.gyro_sync_denom = parseInt(gyroSelectElement.val()); + FC.PID_ADVANCED_CONFIGfast_pwm_protocol = parseInt(esc_protocol_e.val()-1); + FC.PID_ADVANCED_CONFIGuse_unsyncedPwm = $('input[id="unsyncedPWMSwitch"]').is(':checked') ? 1 : 0; + FC.PID_ADVANCED_CONFIGmotor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val()); + FC.PID_ADVANCED_CONFIGgyro_sync_denom = parseInt(gyroSelectElement.val()); const value = parseInt(pidSelectElement.val()); - if (value !== PID_ADVANCED_CONFIG.pid_process_denom) { + if (value !== FC.PID_ADVANCED_CONFIGpid_process_denom) { const newFrequency = pidSelectElement.find('option:selected').text(); self.analyticsChanges['PIDLoopSettings'] = `denominator: ${value} | frequency: ${newFrequency}`; } else { self.analyticsChanges['PIDLoopSettings'] = undefined; } - PID_ADVANCED_CONFIG.pid_process_denom = value; + FC.PID_ADVANCED_CONFIGpid_process_denom = value; - PID_ADVANCED_CONFIG.digitalIdlePercent = parseFloat($('input[name="digitalIdlePercent"]').val()); - if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0")) { - PID_ADVANCED_CONFIG.gyroUse32kHz = $('input[id="gyroUse32kHz"]').is(':checked') ? 1 : 0; + FC.PID_ADVANCED_CONFIGdigitalIdlePercent = parseFloat($('input[name="digitalIdlePercent"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0") && semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { + FC.PID_ADVANCED_CONFIGgyroUse32kHz = $('input[id="gyroUse32kHz"]').is(':checked') ? 1 : 0; } - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { - RX_CONFIG.fpvCamAngleDegrees = parseInt($('input[name="fpvCamAngleDegrees"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { + FC.RX_CONFIGfpvCamAngleDegrees = parseInt($('input[name="fpvCamAngleDegrees"]').val()); } analytics.sendChangeEvents(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, self.analyticsChanges); @@ -1318,7 +1318,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_beeper_config() { var next_callback = save_misc; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { MSP.send_message(MSPCodes.MSP_SET_BEEPER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_BEEPER_CONFIG), false, next_callback); } else { next_callback(); @@ -1327,7 +1327,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_misc() { var next_callback = save_mixer_config; - if(semver.lt(CONFIG.apiVersion, "1.33.0")) { + if(semver.lt(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, next_callback); } else { next_callback(); @@ -1346,7 +1346,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_motor_config() { var next_callback = save_gps_config; - if(semver.gte(CONFIG.apiVersion, "1.33.0")) { + if(semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_SET_MOTOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_MOTOR_CONFIG), false, next_callback); } else { next_callback(); @@ -1354,13 +1354,13 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function save_gps_config() { - if (semver.gte(CONFIG.apiVersion, "1.34.0")) { - GPS_CONFIG.auto_baud = $('input[name="gps_auto_baud"]').is(':checked') ? 1 : 0; - GPS_CONFIG.auto_config = $('input[name="gps_auto_config"]').is(':checked') ? 1 : 0; + if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) { + FC.GPS_CONFIGauto_baud = $('input[name="gps_auto_baud"]').is(':checked') ? 1 : 0; + FC.GPS_CONFIGauto_config = $('input[name="gps_auto_config"]').is(':checked') ? 1 : 0; } var next_callback = save_motor_3d_config; - if(semver.gte(CONFIG.apiVersion, "1.33.0")) { + if(semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { MSP.send_message(MSPCodes.MSP_SET_GPS_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_GPS_CONFIG), false, next_callback); } else { next_callback(); @@ -1396,9 +1396,9 @@ TABS.configuration.initialize = function (callback, scrollPosition) { } function save_sensor_config() { - SENSOR_CONFIG.acc_hardware = $('input[id="accHardwareSwitch"]').is(':checked') ? 0 : 1; - SENSOR_CONFIG.baro_hardware = $('input[id="baroHardwareSwitch"]').is(':checked') ? 0 : 1; - SENSOR_CONFIG.mag_hardware = $('input[id="magHardwareSwitch"]').is(':checked') ? 0 : 1; + FC.SENSOR_CONFIGacc_hardware = $('input[id="accHardwareSwitch"]').is(':checked') ? 0 : 1; + FC.SENSOR_CONFIGbaro_hardware = $('input[id="baroHardwareSwitch"]').is(':checked') ? 0 : 1; + FC.SENSOR_CONFIGmag_hardware = $('input[id="magHardwareSwitch"]').is(':checked') ? 0 : 1; var next_callback = save_name; MSP.send_message(MSPCodes.MSP_SET_SENSOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_CONFIG), false, next_callback); @@ -1411,13 +1411,13 @@ TABS.configuration.initialize = function (callback, scrollPosition) { next_callback = save_battery; } - CONFIG.name = $.trim($('input[name="craftName"]').val()); + FC.CONFIGname = $.trim($('input[name="craftName"]').val()); MSP.send_message(MSPCodes.MSP_SET_NAME, mspHelper.crunch(MSPCodes.MSP_SET_NAME), false, next_callback); } function save_battery() { var next_callback = save_current; - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { MSP.send_message(MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG), false, next_callback); } else { next_callback(); @@ -1426,7 +1426,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_current() { var next_callback = save_rx_config; - if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) { + if (semver.gte(FC.CONFIG.flightControllerVersion, "3.1.0")) { MSP.send_message(MSPCodes.MSP_SET_CURRENT_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CURRENT_METER_CONFIG), false, next_callback); } else { next_callback(); @@ -1435,7 +1435,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_rx_config() { const next_callback = save_filter_config; - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, next_callback); } else { next_callback(); @@ -1444,7 +1444,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) { function save_filter_config() { const next_callback = save_to_eeprom; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, next_callback); } else { next_callback(); diff --git a/src/js/tabs/failsafe.js b/src/js/tabs/failsafe.js index 3fa4726e..df526e4b 100644 --- a/src/js/tabs/failsafe.js +++ b/src/js/tabs/failsafe.js @@ -19,7 +19,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { function load_rxfail_config() { MSP.send_message(MSPCodes.MSP_RXFAIL_CONFIG, false, false, - semver.gte(CONFIG.apiVersion, "1.41.0") ? load_gps_rescue : get_box_names); + semver.gte(FC.CONFIG.apiVersion, "1.41.0") ? load_gps_rescue : get_box_names); } function load_gps_rescue() { @@ -89,21 +89,21 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { i, element; - for (var channelIndex = 0; channelIndex < RC.active_channels - 4; channelIndex++) { + for (var channelIndex = 0; channelIndex < FC.RC.active_channels - 4; channelIndex++) { auxAssignment.push(""); } - if (typeof RSSI_CONFIG.channel !== 'undefined') { - auxAssignment[RSSI_CONFIG.channel - 5] += "" + "RSSI" + ""; // Aux channels start at 5 in backend so we have to substract 5 + if (typeof FC.RSSI_CONFIG.channel !== 'undefined') { + auxAssignment[FC.RSSI_CONFIG.channel - 5] += "" + "RSSI" + ""; // Aux channels start at 5 in backend so we have to substract 5 } - for (var modeIndex = 0; modeIndex < AUX_CONFIG.length; modeIndex++) { + for (var modeIndex = 0; modeIndex < FC.AUX_CONFIG.length; modeIndex++) { - var modeId = AUX_CONFIG_IDS[modeIndex]; + var modeId = FC.AUX_CONFIG_IDS[modeIndex]; // scan mode ranges to find assignments - for (var modeRangeIndex = 0; modeRangeIndex < MODE_RANGES.length; modeRangeIndex++) { - var modeRange = MODE_RANGES[modeRangeIndex]; + for (var modeRangeIndex = 0; modeRangeIndex < FC.MODE_RANGES.length; modeRangeIndex++) { + var modeRange = FC.MODE_RANGES[modeRangeIndex]; if (modeRange.id != modeId) { continue; @@ -115,7 +115,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { } // Search for the real name if it belongs to a peripheral - var modeName = AUX_CONFIG[modeIndex]; + var modeName = FC.AUX_CONFIG[modeIndex]; modeName = adjustBoxNameIfPeripheralWithModeID(modeId, modeName); auxAssignment[modeRange.auxChannelIndex] += "" + modeName + ""; @@ -133,9 +133,9 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { aux_index = 1, aux_assignment_index = 0; - for (i = 0; i < RXFAIL_CONFIG.length; i++) { + for (i = 0; i < FC.RXFAIL_CONFIG.length; i++) { if (i < channelNames.length) { - if (semver.lt(CONFIG.apiVersion, "1.41.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.41.0")) { fullChannels_e.append('\
\
\ @@ -202,7 +202,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { channelMode.change(function () { var currentMode = parseInt($(this).val()); var i = parseInt($(this).prop("id")); - RXFAIL_CONFIG[i].mode = currentMode; + FC.RXFAIL_CONFIG[i].mode = currentMode; if (currentMode == 2) { channel_value_array[i].prop("disabled", false); channel_value_array[i].show(); @@ -215,7 +215,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { // UI hooks channelValue.change(function () { var i = parseInt($(this).prop("id")); - RXFAIL_CONFIG[i].value = parseInt($(this).val()); + FC.RXFAIL_CONFIG[i].value = parseInt($(this).val()); }); // for some odd reason chrome 38+ changes scroll according to the touched select element @@ -224,19 +224,19 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { $('#content').scrollTop((scrollPosition) ? scrollPosition : 0); // fill stage 1 Valid Pulse Range Settings - $('input[name="rx_min_usec"]').val(RX_CONFIG.rx_min_usec); - $('input[name="rx_max_usec"]').val(RX_CONFIG.rx_max_usec); + $('input[name="rx_min_usec"]').val(FC.RX_CONFIG.rx_min_usec); + $('input[name="rx_max_usec"]').val(FC.RX_CONFIG.rx_max_usec); // fill fallback settings (mode and value) for all channels - for (i = 0; i < RXFAIL_CONFIG.length; i++) { - channel_value_array[i].val(RXFAIL_CONFIG[i].value); - channel_mode_array[i].val(RXFAIL_CONFIG[i].mode); + for (i = 0; i < FC.RXFAIL_CONFIG.length; i++) { + channel_value_array[i].val(FC.RXFAIL_CONFIG[i].value); + channel_mode_array[i].val(FC.RXFAIL_CONFIG[i].mode); channel_mode_array[i].change(); } - FEATURE_CONFIG.features.generateElements($('.tab-failsafe .featuresNew')); + FC.FEATURE_CONFIG.features.generateElements($('.tab-failsafe .featuresNew')); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { $('tbody.rxFailsafe').hide(); toggleStage2(true); } else { @@ -244,13 +244,13 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { failsafeFeature.change(function () { toggleStage2($(this).is(':checked')); }); - toggleStage2(FEATURE_CONFIG.features.isEnabled('FAILSAFE')); + toggleStage2(FC.FEATURE_CONFIG.features.isEnabled('FAILSAFE')); } - $('input[name="failsafe_throttle"]').val(FAILSAFE_CONFIG.failsafe_throttle); - $('input[name="failsafe_off_delay"]').val(FAILSAFE_CONFIG.failsafe_off_delay); - $('input[name="failsafe_throttle_low_delay"]').val(FAILSAFE_CONFIG.failsafe_throttle_low_delay); - $('input[name="failsafe_delay"]').val(FAILSAFE_CONFIG.failsafe_delay); + $('input[name="failsafe_throttle"]').val(FC.FAILSAFE_CONFIG.failsafe_throttle); + $('input[name="failsafe_off_delay"]').val(FC.FAILSAFE_CONFIG.failsafe_off_delay); + $('input[name="failsafe_throttle_low_delay"]').val(FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay); + $('input[name="failsafe_delay"]').val(FC.FAILSAFE_CONFIG.failsafe_delay); // set stage 2 failsafe procedure $('input[type="radio"].procedure').change(function () { @@ -264,7 +264,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { element.parent().parent().find(':input').attr('disabled',false); }); - switch(FAILSAFE_CONFIG.failsafe_procedure) { + switch(FC.FAILSAFE_CONFIG.failsafe_procedure) { default: case 0: element = $('input[id="land"]') ; @@ -283,37 +283,37 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { break; } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { // `failsafe_kill_switch` has been renamed to `failsafe_switch_mode`. // It is backwards compatible with `failsafe_kill_switch` - $('select[name="failsafe_switch_mode"]').val(FAILSAFE_CONFIG.failsafe_switch_mode); + $('select[name="failsafe_switch_mode"]').val(FC.FAILSAFE_CONFIG.failsafe_switch_mode); $('div.kill_switch').hide(); } else { - $('input[name="failsafe_kill_switch"]').prop('checked', FAILSAFE_CONFIG.failsafe_switch_mode); + $('input[name="failsafe_kill_switch"]').prop('checked', FC.FAILSAFE_CONFIG.failsafe_switch_mode); $('div.failsafe_switch').hide(); } // The GPS Rescue tab is only available for 1.40 or later, and the parameters for 1.41 - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { // Load GPS Rescue parameters - $('input[name="gps_rescue_angle"]').val(GPS_RESCUE.angle); - $('input[name="gps_rescue_initial_altitude"]').val(GPS_RESCUE.initialAltitudeM); - $('input[name="gps_rescue_descent_distance"]').val(GPS_RESCUE.descentDistanceM); - $('input[name="gps_rescue_ground_speed"]').val((GPS_RESCUE.rescueGroundspeed / 100).toFixed(2)); - $('input[name="gps_rescue_throttle_min"]').val(GPS_RESCUE.throttleMin); - $('input[name="gps_rescue_throttle_max"]').val(GPS_RESCUE.throttleMax); - $('input[name="gps_rescue_throttle_hover"]').val(GPS_RESCUE.throttleHover); - $('input[name="gps_rescue_min_sats"]').val(GPS_RESCUE.minSats); - $('select[name="gps_rescue_sanity_checks"]').val(GPS_RESCUE.sanityChecks); + $('input[name="gps_rescue_angle"]').val(FC.GPS_RESCUE.angle); + $('input[name="gps_rescue_initial_altitude"]').val(FC.GPS_RESCUE.initialAltitudeM); + $('input[name="gps_rescue_descent_distance"]').val(FC.GPS_RESCUE.descentDistanceM); + $('input[name="gps_rescue_ground_speed"]').val((FC.GPS_RESCUE.rescueGroundspeed / 100).toFixed(2)); + $('input[name="gps_rescue_throttle_min"]').val(FC.GPS_RESCUE.throttleMin); + $('input[name="gps_rescue_throttle_max"]').val(FC.GPS_RESCUE.throttleMax); + $('input[name="gps_rescue_throttle_hover"]').val(FC.GPS_RESCUE.throttleHover); + $('input[name="gps_rescue_min_sats"]').val(FC.GPS_RESCUE.minSats); + $('select[name="gps_rescue_sanity_checks"]').val(FC.GPS_RESCUE.sanityChecks); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - $('input[name="gps_rescue_ascend_rate"]').val((GPS_RESCUE.ascendRate / 100).toFixed(2)); - $('input[name="gps_rescue_descend_rate"]').val((GPS_RESCUE.descendRate / 100).toFixed(2)); - $('input[name="gps_rescue_allow_arming_without_fix"]').prop('checked', GPS_RESCUE.allowArmingWithoutFix > 0); - $('select[name="gps_rescue_altitude_mode"]').val(GPS_RESCUE.altitudeMode); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + $('input[name="gps_rescue_ascend_rate"]').val((FC.GPS_RESCUE.ascendRate / 100).toFixed(2)); + $('input[name="gps_rescue_descend_rate"]').val((FC.GPS_RESCUE.descendRate / 100).toFixed(2)); + $('input[name="gps_rescue_allow_arming_without_fix"]').prop('checked', FC.GPS_RESCUE.allowArmingWithoutFix > 0); + $('select[name="gps_rescue_altitude_mode"]').val(FC.GPS_RESCUE.altitudeMode); } else { $('input[name="gps_rescue_ascend_rate"]').closest('.number').hide(); $('input[name="gps_rescue_descend_rate"]').closest('.number').hide(); @@ -337,49 +337,49 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { $('a.save').click(function () { // gather data that doesn't have automatic change event bound - FEATURE_CONFIG.features.updateData($('input[name="FAILSAFE"]')); + FC.FEATURE_CONFIG.features.updateData($('input[name="FAILSAFE"]')); - RX_CONFIG.rx_min_usec = parseInt($('input[name="rx_min_usec"]').val()); - RX_CONFIG.rx_max_usec = parseInt($('input[name="rx_max_usec"]').val()); + FC.RX_CONFIG.rx_min_usec = parseInt($('input[name="rx_min_usec"]').val()); + FC.RX_CONFIG.rx_max_usec = parseInt($('input[name="rx_max_usec"]').val()); - FAILSAFE_CONFIG.failsafe_throttle = parseInt($('input[name="failsafe_throttle"]').val()); - FAILSAFE_CONFIG.failsafe_off_delay = parseInt($('input[name="failsafe_off_delay"]').val()); - FAILSAFE_CONFIG.failsafe_throttle_low_delay = parseInt($('input[name="failsafe_throttle_low_delay"]').val()); - FAILSAFE_CONFIG.failsafe_delay = parseInt($('input[name="failsafe_delay"]').val()); + FC.FAILSAFE_CONFIG.failsafe_throttle = parseInt($('input[name="failsafe_throttle"]').val()); + FC.FAILSAFE_CONFIG.failsafe_off_delay = parseInt($('input[name="failsafe_off_delay"]').val()); + FC.FAILSAFE_CONFIG.failsafe_throttle_low_delay = parseInt($('input[name="failsafe_throttle_low_delay"]').val()); + FC.FAILSAFE_CONFIG.failsafe_delay = parseInt($('input[name="failsafe_delay"]').val()); if( $('input[id="land"]').is(':checked')) { - FAILSAFE_CONFIG.failsafe_procedure = 0; + FC.FAILSAFE_CONFIG.failsafe_procedure = 0; } else if( $('input[id="drop"]').is(':checked')) { - FAILSAFE_CONFIG.failsafe_procedure = 1; + FC.FAILSAFE_CONFIG.failsafe_procedure = 1; } else if( $('input[id="gps_rescue"]').is(':checked')) { - FAILSAFE_CONFIG.failsafe_procedure = 2; + FC.FAILSAFE_CONFIG.failsafe_procedure = 2; } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - FAILSAFE_CONFIG.failsafe_switch_mode = $('select[name="failsafe_switch_mode"]').val(); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + FC.FAILSAFE_CONFIG.failsafe_switch_mode = $('select[name="failsafe_switch_mode"]').val(); } else { - FAILSAFE_CONFIG.failsafe_switch_mode = $('input[name="failsafe_kill_switch"]').is(':checked') ? 1 : 0; + FC.FAILSAFE_CONFIG.failsafe_switch_mode = $('input[name="failsafe_kill_switch"]').is(':checked') ? 1 : 0; } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { // Load GPS Rescue parameters - GPS_RESCUE.angle = $('input[name="gps_rescue_angle"]').val(); - GPS_RESCUE.initialAltitudeM = $('input[name="gps_rescue_initial_altitude"]').val(); - GPS_RESCUE.descentDistanceM = $('input[name="gps_rescue_descent_distance"]').val(); - GPS_RESCUE.rescueGroundspeed = $('input[name="gps_rescue_ground_speed"]').val() * 100; - GPS_RESCUE.throttleMin = $('input[name="gps_rescue_throttle_min"]').val(); - GPS_RESCUE.throttleMax = $('input[name="gps_rescue_throttle_max"]').val(); - GPS_RESCUE.throttleHover = $('input[name="gps_rescue_throttle_hover"]').val(); - GPS_RESCUE.minSats = $('input[name="gps_rescue_min_sats"]').val(); - GPS_RESCUE.sanityChecks = $('select[name="gps_rescue_sanity_checks"]').val(); + FC.GPS_RESCUE.angle = $('input[name="gps_rescue_angle"]').val(); + FC.GPS_RESCUE.initialAltitudeM = $('input[name="gps_rescue_initial_altitude"]').val(); + FC.GPS_RESCUE.descentDistanceM = $('input[name="gps_rescue_descent_distance"]').val(); + FC.GPS_RESCUE.rescueGroundspeed = $('input[name="gps_rescue_ground_speed"]').val() * 100; + FC.GPS_RESCUE.throttleMin = $('input[name="gps_rescue_throttle_min"]').val(); + FC.GPS_RESCUE.throttleMax = $('input[name="gps_rescue_throttle_max"]').val(); + FC.GPS_RESCUE.throttleHover = $('input[name="gps_rescue_throttle_hover"]').val(); + FC.GPS_RESCUE.minSats = $('input[name="gps_rescue_min_sats"]').val(); + FC.GPS_RESCUE.sanityChecks = $('select[name="gps_rescue_sanity_checks"]').val(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - GPS_RESCUE.ascendRate = $('input[name="gps_rescue_ascend_rate"]').val() * 100; - GPS_RESCUE.descendRate = $('input[name="gps_rescue_descend_rate"]').val() * 100; - GPS_RESCUE.allowArmingWithoutFix = $('input[name="gps_rescue_allow_arming_without_fix"]').prop('checked') ? 1 : 0; - GPS_RESCUE.altitudeMode = parseInt($('select[name="gps_rescue_altitude_mode"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.GPS_RESCUE.ascendRate = $('input[name="gps_rescue_ascend_rate"]').val() * 100; + FC.GPS_RESCUE.descendRate = $('input[name="gps_rescue_descend_rate"]').val() * 100; + FC.GPS_RESCUE.allowArmingWithoutFix = $('input[name="gps_rescue_allow_arming_without_fix"]').prop('checked') ? 1 : 0; + FC.GPS_RESCUE.altitudeMode = parseInt($('select[name="gps_rescue_altitude_mode"]').val()); } function save_failssafe_config() { @@ -392,7 +392,7 @@ TABS.failsafe.initialize = function (callback, scrollPosition) { function save_feature_config() { MSP.send_message(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG), false, - semver.gte(CONFIG.apiVersion, "1.41.0") ? save_gps_rescue : save_to_eeprom); + semver.gte(FC.CONFIG.apiVersion, "1.41.0") ? save_gps_rescue : save_to_eeprom); } function save_gps_rescue() { diff --git a/src/js/tabs/gps.js b/src/js/tabs/gps.js index 2429856d..35ca1959 100644 --- a/src/js/tabs/gps.js +++ b/src/js/tabs/gps.js @@ -46,31 +46,31 @@ TABS.gps.initialize = function (callback) { var gpsWasFixed = false; function update_ui() { - var lat = GPS_DATA.lat / 10000000; - var lon = GPS_DATA.lon / 10000000; + var lat = FC.GPS_DATA.lat / 10000000; + var lon = FC.GPS_DATA.lon / 10000000; var url = 'https://maps.google.com/?q=' + lat + ',' + lon; - var alt = GPS_DATA.alt; - if (semver.lt(CONFIG.apiVersion, "1.39.0")) { + var alt = FC.GPS_DATA.alt; + if (semver.lt(FC.CONFIG.apiVersion, "1.39.0")) { alt = alt / 10; } - $('.GPS_info td.fix').html((GPS_DATA.fix) ? i18n.getMessage('gpsFixTrue') : i18n.getMessage('gpsFixFalse')); + $('.GPS_info td.fix').html((FC.GPS_DATA.fix) ? i18n.getMessage('gpsFixTrue') : i18n.getMessage('gpsFixFalse')); $('.GPS_info td.alt').text(alt + ' m'); $('.GPS_info td.lat a').prop('href', url).text(lat.toFixed(4) + ' deg'); $('.GPS_info td.lon a').prop('href', url).text(lon.toFixed(4) + ' deg'); - $('.GPS_info td.speed').text(GPS_DATA.speed + ' cm/s'); - $('.GPS_info td.sats').text(GPS_DATA.numSat); - $('.GPS_info td.distToHome').text(GPS_DATA.distanceToHome + ' m'); + $('.GPS_info td.speed').text(FC.GPS_DATA.speed + ' cm/s'); + $('.GPS_info td.sats').text(FC.GPS_DATA.numSat); + $('.GPS_info td.distToHome').text(FC.GPS_DATA.distanceToHome + ' m'); // Update GPS Signal Strengths var e_ss_table = $('div.GPS_signal_strength table tr:not(.titles)'); - for (var i = 0; i < GPS_DATA.chn.length; i++) { + for (var i = 0; i < FC.GPS_DATA.chn.length; i++) { var row = e_ss_table.eq(i); - $('td', row).eq(0).text(GPS_DATA.svid[i]); - $('td', row).eq(1).text(GPS_DATA.quality[i]); - $('td', row).eq(2).find('progress').val(GPS_DATA.cno[i]); + $('td', row).eq(0).text(FC.GPS_DATA.svid[i]); + $('td', row).eq(1).text(FC.GPS_DATA.quality[i]); + $('td', row).eq(2).find('progress').val(FC.GPS_DATA.cno[i]); } @@ -84,7 +84,7 @@ TABS.gps.initialize = function (callback) { if (navigator.onLine) { $('#connect').hide(); - if (GPS_DATA.fix) { + if (FC.GPS_DATA.fix) { gpsWasFixed = true; frame.contentWindow.postMessage(message, '*'); $('#loadmap').show(); @@ -107,7 +107,7 @@ TABS.gps.initialize = function (callback) { // enable data pulling GUI.interval_add('gps_pull', function gps_update() { // avoid usage of the GPS commands until a GPS sensor is detected for targets that are compiled without GPS support. - if (!have_sensor(CONFIG.activeSensors, 'gps')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'gps')) { //return; } diff --git a/src/js/tabs/led_strip.js b/src/js/tabs/led_strip.js index 46b04434..95b3dd45 100644 --- a/src/js/tabs/led_strip.js +++ b/src/js/tabs/led_strip.js @@ -11,14 +11,14 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { var selectedColorIndex = null; var selectedModeColor = null; - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { TABS.led_strip.functions = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b']; TABS.led_strip.baseFuncs = ['c', 'f', 'a', 'b', 'g', 'r']; TABS.led_strip.overlays = ['t', 's', 'i', 'w']; } else { TABS.led_strip.functions = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l', 'o', 'n']; TABS.led_strip.baseFuncs = ['c', 'f', 'a', 'l', 's', 'g', 'r']; - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { TABS.led_strip.overlays = ['t', 'o', 'b', 'n', 'i', 'w']; } else { TABS.led_strip.overlays = ['t', 'o', 'b', 'v', 'i', 'w']; @@ -40,7 +40,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function load_led_mode_colors() { - if (semver.gte(CONFIG.apiVersion, "1.19.0")) + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) MSP.send_message(MSPCodes.MSP_LED_STRIP_MODECOLOR, false, false, load_html); else load_html(); @@ -73,9 +73,9 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { var theHTML = []; var theHTMLlength = 0; for (var i = 0; i < 256; i++) { - if (semver.lte(CONFIG.apiVersion, "1.19.0")) { + if (semver.lte(FC.CONFIG.apiVersion, "1.19.0")) { theHTML[theHTMLlength++] = ('
UD
'); - } else if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + } else if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { theHTML[theHTMLlength++] = ('
UD
'); } else { theHTML[theHTMLlength++] = ('
UD
'); @@ -88,7 +88,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { }); // Aux channel drop-down - if (semver.lte(CONFIG.apiVersion, "1.20.0")) { + if (semver.lte(FC.CONFIG.apiVersion, "1.20.0")) { $('.auxSelect').hide(); $('.labelSelect').show(); } else { @@ -105,7 +105,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { }); } - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { $('.vtxOverlay').hide(); $('.landingBlinkOverlay').show(); } @@ -178,7 +178,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { // Mode Color Buttons $('.mode_colors').on('click', 'button', function() { var that = this; - LED_MODE_COLORS.forEach(function(mc) { + FC.LED_MODE_COLORS.forEach(function(mc) { if ($(that).is('.mode_color-' + mc.mode + '-' + mc.direction)) { if ($(that).is('.btnOn')) { $(that).removeClass('btnOn'); @@ -320,7 +320,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } if (TABS.led_strip.wireMode) { - if ($(this).find('.wire').html() == '' && nextWireNumber < LED_STRIP.length) { + if ($(this).find('.wire').html() == '' && nextWireNumber < FC.LED_STRIP.length) { $(this).find('.wire').html(nextWireNumber); } } @@ -571,7 +571,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function send_led_strip_mode_colors() { - if (semver.gte(CONFIG.apiVersion, "1.19.0")) + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) mspHelper.sendLedStripModeColors(save_to_eeprom); else save_to_eeprom(); @@ -608,8 +608,8 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { function findLed(x, y) { - for (var ledIndex = 0; ledIndex < LED_STRIP.length; ledIndex++) { - var led = LED_STRIP[ledIndex]; + for (var ledIndex = 0; ledIndex < FC.LED_STRIP.length; ledIndex++) { + var led = FC.LED_STRIP[ledIndex]; if (led.x == x && led.y == y) { return { index: ledIndex, led: led }; } @@ -619,9 +619,9 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { function updateBulkCmd() { - var ledStripLength = LED_STRIP.length; + var ledStripLength = FC.LED_STRIP.length; - LED_STRIP = []; + FC.LED_STRIP = []; $('.gPoint').each(function(){ if ($(this).is('[class*="function"]')) { @@ -667,7 +667,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { color: colorIndex } - LED_STRIP[wireNumber] = led; + FC.LED_STRIP[wireNumber] = led; } } }); @@ -680,22 +680,22 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { }; for (var i = 0; i < ledStripLength; i++) { - if (LED_STRIP[i]) { + if (FC.LED_STRIP[i]) { continue; } - LED_STRIP[i] = defaultLed; + FC.LED_STRIP[i] = defaultLed; } var usedWireNumbers = buildUsedWireNumbers(); - var remaining = LED_STRIP.length - usedWireNumbers.length; + var remaining = FC.LED_STRIP.length - usedWireNumbers.length; $('.wires-remaining div').html(remaining); } // refresh mode color buttons function setModeBackgroundColor(element) { - if (semver.gte(CONFIG.apiVersion, "1.19.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) { element.find('[class*="mode_color"]').each(function() { var m = 0; var d = 0; @@ -704,7 +704,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { if (match) { m = Number(match[2]); d = Number(match[3]); - $(this).css('background-color', HsvToColor(LED_COLORS[getModeColor(m, d)])); + $(this).css('background-color', HsvToColor(FC.LED_COLORS[getModeColor(m, d)])); } }); } @@ -717,7 +717,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { var match = element.attr("class").match(/(^|\s)color-([0-9]+)(\s|$)/); if (match) { colorIndex = match[2]; - element.css('background-color', HsvToColor(LED_COLORS[colorIndex])); + element.css('background-color', HsvToColor(FC.LED_COLORS[colorIndex])); } } } @@ -734,7 +734,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function areOverlaysActive(activeFunction) { - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { switch (activeFunction) { case "function-c": case "function-a": @@ -762,7 +762,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function areBlinkersActive(activeFunction) { - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { switch (activeFunction) { case "function-c": case "function-a": @@ -783,7 +783,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { break; case "function-r": case "function-b": - if (semver.lt(CONFIG.apiVersion, "1.20.0")) + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) return false; break; default: @@ -793,7 +793,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function isVtxActive(activeFunction) { - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { switch (activeFunction) { case "function-v": case "function-c": @@ -814,7 +814,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { $('select.functionSelect').addClass(activeFunction); - if (semver.lte(CONFIG.apiVersion, "1.18.0")) { + if (semver.lte(FC.CONFIG.apiVersion, "1.18.0")) { // <= 18 // Hide GPS (Func) // Hide RSSI (O/L), Blink (Func) @@ -856,7 +856,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { // set directions visibility - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { switch (activeFunction) { case "function-r": $('.indicatorOverlay').hide(); @@ -870,10 +870,10 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } $('.mode_colors').hide(); - if (semver.gte(CONFIG.apiVersion, "1.19.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.19.0")) { // set mode colors visibility - if (semver.gte(CONFIG.apiVersion, "1.20.0")) + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) if (activeFunction == "function-f") $('.mode_colors').show(); @@ -944,7 +944,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function unselectOverlays(letter) { - if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { if (letter == 'b' || letter == 'r') { unselectOverlay(letter, 'i'); } @@ -992,23 +992,23 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { if ($(className).hasClass('btnOn')) { switch (hsvIndex) { case 0: - if (LED_COLORS[selectedColorIndex].h != value) { - LED_COLORS[selectedColorIndex].h = value; - $('.colorDefineSliderValue.Hvalue').text(LED_COLORS[selectedColorIndex].h); + if (FC.LED_COLORS[selectedColorIndex].h != value) { + FC.LED_COLORS[selectedColorIndex].h = value; + $('.colorDefineSliderValue.Hvalue').text(FC.LED_COLORS[selectedColorIndex].h); change = true } break; case 1: - if (LED_COLORS[selectedColorIndex].s != value) { - LED_COLORS[selectedColorIndex].s = value; - $('.colorDefineSliderValue.Svalue').text(LED_COLORS[selectedColorIndex].s); + if (FC.LED_COLORS[selectedColorIndex].s != value) { + FC.LED_COLORS[selectedColorIndex].s = value; + $('.colorDefineSliderValue.Svalue').text(FC.LED_COLORS[selectedColorIndex].s); change = true } break; case 2: - if (LED_COLORS[selectedColorIndex].v != value) { - LED_COLORS[selectedColorIndex].v = value; - $('.colorDefineSliderValue.Vvalue').text(LED_COLORS[selectedColorIndex].v); + if (FC.LED_COLORS[selectedColorIndex].v != value) { + FC.LED_COLORS[selectedColorIndex].v = value; + $('.colorDefineSliderValue.Vvalue').text(FC.LED_COLORS[selectedColorIndex].v); change = true } break; @@ -1036,7 +1036,7 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { var className = 'color-' + colorIndex; if ($(this).is('.' + className)) { $(this).find('.overlay-color').addClass(className); - $(this).find('.overlay-color').css('background-color', HsvToColor(LED_COLORS[colorIndex])) + $(this).find('.overlay-color').css('background-color', HsvToColor(FC.LED_COLORS[colorIndex])) } else { if ($(this).find('.overlay-color').is('.' + className)) $(this).find('.overlay-color').removeClass(className); @@ -1053,24 +1053,24 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { var sliders = $('div.colorDefineSliders input'); var change = false; - if (!LED_COLORS[colorIndex]) + if (!FC.LED_COLORS[colorIndex]) return; - if (LED_COLORS[colorIndex].h != Number(sliders.eq(0).val())) { - sliders.eq(0).val(LED_COLORS[colorIndex].h); - $('.colorDefineSliderValue.Hvalue').text(LED_COLORS[colorIndex].h); + if (FC.LED_COLORS[colorIndex].h != Number(sliders.eq(0).val())) { + sliders.eq(0).val(FC.LED_COLORS[colorIndex].h); + $('.colorDefineSliderValue.Hvalue').text(FC.LED_COLORS[colorIndex].h); change = true; } - if (LED_COLORS[colorIndex].s != Number(sliders.eq(1).val())) { - sliders.eq(1).val(LED_COLORS[colorIndex].s); - $('.colorDefineSliderValue.Svalue').text(LED_COLORS[colorIndex].s); + if (FC.LED_COLORS[colorIndex].s != Number(sliders.eq(1).val())) { + sliders.eq(1).val(FC.LED_COLORS[colorIndex].s); + $('.colorDefineSliderValue.Svalue').text(FC.LED_COLORS[colorIndex].s); change = true; } - if (LED_COLORS[colorIndex].v != Number(sliders.eq(2).val())) { - sliders.eq(2).val(LED_COLORS[colorIndex].v); - $('.colorDefineSliderValue.Vvalue').text(LED_COLORS[colorIndex].v); + if (FC.LED_COLORS[colorIndex].v != Number(sliders.eq(2).val())) { + sliders.eq(2).val(FC.LED_COLORS[colorIndex].v); + $('.colorDefineSliderValue.Vvalue').text(FC.LED_COLORS[colorIndex].v); change = true; } @@ -1101,8 +1101,8 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function getModeColor(mode, dir) { - for (var i = 0; i < LED_MODE_COLORS.length; i++) { - var mc = LED_MODE_COLORS[i]; + for (var i = 0; i < FC.LED_MODE_COLORS.length; i++) { + var mc = FC.LED_MODE_COLORS[i]; if (mc.mode == mode && mc.direction == dir) return mc.color; } @@ -1110,8 +1110,8 @@ TABS.led_strip.initialize = function (callback, scrollPosition) { } function setModeColor(mode, dir, color) { - for (var i = 0; i < LED_MODE_COLORS.length; i++) { - var mc = LED_MODE_COLORS[i]; + for (var i = 0; i < FC.LED_MODE_COLORS.length; i++) { + var mc = FC.LED_MODE_COLORS[i]; if (mc.mode == mode && mc.direction == dir) { mc.color = color; return 1; diff --git a/src/js/tabs/logging.js b/src/js/tabs/logging.js index 582f7801..93d763f0 100644 --- a/src/js/tabs/logging.js +++ b/src/js/tabs/logging.js @@ -154,17 +154,17 @@ TABS.logging.initialize = function (callback) { head += ',' + 'rssi'; break; case 'MSP_RC': - for (var chan = 0; chan < RC.active_channels; chan++) { + for (var chan = 0; chan < FC.RC.active_channels; chan++) { head += ',' + 'RC' + chan; } break; case 'MSP_MOTOR': - for (var motor = 0; motor < MOTOR_DATA.length; motor++) { + for (var motor = 0; motor < FC.MOTOR_DATA.length; motor++) { head += ',' + 'Motor' + motor; } break; case 'MSP_DEBUG': - for (var debug = 0; debug < SENSOR_DATA.debug.length; debug++) { + for (var debug = 0; debug < FC.SENSOR_DATA.debug.length; debug++) { head += ',' + 'Debug' + debug; } break; @@ -180,43 +180,43 @@ TABS.logging.initialize = function (callback) { for (var i = 0; i < requested_properties.length; i++) { switch (requested_properties[i]) { case 'MSP_RAW_IMU': - sample += ',' + SENSOR_DATA.gyroscope; - sample += ',' + SENSOR_DATA.accelerometer; - sample += ',' + SENSOR_DATA.magnetometer; + sample += ',' + FC.SENSOR_DATA.gyroscope; + sample += ',' + FC.SENSOR_DATA.accelerometer; + sample += ',' + FC.SENSOR_DATA.magnetometer; break; case 'MSP_ATTITUDE': - sample += ',' + SENSOR_DATA.kinematics[0]; - sample += ',' + SENSOR_DATA.kinematics[1]; - sample += ',' + SENSOR_DATA.kinematics[2]; + sample += ',' + FC.SENSOR_DATA.kinematics[0]; + sample += ',' + FC.SENSOR_DATA.kinematics[1]; + sample += ',' + FC.SENSOR_DATA.kinematics[2]; break; case 'MSP_ALTITUDE': - sample += ',' + SENSOR_DATA.altitude; + sample += ',' + FC.SENSOR_DATA.altitude; break; case 'MSP_RAW_GPS': - sample += ',' + GPS_DATA.fix; - sample += ',' + GPS_DATA.numSat; - sample += ',' + (GPS_DATA.lat / 10000000); - sample += ',' + (GPS_DATA.lon / 10000000); - sample += ',' + GPS_DATA.alt; - sample += ',' + GPS_DATA.speed; - sample += ',' + GPS_DATA.ground_course; + sample += ',' + FC.GPS_DATA.fix; + sample += ',' + FC.GPS_DATA.numSat; + sample += ',' + (FC.GPS_DATA.lat / 10000000); + sample += ',' + (FC.GPS_DATA.lon / 10000000); + sample += ',' + FC.GPS_DATA.alt; + sample += ',' + FC.GPS_DATA.speed; + sample += ',' + FC.GPS_DATA.ground_course; break; case 'MSP_ANALOG': - sample += ',' + ANALOG.voltage; - sample += ',' + ANALOG.amperage; - sample += ',' + ANALOG.mAhdrawn; - sample += ',' + ANALOG.rssi; + sample += ',' + FC.ANALOG.voltage; + sample += ',' + FC.ANALOG.amperage; + sample += ',' + FC.ANALOG.mAhdrawn; + sample += ',' + FC.ANALOG.rssi; break; case 'MSP_RC': - for (var chan = 0; chan < RC.active_channels; chan++) { - sample += ',' + RC.channels[chan]; + for (var chan = 0; chan < FC.RC.active_channels; chan++) { + sample += ',' + FC.RC.channels[chan]; } break; case 'MSP_MOTOR': - sample += ',' + MOTOR_DATA; + sample += ',' + FC.MOTOR_DATA; break; case 'MSP_DEBUG': - sample += ',' + SENSOR_DATA.debug; + sample += ',' + FC.SENSOR_DATA.debug; break; } } diff --git a/src/js/tabs/motors.js b/src/js/tabs/motors.js index 04972e4e..e55b1611 100644 --- a/src/js/tabs/motors.js +++ b/src/js/tabs/motors.js @@ -65,7 +65,7 @@ TABS.motors.initialize = function (callback) { } function load_motor_telemetry_data() { - if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) { + if (FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor) { MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, load_mixer_config); } else { load_mixer_config(); @@ -81,7 +81,7 @@ TABS.motors.initialize = function (callback) { } // Get information from Betaflight - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { // BF 3.2.0+ MSP.send_message(MSPCodes.MSP_MOTOR_CONFIG, false, false, get_arm_status); } else { @@ -90,13 +90,13 @@ TABS.motors.initialize = function (callback) { } function update_arm_status() { - self.armed = bit_check(CONFIG.mode, 0); + self.armed = bit_check(FC.CONFIG.mode, 0); } function initSensorData() { for (var i = 0; i < 3; i++) { - SENSOR_DATA.accelerometer[i] = 0; - SENSOR_DATA.gyroscope[i] = 0; + FC.SENSOR_DATA.accelerometer[i] = 0; + FC.SENSOR_DATA.gyroscope[i] = 0; } } @@ -217,8 +217,8 @@ TABS.motors.initialize = function (callback) { function update_model(mixer) { var reverse = ""; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - reverse = MIXER_CONFIG.reverseMotorDir ? "_reversed" : ""; + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + reverse = FC.MIXER_CONFIG.reverseMotorDir ? "_reversed" : ""; } $('.mixerPreview img').attr('src', './resources/motor_order/' + mixerList[mixer - 1].image + reverse + '.svg'); @@ -230,9 +230,9 @@ TABS.motors.initialize = function (callback) { update_arm_status(); - self.feature3DEnabled = FEATURE_CONFIG.features.isEnabled('3D'); + self.feature3DEnabled = FC.FEATURE_CONFIG.features.isEnabled('3D'); - if (PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) { + if (FC.PID_ADVANCED_CONFIG.fast_pwm_protocol >= TABS.configuration.DSHOT_PROTOCOL_MIN_VALUE) { self.escProtocolIsDshot = true; } else { self.escProtocolIsDshot = false; @@ -240,16 +240,16 @@ TABS.motors.initialize = function (callback) { $('#motorsEnableTestMode').prop('checked', false); - if (semver.lt(CONFIG.apiVersion, "1.42.0") || !(MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0") || !(FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor)) { $(".motor_testing .telemetry").hide(); } else { // Hide telemetry from unused motors (to hide the tooltip in an empty blank space) - for (let i = MOTOR_CONFIG.motor_count; i < MOTOR_DATA.length; i++) { + for (let i = FC.MOTOR_CONFIG.motor_count; i < FC.MOTOR_DATA.length; i++) { $(".motor_testing .telemetry .motor-" + i).hide(); } } - update_model(MIXER_CONFIG.mixer); + update_model(FC.MIXER_CONFIG.mixer); // Always start with default/empty sensor data array, clean slate all initSensorData(); @@ -360,16 +360,16 @@ TABS.motors.initialize = function (callback) { function update_accel_graph() { if (!accel_offset_established) { for (var i = 0; i < 3; i++) { - accel_offset[i] = SENSOR_DATA.accelerometer[i] * -1; + accel_offset[i] = FC.SENSOR_DATA.accelerometer[i] * -1; } accel_offset_established = true; } var accel_with_offset = [ - accel_offset[0] + SENSOR_DATA.accelerometer[0], - accel_offset[1] + SENSOR_DATA.accelerometer[1], - accel_offset[2] + SENSOR_DATA.accelerometer[2] + accel_offset[0] + FC.SENSOR_DATA.accelerometer[0], + accel_offset[1] + FC.SENSOR_DATA.accelerometer[1], + accel_offset[2] + FC.SENSOR_DATA.accelerometer[2] ]; updateGraphHelperSize(accel_helpers); @@ -384,9 +384,9 @@ TABS.motors.initialize = function (callback) { function update_gyro_graph() { var gyro = [ - SENSOR_DATA.gyroscope[0], - SENSOR_DATA.gyroscope[1], - SENSOR_DATA.gyroscope[2] + FC.SENSOR_DATA.gyroscope[0], + FC.SENSOR_DATA.gyroscope[1], + FC.SENSOR_DATA.gyroscope[2] ]; updateGraphHelperSize(gyro_helpers); @@ -437,9 +437,9 @@ TABS.motors.initialize = function (callback) { // Amperage function power_data_pull() { - motor_voltage_e.text(i18n.getMessage('motorsVoltageValue', [ANALOG.voltage])); - motor_mah_drawing_e.text(i18n.getMessage('motorsADrawingValue', [ANALOG.amperage.toFixed(2)])); - motor_mah_drawn_e.text(i18n.getMessage('motorsmAhDrawnValue', [ANALOG.mAhdrawn])); + motor_voltage_e.text(i18n.getMessage('motorsVoltageValue', [FC.ANALOG.voltage])); + motor_mah_drawing_e.text(i18n.getMessage('motorsADrawingValue', [FC.ANALOG.amperage.toFixed(2)])); + motor_mah_drawn_e.text(i18n.getMessage('motorsmAhDrawnValue', [FC.ANALOG.mAhdrawn])); } GUI.interval_add('motors_power_data_pull_slow', power_data_pull, 250, true); // 4 fps @@ -450,7 +450,7 @@ TABS.motors.initialize = function (callback) { accel_offset_established = false; }); - var number_of_valid_outputs = (MOTOR_DATA.indexOf(0) > -1) ? MOTOR_DATA.indexOf(0) : 8; + var number_of_valid_outputs = (FC.MOTOR_DATA.indexOf(0) > -1) ? FC.MOTOR_DATA.indexOf(0) : 8; var rangeMin; var rangeMax; var neutral3d; @@ -459,11 +459,11 @@ TABS.motors.initialize = function (callback) { rangeMax = self.DSHOT_MAX_VALUE; neutral3d = self.DSHOT_3D_NEUTRAL; } else { - rangeMin = MOTOR_CONFIG.mincommand; - rangeMax = MOTOR_CONFIG.maxthrottle; + rangeMin = FC.MOTOR_CONFIG.mincommand; + rangeMax = FC.MOTOR_CONFIG.maxthrottle; //Arbitrary sanity checks //Note: values may need to be revisited - neutral3d = (MOTOR_3D_CONFIG.neutral > 1575 || MOTOR_3D_CONFIG.neutral < 1425) ? 1500 : MOTOR_3D_CONFIG.neutral; + neutral3d = (FC.MOTOR_3D_CONFIG.neutral > 1575 || FC.MOTOR_3D_CONFIG.neutral < 1425) ? 1500 : FC.MOTOR_3D_CONFIG.neutral; } var motors_wrapper = $('.motors .bar-wrapper'), @@ -579,11 +579,11 @@ TABS.motors.initialize = function (callback) { for (var i = 0; i < number_of_valid_outputs; i++) { if (!self.feature3DEnabled) { - if (MOTOR_DATA[i] > rangeMin) { + if (FC.MOTOR_DATA[i] > rangeMin) { motors_running = true; } } else { - if ((MOTOR_DATA[i] < MOTOR_3D_CONFIG.deadband3d_low) || (MOTOR_DATA[i] > MOTOR_3D_CONFIG.deadband3d_high)) { + if ((FC.MOTOR_DATA[i] < FC.MOTOR_3D_CONFIG.deadband3d_low) || (FC.MOTOR_DATA[i] > FC.MOTOR_3D_CONFIG.deadband3d_high)) { motors_running = true; } } @@ -596,12 +596,12 @@ TABS.motors.initialize = function (callback) { var sliders = $('div.sliders input:not(.master)'); - var master_value = MOTOR_DATA[0]; - for (var i = 0; i < MOTOR_DATA.length; i++) { - if (MOTOR_DATA[i] > 0) { - sliders.eq(i).val(MOTOR_DATA[i]); + var master_value = FC.MOTOR_DATA[0]; + for (var i = 0; i < FC.MOTOR_DATA.length; i++) { + if (FC.MOTOR_DATA[i] > 0) { + sliders.eq(i).val(FC.MOTOR_DATA[i]); - if (master_value != MOTOR_DATA[i]) { + if (master_value != FC.MOTOR_DATA[i]) { master_value = false; } } @@ -629,7 +629,7 @@ TABS.motors.initialize = function (callback) { } function get_motor_telemetry_data() { - if (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor) { + if (FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor) { MSP.send_message(MSPCodes.MSP_MOTOR_TELEMETRY, false, false, get_servo_data); } else { get_servo_data(); @@ -646,8 +646,8 @@ TABS.motors.initialize = function (callback) { var previousArmState = self.armed; var block_height = $('div.m-block:first').height(); - for (var i = 0; i < MOTOR_DATA.length; i++) { - var motorValue = MOTOR_DATA[i]; + for (var i = 0; i < FC.MOTOR_DATA.length; i++) { + var motorValue = FC.MOTOR_DATA[i]; var barHeight = motorValue - rangeMin, margin_top = block_height - (barHeight * (block_height / full_block_scale)).clamp(0, block_height), height = (barHeight * (block_height / full_block_scale)).clamp(0, block_height), @@ -660,12 +660,12 @@ TABS.motors.initialize = function (callback) { 'background-color' : 'rgba(255,187,0,1.'+ color +')' }); - if (i < MOTOR_CONFIG.motor_count && (MOTOR_CONFIG.use_dshot_telemetry || MOTOR_CONFIG.use_esc_sensor)) { + if (i < FC.MOTOR_CONFIG.motor_count && (FC.MOTOR_CONFIG.use_dshot_telemetry || FC.MOTOR_CONFIG.use_esc_sensor)) { const MAX_INVALID_PERCENT = 100, MAX_VALUE_SIZE = 6; - let rpmMotorValue = MOTOR_TELEMETRY_DATA.rpm[i]; + let rpmMotorValue = FC.MOTOR_TELEMETRY_DATA.rpm[i]; // Reduce the size of the value if too big if (rpmMotorValue > 999999) { @@ -676,9 +676,9 @@ TABS.motors.initialize = function (callback) { let telemetryText = i18n.getMessage('motorsRPM', {motorsRpmValue: rpmMotorValue}); - if (MOTOR_CONFIG.use_dshot_telemetry) { + if (FC.MOTOR_CONFIG.use_dshot_telemetry) { - let invalidPercent = MOTOR_TELEMETRY_DATA.invalidPercent[i]; + let invalidPercent = FC.MOTOR_TELEMETRY_DATA.invalidPercent[i]; let classError = (invalidPercent > MAX_INVALID_PERCENT) ? "warning" : ""; invalidPercent = (invalidPercent / 100).toFixed(2).toString().padStart(MAX_VALUE_SIZE); @@ -688,9 +688,9 @@ TABS.motors.initialize = function (callback) { telemetryText += ""; } - if (MOTOR_CONFIG.use_esc_sensor) { + if (FC.MOTOR_CONFIG.use_esc_sensor) { - let escTemperature = MOTOR_TELEMETRY_DATA.temperature[i]; + let escTemperature = FC.MOTOR_TELEMETRY_DATA.temperature[i]; telemetryText += "
"; escTemperature = escTemperature.toString().padStart(MAX_VALUE_SIZE); @@ -704,13 +704,13 @@ TABS.motors.initialize = function (callback) { } // servo indicators are still using old (not flexible block scale), it will be changed in the future accordingly - for (var i = 0; i < SERVO_DATA.length; i++) { - var data = SERVO_DATA[i] - 1000, + for (var i = 0; i < FC.SERVO_DATA.length; i++) { + var data = FC.SERVO_DATA[i] - 1000, margin_top = block_height - (data * (block_height / 1000)).clamp(0, block_height), height = (data * (block_height / 1000)).clamp(0, block_height), color = parseInt(data * 0.009); - $('.servo-' + i + ' .label', servos_wrapper).text(SERVO_DATA[i]); + $('.servo-' + i + ' .label', servos_wrapper).text(FC.SERVO_DATA[i]); $('.servo-' + i + ' .indicator', servos_wrapper).css({'margin-top' : margin_top + 'px', 'height' : height + 'px', 'background-color' : 'rgba(255,187,0,1'+ color +')'}); } //keep the following here so at least we get a visual cue of our motor setup diff --git a/src/js/tabs/onboard_logging.js b/src/js/tabs/onboard_logging.js index 61ebaea4..8355e8d3 100644 --- a/src/js/tabs/onboard_logging.js +++ b/src/js/tabs/onboard_logging.js @@ -61,7 +61,7 @@ TABS.onboard_logging.initialize = function (callback) { i18n.localizePage(); var - dataflashPresent = DATAFLASH.totalSize > 0, + dataflashPresent = FC.DATAFLASH.totalSize > 0, blackboxSupport; /* @@ -69,7 +69,7 @@ TABS.onboard_logging.initialize = function (callback) { * * The best we can do on those targets is check the BLACKBOX feature bit to identify support for Blackbox instead. */ - if ((BLACKBOX.supported || DATAFLASH.supported) && (semver.gte(CONFIG.apiVersion, "1.33.0") || FEATURE_CONFIG.features.isEnabled('BLACKBOX'))) { + if ((FC.BLACKBOX.supported || FC.DATAFLASH.supported) && (semver.gte(FC.CONFIG.apiVersion, "1.33.0") || FC.FEATURE_CONFIG.features.isEnabled('BLACKBOX'))) { blackboxSupport = 'yes'; } else { blackboxSupport = 'no'; @@ -77,10 +77,10 @@ TABS.onboard_logging.initialize = function (callback) { $(".tab-onboard_logging") .addClass("serial-supported") - .toggleClass("dataflash-supported", DATAFLASH.supported) + .toggleClass("dataflash-supported", FC.DATAFLASH.supported) .toggleClass("dataflash-present", dataflashPresent) - .toggleClass("sdcard-supported", SDCARD.supported) - .toggleClass("blackbox-config-supported", BLACKBOX.supported) + .toggleClass("sdcard-supported", FC.SDCARD.supported) + .toggleClass("blackbox-config-supported", FC.BLACKBOX.supported) .toggleClass("blackbox-supported", blackboxSupport === 'yes') .toggleClass("blackbox-maybe-supported", blackboxSupport === 'maybe') @@ -102,20 +102,20 @@ TABS.onboard_logging.initialize = function (callback) { var loggingRatesSelect = $(".blackboxRate select"); var debugModeSelect = $(".blackboxDebugMode select"); - if (BLACKBOX.supported) { + if (FC.BLACKBOX.supported) { $(".tab-onboard_logging a.save-settings").click(function() { - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - BLACKBOX.blackboxSampleRate = parseInt(loggingRatesSelect.val(), 10); - } else if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - BLACKBOX.blackboxPDenom = parseInt(loggingRatesSelect.val(), 10); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + FC.BLACKBOX.blackboxSampleRate = parseInt(loggingRatesSelect.val(), 10); + } else if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.BLACKBOX.blackboxPDenom = parseInt(loggingRatesSelect.val(), 10); } else { var rate = loggingRatesSelect.val().split('/'); - BLACKBOX.blackboxRateNum = parseInt(rate[0], 10); - BLACKBOX.blackboxRateDenom = parseInt(rate[1], 10); + FC.BLACKBOX.blackboxRateNum = parseInt(rate[0], 10); + FC.BLACKBOX.blackboxRateDenom = parseInt(rate[1], 10); } - BLACKBOX.blackboxDevice = parseInt(deviceSelect.val(), 10); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - PID_ADVANCED_CONFIG.debugMode = parseInt(debugModeSelect.val()); + FC.BLACKBOX.blackboxDevice = parseInt(deviceSelect.val(), 10); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.PID_ADVANCED_CONFIG.debugMode = parseInt(debugModeSelect.val()); MSP.send_message(MSPCodes.MSP_SET_ADVANCED_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ADVANCED_CONFIG), false, save_to_eeprom); } MSP.send_message(MSPCodes.MSP_SET_BLACKBOX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_BLACKBOX_CONFIG), false, save_to_eeprom); @@ -134,8 +134,8 @@ TABS.onboard_logging.initialize = function (callback) { } }).change(); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - if ((SDCARD.supported && deviceSelect.val() == 2) || (DATAFLASH.supported && deviceSelect.val() == 1)) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + if ((FC.SDCARD.supported && deviceSelect.val() == 2) || (FC.DATAFLASH.supported && deviceSelect.val() == 1)) { $(".tab-onboard_logging") .toggleClass("msc-supported", true); @@ -144,7 +144,7 @@ TABS.onboard_logging.initialize = function (callback) { analytics.sendEvent(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, 'RebootMsc'); var buffer = []; - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { if (GUI.operating_system === "Linux") { // Reboot into MSC using UTC time offset instead of user timezone // Linux seems to expect that the FAT file system timestamps are UTC based @@ -169,26 +169,26 @@ TABS.onboard_logging.initialize = function (callback) { function populateDevices(deviceSelect) { deviceSelect.empty(); - if (semver.gte(CONFIG.apiVersion, "1.33.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.33.0")) { deviceSelect.append(''); - if (DATAFLASH.supported) { + if (FC.DATAFLASH.supported) { deviceSelect.append(''); } - if (SDCARD.supported) { + if (FC.SDCARD.supported) { deviceSelect.append(''); } deviceSelect.append(''); } else { deviceSelect.append(''); - if (DATAFLASH.ready) { + if (FC.DATAFLASH.ready) { deviceSelect.append(''); } - if (SDCARD.supported) { + if (FC.SDCARD.supported) { deviceSelect.append(''); } } - deviceSelect.val(BLACKBOX.blackboxDevice); + deviceSelect.val(FC.BLACKBOX.blackboxDevice); } function populateLoggingRates(loggingRatesSelect) { @@ -197,20 +197,20 @@ TABS.onboard_logging.initialize = function (callback) { let loggingRates = []; let pidRate; - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - pidRate = CONFIG.sampleRateHz / PID_ADVANCED_CONFIG.pid_process_denom; + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + pidRate = FC.CONFIG.sampleRateHz / FC.PID_ADVANCED_CONFIG.pid_process_denom; } else { let pidRateBase = 8000; - if (semver.gte(CONFIG.apiVersion, "1.25.0") && semver.lt(CONFIG.apiVersion, "1.41.0") && PID_ADVANCED_CONFIG.gyroUse32kHz !== 0) { + if (semver.gte(FC.CONFIG.apiVersion, "1.25.0") && semver.lt(FC.CONFIG.apiVersion, "1.41.0") && FC.PID_ADVANCED_CONFIG.gyroUse32kHz !== 0) { pidRateBase = 32000; } - pidRate = pidRateBase / PID_ADVANCED_CONFIG.gyro_sync_denom / PID_ADVANCED_CONFIG.pid_process_denom; + pidRate = pidRateBase / FC.PID_ADVANCED_CONFIG.gyro_sync_denom / FC.PID_ADVANCED_CONFIG.pid_process_denom; } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { const sampleRateNum=5; for (let i = 0; i < sampleRateNum; i++) { let loggingFrequency = Math.round(pidRate / (2**i)); @@ -221,8 +221,8 @@ TABS.onboard_logging.initialize = function (callback) { } loggingRatesSelect.append(``); } - loggingRatesSelect.val(BLACKBOX.blackboxSampleRate); - } else if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + loggingRatesSelect.val(FC.BLACKBOX.blackboxSampleRate); + } else if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { loggingRates = [ {text: "Disabled", hz: 0, p_denom: 0}, {text: "500 Hz", hz: 500, p_denom: 16}, @@ -241,7 +241,7 @@ TABS.onboard_logging.initialize = function (callback) { } }); - loggingRatesSelect.val(BLACKBOX.blackboxPDenom); + loggingRatesSelect.val(FC.BLACKBOX.blackboxPDenom); } else { loggingRates = [ @@ -271,14 +271,14 @@ TABS.onboard_logging.initialize = function (callback) { + loggingRate + loggingRateUnit + ' (' + Math.round(loggingRates[i].num / loggingRates[i].denom * 100) + '%)'); } - loggingRatesSelect.val(BLACKBOX.blackboxRateNum + '/' + BLACKBOX.blackboxRateDenom); + loggingRatesSelect.val(FC.BLACKBOX.blackboxRateNum + '/' + FC.BLACKBOX.blackboxRateDenom); } } function populateDebugModes(debugModeSelect) { var debugModes = []; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { $('.blackboxDebugMode').show(); debugModes = [ @@ -344,7 +344,7 @@ TABS.onboard_logging.initialize = function (callback) { {text: "FF_INTERPOLATED"}, ]; - for (let i = 0; i < PID_ADVANCED_CONFIG.debugModeCount; i++) { + for (let i = 0; i < FC.PID_ADVANCED_CONFIG.debugModeCount; i++) { if (i < debugModes.length) { debugModeSelect.append(new Option(debugModes[i].text, i)); } else { @@ -352,7 +352,7 @@ TABS.onboard_logging.initialize = function (callback) { } } - debugModeSelect.val(PID_ADVANCED_CONFIG.debugMode); + debugModeSelect.val(FC.PID_ADVANCED_CONFIG.debugMode); } else { $('.blackboxDebugMode').hide(); } @@ -399,23 +399,23 @@ TABS.onboard_logging.initialize = function (callback) { } function update_html() { - var dataflashPresent = DATAFLASH.totalSize > 0; + var dataflashPresent = FC.DATAFLASH.totalSize > 0; - update_bar_width($(".tab-onboard_logging .dataflash-used"), DATAFLASH.usedSize, DATAFLASH.totalSize, i18n.getMessage('dataflashUsedSpace'), false); - update_bar_width($(".tab-onboard_logging .dataflash-free"), DATAFLASH.totalSize - DATAFLASH.usedSize, DATAFLASH.totalSize, i18n.getMessage('dataflashFreeSpace'), false); + update_bar_width($(".tab-onboard_logging .dataflash-used"), FC.DATAFLASH.usedSize, FC.DATAFLASH.totalSize, i18n.getMessage('dataflashUsedSpace'), false); + update_bar_width($(".tab-onboard_logging .dataflash-free"), FC.DATAFLASH.totalSize - FC.DATAFLASH.usedSize, FC.DATAFLASH.totalSize, i18n.getMessage('dataflashFreeSpace'), false); - update_bar_width($(".tab-onboard_logging .sdcard-other"), SDCARD.totalSizeKB - SDCARD.freeSizeKB, SDCARD.totalSizeKB, i18n.getMessage('dataflashUnavSpace'), true); - update_bar_width($(".tab-onboard_logging .sdcard-free"), SDCARD.freeSizeKB, SDCARD.totalSizeKB, i18n.getMessage('dataflashLogsSpace'), true); + update_bar_width($(".tab-onboard_logging .sdcard-other"), FC.SDCARD.totalSizeKB - FC.SDCARD.freeSizeKB, FC.SDCARD.totalSizeKB, i18n.getMessage('dataflashUnavSpace'), true); + update_bar_width($(".tab-onboard_logging .sdcard-free"), FC.SDCARD.freeSizeKB, FC.SDCARD.totalSizeKB, i18n.getMessage('dataflashLogsSpace'), true); - $(".btn a.erase-flash, .btn a.save-flash").toggleClass("disabled", DATAFLASH.usedSize === 0); + $(".btn a.erase-flash, .btn a.save-flash").toggleClass("disabled", FC.DATAFLASH.usedSize === 0); $(".tab-onboard_logging") - .toggleClass("sdcard-error", SDCARD.state === MSP.SDCARD_STATE_FATAL) - .toggleClass("sdcard-initializing", SDCARD.state === MSP.SDCARD_STATE_CARD_INIT || SDCARD.state === MSP.SDCARD_STATE_FS_INIT) - .toggleClass("sdcard-ready", SDCARD.state === MSP.SDCARD_STATE_READY); + .toggleClass("sdcard-error", FC.SDCARD.state === MSP.SDCARD_STATE_FATAL) + .toggleClass("sdcard-initializing", FC.SDCARD.state === MSP.SDCARD_STATE_CARD_INIT || FC.SDCARD.state === MSP.SDCARD_STATE_FS_INIT) + .toggleClass("sdcard-ready", FC.SDCARD.state === MSP.SDCARD_STATE_READY); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - var mscIsReady = dataflashPresent || (SDCARD.state === MSP.SDCARD_STATE_READY); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + var mscIsReady = dataflashPresent || (FC.SDCARD.state === MSP.SDCARD_STATE_READY); $(".tab-onboard_logging") .toggleClass("msc-not-ready", !mscIsReady); @@ -427,7 +427,7 @@ TABS.onboard_logging.initialize = function (callback) { } var loggingStatus - switch (SDCARD.state) { + switch (FC.SDCARD.state) { case MSP.SDCARD_STATE_NOT_PRESENT: $(".sdcard-status").text(i18n.getMessage('sdcardStatusNoCard')); loggingStatus = 'SdCard: NotPresent'; @@ -449,16 +449,16 @@ TABS.onboard_logging.initialize = function (callback) { loggingStatus = 'SdCard: FsInit'; break; default: - $(".sdcard-status").text(i18n.getMessage('sdcardStatusUnknown',[SDCARD.state])); + $(".sdcard-status").text(i18n.getMessage('sdcardStatusUnknown',[FC.SDCARD.state])); } - if (dataflashPresent && SDCARD.state === MSP.SDCARD_STATE_NOT_PRESENT) { + if (dataflashPresent && FC.SDCARD.state === MSP.SDCARD_STATE_NOT_PRESENT) { loggingStatus = 'Dataflash'; - analytics.setFlightControllerData(analytics.DATA.LOG_SIZE, DATAFLASH.usedSize); + analytics.setFlightControllerData(analytics.DATA.LOG_SIZE, FC.DATAFLASH.usedSize); } analytics.setFlightControllerData(analytics.DATA.LOGGING_STATUS, loggingStatus); - if (SDCARD.supported && !sdcardTimer) { + if (FC.SDCARD.supported && !sdcardTimer) { // Poll for changes in SD card status sdcardTimer = setTimeout(function() { sdcardTimer = false; @@ -514,7 +514,7 @@ TABS.onboard_logging.initialize = function (callback) { function flash_save_begin() { if (GUI.connected_to) { if (FC.boardHasVcp()) { - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { self.blockSize = self.VCP_BLOCK_SIZE; } else { self.blockSize = self.VCP_BLOCK_SIZE_3_0; @@ -525,7 +525,7 @@ TABS.onboard_logging.initialize = function (callback) { // Begin by refreshing the occupied size in case it changed while the tab was open flash_update_summary(function() { - var maxBytes = DATAFLASH.usedSize; + var maxBytes = FC.DATAFLASH.usedSize; prepare_file(function(fileWriter) { var nextAddress = 0; @@ -637,7 +637,7 @@ TABS.onboard_logging.initialize = function (callback) { function poll_for_erase_completion() { flash_update_summary(function() { if (CONFIGURATOR.connectionValid && !eraseCancelled) { - if (DATAFLASH.ready) { + if (FC.DATAFLASH.ready) { $(".dataflash-confirm-erase")[0].close(); } else { setTimeout(poll_for_erase_completion, 500); diff --git a/src/js/tabs/osd.js b/src/js/tabs/osd.js index 9a16246f..801a0a82 100644 --- a/src/js/tabs/osd.js +++ b/src/js/tabs/osd.js @@ -70,7 +70,7 @@ SYM.loadSymbols = function() { * - Symbols used in this versions * - That were moved or didn't exist in the font file */ - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { SYM.AH_CENTER_LINE = 0x26; SYM.AH_CENTER = 0x7E; SYM.AH_CENTER_LINE_RIGHT = 0x27; @@ -347,16 +347,16 @@ OSD.generateTemperaturePreview = function (osd_data, temperature) { OSD.generateCraftName = function (osd_data) { var preview = 'CRAFT_NAME'; - if (CONFIG.name != '') { - preview = CONFIG.name.toUpperCase(); + if (FC.CONFIG.name != '') { + preview = FC.CONFIG.name.toUpperCase(); } return preview; } OSD.generateDisplayName = function(osd_data) { var preview = 'DISPLAY_NAME'; - if (CONFIG.displayName != '') - preview = CONFIG.displayName.toUpperCase(); + if (FC.CONFIG.displayName != '') + preview = FC.CONFIG.displayName.toUpperCase(); return preview; } @@ -523,7 +523,7 @@ OSD.loadDisplayFields = function() { }, draw_order: 40, positionable: function () { - return semver.gte(CONFIG.apiVersion, "1.39.0") ? true : false; + return semver.gte(FC.CONFIG.apiVersion, "1.39.0") ? true : false; }, preview: function () { return FONT.symbol(SYM.AH_CENTER_LINE) + FONT.symbol(SYM.AH_CENTER) + FONT.symbol(SYM.AH_CENTER_LINE_RIGHT); @@ -542,7 +542,7 @@ OSD.loadDisplayFields = function() { }, draw_order: 10, positionable: function () { - return semver.gte(CONFIG.apiVersion, "1.39.0") ? true : false; + return semver.gte(FC.CONFIG.apiVersion, "1.39.0") ? true : false; }, preview: function () { var artificialHorizon = new Array(); @@ -579,7 +579,7 @@ OSD.loadDisplayFields = function() { }, draw_order: 50, positionable: function () { - return semver.gte(CONFIG.apiVersion, "1.39.0") ? true : false; + return semver.gte(FC.CONFIG.apiVersion, "1.39.0") ? true : false; }, preview: function (fieldPosition) { @@ -613,7 +613,7 @@ OSD.loadDisplayFields = function() { draw_order: 130, positionable: true, preview: function () { - return semver.gte(CONFIG.apiVersion, "1.36.0") ? ' 42.00' + FONT.symbol(SYM.AMP) : FONT.symbol(SYM.AMP) + '42.0'; + return semver.gte(FC.CONFIG.apiVersion, "1.36.0") ? ' 42.00' + FONT.symbol(SYM.AMP) : FONT.symbol(SYM.AMP) + '42.0'; } }, MAH_DRAWN: { @@ -624,7 +624,7 @@ OSD.loadDisplayFields = function() { draw_order: 140, positionable: true, preview: function () { - return semver.gte(CONFIG.apiVersion, "1.36.0") ? ' 690' + FONT.symbol(SYM.MAH) : FONT.symbol(SYM.MAH) + '690'; + return semver.gte(FC.CONFIG.apiVersion, "1.36.0") ? ' 690' + FONT.symbol(SYM.MAH) : FONT.symbol(SYM.MAH) + '690'; } }, CRAFT_NAME: { @@ -754,7 +754,7 @@ OSD.loadDisplayFields = function() { draw_order: 200, positionable: true, preview: function () { - return semver.gte(CONFIG.apiVersion, "1.36.0") ? ' 142W' : '142W'; + return semver.gte(FC.CONFIG.apiVersion, "1.36.0") ? ' 142W' : '142W'; } }, PID_RATE_PROFILE: { @@ -1434,7 +1434,7 @@ OSD.searchLimitsElement = function (arrayElements) { OSD.chooseFields = function () { var F = OSD.ALL_DISPLAY_FIELDS; // version 3.0.1 - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { OSD.constants.DISPLAY_FIELDS = [ F.RSSI_VALUE, F.MAIN_BATT_VOLTAGE, @@ -1443,7 +1443,7 @@ OSD.chooseFields = function () { F.HORIZON_SIDEBARS ]; - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.ONTIME, F.FLYTIME @@ -1466,31 +1466,31 @@ OSD.chooseFields = function () { F.GPS_SATS, F.ALTITUDE ]); - if (semver.gte(CONFIG.apiVersion, "1.31.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.31.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.PID_ROLL, F.PID_PITCH, F.PID_YAW, F.POWER ]); - if (semver.gte(CONFIG.apiVersion, "1.32.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.32.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.PID_RATE_PROFILE, - semver.gte(CONFIG.apiVersion, "1.36.0") ? F.WARNINGS : F.BATTERY_WARNING, + semver.gte(FC.CONFIG.apiVersion, "1.36.0") ? F.WARNINGS : F.BATTERY_WARNING, F.AVG_CELL_VOLTAGE ]); - if (semver.gte(CONFIG.apiVersion, "1.34.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.34.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.GPS_LON, F.GPS_LAT, F.DEBUG ]); - if (semver.gte(CONFIG.apiVersion, "1.35.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.35.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.PITCH_ANGLE, F.ROLL_ANGLE ]); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.MAIN_BATT_USAGE, F.DISARMED, @@ -1502,22 +1502,22 @@ OSD.chooseFields = function () { F.ESC_TEMPERATURE, F.ESC_RPM ]); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.REMAINING_TIME_ESTIMATE, F.RTC_DATE_TIME, F.ADJUSTMENT_RANGE, F.CORE_TEMPERATURE ]); - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.ANTI_GRAVITY ]); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.G_FORCE, ]); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.MOTOR_DIAG, F.LOG_STATUS, @@ -1529,14 +1529,14 @@ OSD.chooseFields = function () { F.DISPLAY_NAME, F.ESC_RPM_FREQ ]); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.RATE_PROFILE_NAME, F.PID_PROFILE_NAME, F.OSD_PROFILE_NAME, F.RSSI_DBM_VALUE, ]); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { OSD.constants.DISPLAY_FIELDS = OSD.constants.DISPLAY_FIELDS.concat([ F.RC_CHANNELS, F.CAMERA_FRAME, @@ -1587,7 +1587,7 @@ OSD.chooseFields = function () { // that needs to be implemented here as well. Simply appending new stats does not // require a completely new section for the version - only reordering. - if (semver.lt(CONFIG.apiVersion, "1.39.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.39.0")) { OSD.constants.STATISTIC_FIELDS = [ F.MAX_SPEED, F.MIN_BATTERY, @@ -1602,7 +1602,7 @@ OSD.chooseFields = function () { F.MAX_DISTANCE, F.BLACKBOX_LOG_NUMBER ]; - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { OSD.constants.STATISTIC_FIELDS = OSD.constants.STATISTIC_FIELDS.concat([ F.RTC_DATE_TIME ]); @@ -1624,7 +1624,7 @@ OSD.chooseFields = function () { F.BLACKBOX, F.BLACKBOX_LOG_NUMBER ]; - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { OSD.constants.STATISTIC_FIELDS = OSD.constants.STATISTIC_FIELDS.concat([ F.MAX_G_FORCE, F.MAX_ESC_TEMP, @@ -1634,7 +1634,7 @@ OSD.chooseFields = function () { F.MAX_FFT ]); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { OSD.constants.STATISTIC_FIELDS = OSD.constants.STATISTIC_FIELDS.concat([ F.TOTAL_FLIGHTS, F.TOTAL_FLIGHT_TIME, @@ -1655,14 +1655,14 @@ OSD.chooseFields = function () { F.VISUAL_BEEPER, F.CRASH_FLIP_MODE ]; - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { OSD.constants.WARNINGS = OSD.constants.WARNINGS.concat([ F.ESC_FAIL, F.CORE_TEMPERATURE, F.RC_SMOOTHING_FAILURE ]); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { OSD.constants.WARNINGS = OSD.constants.WARNINGS.concat([ F.FAILSAFE, F.LAUNCH_CONTROL, @@ -1676,7 +1676,7 @@ OSD.chooseFields = function () { 'TOTAL_ARMED_TIME', 'LAST_ARMED_TIME' ]; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { OSD.constants.TIMER_TYPES = OSD.constants.TIMER_TYPES.concat([ 'ON_ARM_TIME' ]); @@ -1686,7 +1686,7 @@ OSD.chooseFields = function () { F.RSSI_DBM, ]); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { OSD.constants.WARNINGS = OSD.constants.WARNINGS.concat([ F.OVER_CAP, ]); @@ -1744,7 +1744,7 @@ OSD.msp = { var default_position = typeof (c.default_position) === 'function' ? c.default_position() : c.default_position; display_item.positionable = positionable; - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { // size * y + x display_item.position = positionable ? FONT.constants.SIZES.LINE * ((bits >> 5) & 0x001F) + (bits & 0x001F) : default_position; @@ -1772,7 +1772,7 @@ OSD.msp = { position: function (display_item) { var isVisible = display_item.isVisible; var position = display_item.position; - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { let packed_visible = 0; for (let osd_profile = 0; osd_profile < OSD.getNumberOfProfiles(); osd_profile++) { @@ -1790,19 +1790,19 @@ OSD.msp = { }, encodeOther: function () { var result = [-1, OSD.data.video_system]; - if (OSD.data.state.haveOsdFeature && semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (OSD.data.state.haveOsdFeature && semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { result.push8(OSD.data.unit_mode); // watch out, order matters! match the firmware result.push8(OSD.data.alarms.rssi.value); result.push16(OSD.data.alarms.cap.value); - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { result.push16(OSD.data.alarms.time.value); } else { // This value is unused by the firmware with configurable timers result.push16(0); } result.push16(OSD.data.alarms.alt.value); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { var warningFlags = 0; for (var i = 0; i < OSD.data.warnings.length; i++) { if (OSD.data.warnings[i].enabled) { @@ -1811,7 +1811,7 @@ OSD.msp = { } console.log(warningFlags); result.push16(warningFlags); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { result.push32(warningFlags); result.push8(OSD.data.osd_profiles.selected + 1); @@ -1819,7 +1819,7 @@ OSD.msp = { result.push8(OSD.data.parameters.overlayRadioMode); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { result.push8(OSD.data.parameters.cameraFrameWidth); result.push8(OSD.data.parameters.cameraFrameHeight); } @@ -1858,18 +1858,18 @@ OSD.msp = { if (d.flags > 0) { if (payload.length > 1) { d.video_system = view.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.21.0") && bit_check(d.flags, 0)) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0") && bit_check(d.flags, 0)) { d.unit_mode = view.readU8(); d.alarms = {}; d.alarms['rssi'] = { display_name: i18n.getMessage('osdTimerAlarmOptionRssi'), value: view.readU8() }; d.alarms['cap'] = { display_name: i18n.getMessage('osdTimerAlarmOptionCapacity'), value: view.readU16() }; - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { d.alarms['time'] = { display_name: 'Minutes', value: view.readU16() }; } else { // This value was obsoleted by the introduction of configurable timers, and has been reused to encode the number of display elements sent in this command view.readU8(); var tmp = view.readU8(); - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { displayItemsCountActual = tmp; } } @@ -1881,12 +1881,12 @@ OSD.msp = { d.state = {}; d.state.haveSomeOsd = (d.flags != 0) - d.state.haveMax7456Configured = bit_check(d.flags, 4) || (d.flags == 1 && semver.lt(CONFIG.apiVersion, "1.34.0")); - d.state.haveFrSkyOSDConfigured = semver.gte(CONFIG.apiVersion, API_VERSION_1_43) && bit_check(d.flags, 3); + d.state.haveMax7456Configured = bit_check(d.flags, 4) || (d.flags == 1 && semver.lt(FC.CONFIG.apiVersion, "1.34.0")); + d.state.haveFrSkyOSDConfigured = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) && bit_check(d.flags, 3); d.state.haveMax7456FontDeviceConfigured = d.state.haveMax7456Configured || d.state.haveFrSkyOSDConfigured; - d.state.isMax7456FontDeviceDetected = bit_check(d.flags, 5) || (d.state.haveMax7456FontDeviceConfigured && semver.lt(CONFIG.apiVersion, API_VERSION_1_43)); - d.state.haveOsdFeature = bit_check(d.flags, 0) || (d.flags == 1 && semver.lt(CONFIG.apiVersion, "1.34.0")); - d.state.isOsdSlave = bit_check(d.flags, 1) && semver.gte(CONFIG.apiVersion, "1.34.0"); + d.state.isMax7456FontDeviceDetected = bit_check(d.flags, 5) || (d.state.haveMax7456FontDeviceConfigured && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_43)); + d.state.haveOsdFeature = bit_check(d.flags, 0) || (d.flags == 1 && semver.lt(FC.CONFIG.apiVersion, "1.34.0")); + d.state.isOsdSlave = bit_check(d.flags, 1) && semver.gte(FC.CONFIG.apiVersion, "1.34.0"); d.display_items = []; d.stat_items = []; @@ -1902,7 +1902,7 @@ OSD.msp = { var items_positions_read = []; while (view.offset < view.byteLength && items_positions_read.length < displayItemsCountActual) { var v = null; - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { v = view.readU16(); } else { v = view.read16(); @@ -1910,7 +1910,7 @@ OSD.msp = { items_positions_read.push(v); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { // Parse statistics display enable var expectedStatsCount = view.readU8(); if (expectedStatsCount != OSD.constants.STATISTIC_FIELDS.length) { @@ -1965,7 +1965,7 @@ OSD.msp = { // Parse enabled warnings var warningCount = OSD.constants.WARNINGS.length; var warningFlags = view.readU16(); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { warningCount = view.readU8(); // the flags were replaced with a 32bit version warningFlags = view.readU32(); @@ -1992,7 +1992,7 @@ OSD.msp = { } } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { // OSD profiles d.osd_profiles.number = view.readU8(); d.osd_profiles.selected = view.readU8() - 1; @@ -2006,7 +2006,7 @@ OSD.msp = { } // Camera frame size - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { d.parameters.cameraFrameWidth = view.readU8(); d.parameters.cameraFrameHeight = view.readU8(); } @@ -2153,7 +2153,7 @@ OSD.GUI.preview = { } } - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { // unsigned now } else { if (position > OSD.data.display_size.total / 2) { @@ -2295,7 +2295,7 @@ TABS.osd.initialize = function (callback) { }); }); - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { // units $('.units-container').show(); var $unitMode = $('.units').empty(); @@ -2333,7 +2333,7 @@ TABS.osd.initialize = function (callback) { $alarms.append($input); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { // Timers $('.timers-container').show(); var $timers = $('#timer-fields').empty(); @@ -2837,7 +2837,7 @@ TABS.osd.initialize = function (callback) { fontPresetsElement.change(function (e) { var $font = $('.fontpresets option:selected'); var fontver = 1; - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { fontver = 2; } $('.font-manager-version-info').text(i18n.getMessage('osdDescribeFontVersion' + fontver)); diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js index 92496146..8f4e30b2 100644 --- a/src/js/tabs/pid_tuning.js +++ b/src/js/tabs/pid_tuning.js @@ -35,9 +35,9 @@ TABS.pid_tuning.initialize = function (callback) { // Update filtering defaults based on API version var FILTER_DEFAULT = FC.getFilterDefaults(); - // requesting MSP_STATUS manually because it contains CONFIG.profile + // requesting MSP_STATUS manually because it contains FC.CONFIG.profile MSP.promise(MSPCodes.MSP_STATUS).then(function() { - if (semver.gte(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE)) { + if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE)) { return MSP.promise(MSPCodes.MSP_PID_CONTROLLER); } }).then(function() { @@ -45,7 +45,7 @@ TABS.pid_tuning.initialize = function (callback) { }).then(function() { return MSP.promise(MSPCodes.MSP_PID); }).then(function() { - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { return MSP.promise(MSPCodes.MSP_PID_ADVANCED); } }).then(function() { @@ -66,128 +66,128 @@ TABS.pid_tuning.initialize = function (callback) { function pid_and_rc_to_form() { self.setProfile(); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { self.setRateProfile(); } // Fill in the data from PIDs array // For each pid name - PID_names.forEach(function(elementPid, indexPid) { + FC.PID_NAMES.forEach(function(elementPid, indexPid) { // Look into the PID table to a row with the name of the pid var searchRow = $('.pid_tuning .' + elementPid + ' input'); // Assign each value searchRow.each(function (indexInput) { - if (PIDs[indexPid][indexInput] !== undefined) { - $(this).val(PIDs[indexPid][indexInput]); + if (FC.PIDS[indexPid][indexInput] !== undefined) { + $(this).val(FC.PIDS[indexPid][indexInput]); } }); }); // Fill in data from RC_tuning object - $('.pid_tuning input[name="rc_rate"]').val(RC_tuning.RC_RATE.toFixed(2)); - $('.pid_tuning input[name="roll_pitch_rate"]').val(RC_tuning.roll_pitch_rate.toFixed(2)); - $('.pid_tuning input[name="roll_rate"]').val(RC_tuning.roll_rate.toFixed(2)); - $('.pid_tuning input[name="pitch_rate"]').val(RC_tuning.pitch_rate.toFixed(2)); - $('.pid_tuning input[name="yaw_rate"]').val(RC_tuning.yaw_rate.toFixed(2)); - $('.pid_tuning input[name="rc_expo"]').val(RC_tuning.RC_EXPO.toFixed(2)); - $('.pid_tuning input[name="rc_yaw_expo"]').val(RC_tuning.RC_YAW_EXPO.toFixed(2)); + $('.pid_tuning input[name="rc_rate"]').val(FC.RC_TUNING.RC_RATE.toFixed(2)); + $('.pid_tuning input[name="roll_pitch_rate"]').val(FC.RC_TUNING.roll_pitch_rate.toFixed(2)); + $('.pid_tuning input[name="roll_rate"]').val(FC.RC_TUNING.roll_rate.toFixed(2)); + $('.pid_tuning input[name="pitch_rate"]').val(FC.RC_TUNING.pitch_rate.toFixed(2)); + $('.pid_tuning input[name="yaw_rate"]').val(FC.RC_TUNING.yaw_rate.toFixed(2)); + $('.pid_tuning input[name="rc_expo"]').val(FC.RC_TUNING.RC_EXPO.toFixed(2)); + $('.pid_tuning input[name="rc_yaw_expo"]').val(FC.RC_TUNING.RC_YAW_EXPO.toFixed(2)); - $('.throttle input[name="mid"]').val(RC_tuning.throttle_MID.toFixed(2)); - $('.throttle input[name="expo"]').val(RC_tuning.throttle_EXPO.toFixed(2)); + $('.throttle input[name="mid"]').val(FC.RC_TUNING.throttle_MID.toFixed(2)); + $('.throttle input[name="expo"]').val(FC.RC_TUNING.throttle_EXPO.toFixed(2)); - $('.tpa input[name="tpa"]').val(RC_tuning.dynamic_THR_PID.toFixed(2)); - $('.tpa input[name="tpa-breakpoint"]').val(RC_tuning.dynamic_THR_breakpoint); + $('.tpa input[name="tpa"]').val(FC.RC_TUNING.dynamic_THR_PID.toFixed(2)); + $('.tpa input[name="tpa-breakpoint"]').val(FC.RC_TUNING.dynamic_THR_breakpoint); - if (semver.lt(CONFIG.apiVersion, "1.10.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.10.0")) { $('.pid_tuning input[name="rc_yaw_expo"]').hide(); $('.pid_tuning input[name="rc_expo"]').attr("rowspan", "3"); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - $('input[id="vbatpidcompensation"]').prop('checked', ADVANCED_TUNING.vbatPidCompensation !== 0); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + $('input[id="vbatpidcompensation"]').prop('checked', FC.ADVANCED_TUNING.vbatPidCompensation !== 0); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - $('#pid-tuning .delta select').val(ADVANCED_TUNING.deltaMethod); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + $('#pid-tuning .delta select').val(FC.ADVANCED_TUNING.deltaMethod); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - $('.pid_tuning input[name="rc_rate_yaw"]').val(RC_tuning.rcYawRate.toFixed(2)); - $('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz); - $('.pid_filter input[name="dtermLowpassFrequency"]').val(FILTER_CONFIG.dterm_lowpass_hz); - $('.pid_filter input[name="yawLowpassFrequency"]').val(FILTER_CONFIG.yaw_lowpass_hz); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + $('.pid_tuning input[name="rc_rate_yaw"]').val(FC.RC_TUNING.rcYawRate.toFixed(2)); + $('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz); + $('.pid_filter input[name="dtermLowpassFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_hz); + $('.pid_filter input[name="yawLowpassFrequency"]').val(FC.FILTER_CONFIG.yaw_lowpass_hz); } else { $('.tab-pid_tuning .subtab-filter').hide(); $('.tab-pid_tuning .tab-container').hide(); $('.pid_tuning input[name="rc_rate_yaw"]').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.20.0") - || semver.gte(CONFIG.apiVersion, "1.16.0") && FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES')) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") + || semver.gte(FC.CONFIG.apiVersion, "1.16.0") && FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES')) { $('#pid-tuning .rate').text(i18n.getMessage("pidTuningSuperRate")); } else { $('#pid-tuning .rate').text(i18n.getMessage("pidTuningRate")); } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - $('.pid_filter input[name="gyroNotch1Frequency"]').val(FILTER_CONFIG.gyro_notch_hz); - $('.pid_filter input[name="gyroNotch1Cutoff"]').val(FILTER_CONFIG.gyro_notch_cutoff); - $('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz); - $('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + $('.pid_filter input[name="gyroNotch1Frequency"]').val(FC.FILTER_CONFIG.gyro_notch_hz); + $('.pid_filter input[name="gyroNotch1Cutoff"]').val(FC.FILTER_CONFIG.gyro_notch_cutoff); + $('.pid_filter input[name="dTermNotchFrequency"]').val(FC.FILTER_CONFIG.dterm_notch_hz); + $('.pid_filter input[name="dTermNotchCutoff"]').val(FC.FILTER_CONFIG.dterm_notch_cutoff); var dtermSetpointTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]'); - if (semver.gte(CONFIG.apiVersion, "1.38.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.38.0")) { dtermSetpointTransitionNumberElement.attr('min', 0.00); } else { dtermSetpointTransitionNumberElement.attr('min', 0.01); } - dtermSetpointTransitionNumberElement.val(ADVANCED_TUNING.dtermSetpointTransition / 100); + dtermSetpointTransitionNumberElement.val(FC.ADVANCED_TUNING.dtermSetpointTransition / 100); - $('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100); + $('input[name="dtermSetpoint-number"]').val(FC.ADVANCED_TUNING.dtermSetpointWeight / 100); } else { $('.pid_filter .newFilter').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { - $('.pid_filter input[name="gyroNotch2Frequency"]').val(FILTER_CONFIG.gyro_notch2_hz); - $('.pid_filter input[name="gyroNotch2Cutoff"]').val(FILTER_CONFIG.gyro_notch2_cutoff); + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { + $('.pid_filter input[name="gyroNotch2Frequency"]').val(FC.FILTER_CONFIG.gyro_notch2_hz); + $('.pid_filter input[name="gyroNotch2Cutoff"]').val(FC.FILTER_CONFIG.gyro_notch2_cutoff); } else { $('.pid_filter .gyroNotch2').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - $('.pid_tuning input[name="angleLimit"]').val(ADVANCED_TUNING.levelAngleLimit); - $('.pid_tuning input[name="sensitivity"]').val(ADVANCED_TUNING.levelSensitivity); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + $('.pid_tuning input[name="angleLimit"]').val(FC.ADVANCED_TUNING.levelAngleLimit); + $('.pid_tuning input[name="sensitivity"]').val(FC.ADVANCED_TUNING.levelSensitivity); } else { $('.pid_sensitivity').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - $('.pid_filter select[name="dtermLowpassType"]').val(FILTER_CONFIG.dterm_lowpass_type); - $('.antigravity input[name="itermThrottleThreshold"]').val(ADVANCED_TUNING.itermThrottleThreshold); - $('.antigravity input[name="itermAcceleratorGain"]').val(ADVANCED_TUNING.itermAcceleratorGain / 1000); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + $('.pid_filter select[name="dtermLowpassType"]').val(FC.FILTER_CONFIG.dterm_lowpass_type); + $('.antigravity input[name="itermThrottleThreshold"]').val(FC.ADVANCED_TUNING.itermThrottleThreshold); + $('.antigravity input[name="itermAcceleratorGain"]').val(FC.ADVANCED_TUNING.itermAcceleratorGain / 1000); var antiGravitySwitch = $('#antiGravitySwitch'); - antiGravitySwitch.prop('checked', ADVANCED_TUNING.itermAcceleratorGain !== 1000); + antiGravitySwitch.prop('checked', FC.ADVANCED_TUNING.itermAcceleratorGain !== 1000); antiGravitySwitch.change(function() { var checked = $(this).is(':checked'); if (checked) { - if (ADVANCED_TUNING.itermAcceleratorGain === 1000) { - const DEFAULT_ACCELERATOR_GAIN = semver.gte(CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1; + if (FC.ADVANCED_TUNING.itermAcceleratorGain === 1000) { + const DEFAULT_ACCELERATOR_GAIN = semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43) ? 3.5 : 1.1; $('.antigravity input[name="itermAcceleratorGain"]').val(DEFAULT_ACCELERATOR_GAIN); } else { - const itermAcceleratorGain = (ADVANCED_TUNING.itermAcceleratorGain / 1000); + const itermAcceleratorGain = (FC.ADVANCED_TUNING.itermAcceleratorGain / 1000); $('.antigravity input[name="itermAcceleratorGain"]').val(itermAcceleratorGain); } $('.antigravity .suboption').show(); - if (ADVANCED_TUNING.antiGravityMode == 0) { + if (FC.ADVANCED_TUNING.antiGravityMode == 0) { $('.antigravity .antiGravityThres').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { $('.antigravity .antiGravityMode').show(); } else { $('.antigravity .antiGravityMode').hide(); @@ -204,21 +204,21 @@ TABS.pid_tuning.initialize = function (callback) { $('.antigravity').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { - $('.pid_tuning input[name="rc_rate_pitch"]').val(RC_tuning.rcPitchRate.toFixed(2)); - $('.pid_tuning input[name="rc_pitch_expo"]').val(RC_tuning.RC_PITCH_EXPO.toFixed(2)); + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { + $('.pid_tuning input[name="rc_rate_pitch"]').val(FC.RC_TUNING.rcPitchRate.toFixed(2)); + $('.pid_tuning input[name="rc_pitch_expo"]').val(FC.RC_TUNING.RC_PITCH_EXPO.toFixed(2)); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { - $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FILTER_CONFIG.gyro_lowpass2_hz); - $('.pid_filter select[name="gyroLowpassType"]').val(FILTER_CONFIG.gyro_lowpass_type); - $('.pid_filter select[name="gyroLowpass2Type"]').val(FILTER_CONFIG.gyro_lowpass2_type); - $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FILTER_CONFIG.dterm_lowpass2_hz); + $('.pid_filter input[name="gyroLowpass2Frequency"]').val(FC.FILTER_CONFIG.gyro_lowpass2_hz); + $('.pid_filter select[name="gyroLowpassType"]').val(FC.FILTER_CONFIG.gyro_lowpass_type); + $('.pid_filter select[name="gyroLowpass2Type"]').val(FC.FILTER_CONFIG.gyro_lowpass2_type); + $('.pid_filter input[name="dtermLowpass2Frequency"]').val(FC.FILTER_CONFIG.dterm_lowpass2_hz); // We load it again because the limits are now bigger than in 1.16.0 $('.pid_filter input[name="gyroLowpassFrequency"]').attr("max","16000"); - $('.pid_filter input[name="gyroLowpassFrequency"]').val(FILTER_CONFIG.gyro_lowpass_hz); + $('.pid_filter input[name="gyroLowpassFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_hz); //removes 5th column which is Feedforward $('#pid_main .pid_titlebar2 th').attr('colspan', 4); } else { @@ -228,23 +228,23 @@ TABS.pid_tuning.initialize = function (callback) { $('#pid_main .pid_titlebar2 th').attr('colspan', 4); } - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { // I Term Rotation - $('input[id="itermrotation"]').prop('checked', ADVANCED_TUNING.itermRotation !== 0); + $('input[id="itermrotation"]').prop('checked', FC.ADVANCED_TUNING.itermRotation !== 0); // Smart Feed Forward - $('input[id="smartfeedforward"]').prop('checked', ADVANCED_TUNING.smartFeedforward !== 0); + $('input[id="smartfeedforward"]').prop('checked', FC.ADVANCED_TUNING.smartFeedforward !== 0); // I Term Relax var itermRelaxCheck = $('input[id="itermrelax"]'); - itermRelaxCheck.prop('checked', ADVANCED_TUNING.itermRelax !== 0); - $('select[id="itermrelaxAxes"]').val(ADVANCED_TUNING.itermRelax > 0 ? ADVANCED_TUNING.itermRelax : 1); - $('select[id="itermrelaxType"]').val(ADVANCED_TUNING.itermRelaxType); - $('input[name="itermRelaxCutoff"]').val(ADVANCED_TUNING.itermRelaxCutoff); + itermRelaxCheck.prop('checked', FC.ADVANCED_TUNING.itermRelax !== 0); + $('select[id="itermrelaxAxes"]').val(FC.ADVANCED_TUNING.itermRelax > 0 ? FC.ADVANCED_TUNING.itermRelax : 1); + $('select[id="itermrelaxType"]').val(FC.ADVANCED_TUNING.itermRelaxType); + $('input[name="itermRelaxCutoff"]').val(FC.ADVANCED_TUNING.itermRelaxCutoff); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { $('.itermrelax input[name="itermRelaxCutoff"]').attr("max","50"); } @@ -253,7 +253,7 @@ TABS.pid_tuning.initialize = function (callback) { if (checked) { $('.itermrelax .suboption').show(); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { $('.itermRelaxCutoff').show(); } else { $('.itermRelaxCutoff').hide(); @@ -266,27 +266,27 @@ TABS.pid_tuning.initialize = function (callback) { // Absolute Control var absoluteControlGainNumberElement = $('input[name="absoluteControlGain-number"]'); - absoluteControlGainNumberElement.val(ADVANCED_TUNING.absoluteControlGain).trigger('input'); + absoluteControlGainNumberElement.val(FC.ADVANCED_TUNING.absoluteControlGain).trigger('input'); // Throttle Boost var throttleBoostNumberElement = $('input[name="throttleBoost-number"]'); - throttleBoostNumberElement.val(ADVANCED_TUNING.throttleBoost).trigger('input'); + throttleBoostNumberElement.val(FC.ADVANCED_TUNING.throttleBoost).trigger('input'); // Acro Trainer var acroTrainerAngleLimitNumberElement = $('input[name="acroTrainerAngleLimit-number"]'); - acroTrainerAngleLimitNumberElement.val(ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input'); + acroTrainerAngleLimitNumberElement.val(FC.ADVANCED_TUNING.acroTrainerAngleLimit).trigger('input'); // Yaw D - $('.pid_tuning .YAW input[name="d"]').val(PIDs[2][2]); // PID Yaw D + $('.pid_tuning .YAW input[name="d"]').val(FC.PIDS[2][2]); // PID Yaw D // Feedforward - $('.pid_tuning .ROLL input[name="f"]').val(ADVANCED_TUNING.feedforwardRoll); - $('.pid_tuning .PITCH input[name="f"]').val(ADVANCED_TUNING.feedforwardPitch); - $('.pid_tuning .YAW input[name="f"]').val(ADVANCED_TUNING.feedforwardYaw); + $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll); + $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch); + $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw); $('#pid_main .pid_titlebar2 th').attr('colspan', 5); var feedforwardTransitionNumberElement = $('input[name="feedforwardTransition-number"]'); - feedforwardTransitionNumberElement.val(ADVANCED_TUNING.feedforwardTransition / 100); + feedforwardTransitionNumberElement.val(FC.ADVANCED_TUNING.feedforwardTransition / 100); // AntiGravity Mode var antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]'); @@ -301,7 +301,7 @@ TABS.pid_tuning.initialize = function (callback) { } }); - antiGravityModeSelect.val(ADVANCED_TUNING.antiGravityMode).change(); + antiGravityModeSelect.val(FC.ADVANCED_TUNING.antiGravityMode).change(); } else { $('.itermrotation').hide(); @@ -319,28 +319,28 @@ TABS.pid_tuning.initialize = function (callback) { $('#pid-tuning .feedforwardTransition').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - $('select[id="throttleLimitType"]').val(RC_tuning.throttleLimitType); - $('.throttle_limit input[name="throttleLimitPercent"]').val(RC_tuning.throttleLimitPercent); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + $('select[id="throttleLimitType"]').val(FC.RC_TUNING.throttleLimitType); + $('.throttle_limit input[name="throttleLimitPercent"]').val(FC.RC_TUNING.throttleLimitPercent); - $('.pid_filter select[name="dtermLowpass2Type"]').val(FILTER_CONFIG.dterm_lowpass2_type); - $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_min_hz); - $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FILTER_CONFIG.gyro_lowpass_dyn_max_hz); - $('.pid_filter select[name="gyroLowpassDynType"]').val(FILTER_CONFIG.gyro_lowpass_type); - $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_min_hz); - $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FILTER_CONFIG.dterm_lowpass_dyn_max_hz); - $('.pid_filter select[name="dtermLowpassDynType"]').val(FILTER_CONFIG.dterm_lowpass_type); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - $('.pid_filter input[name="dtermLowpassDynExpo"]').val(FILTER_CONFIG.dyn_lpf_curve_expo); + $('.pid_filter select[name="dtermLowpass2Type"]').val(FC.FILTER_CONFIG.dterm_lowpass2_type); + $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz); + $('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz); + $('.pid_filter select[name="gyroLowpassDynType"]').val(FC.FILTER_CONFIG.gyro_lowpass_type); + $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz); + $('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz); + $('.pid_filter select[name="dtermLowpassDynType"]').val(FC.FILTER_CONFIG.dterm_lowpass_type); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + $('.pid_filter input[name="dtermLowpassDynExpo"]').val(FC.FILTER_CONFIG.dyn_lpf_curve_expo); } - $('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll); - $('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch); - $('.pid_tuning input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw); - $('.dminGroup input[name="dMinGain"]').val(ADVANCED_TUNING.dMinGain); - $('.dminGroup input[name="dMinAdvance"]').val(ADVANCED_TUNING.dMinAdvance); + $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); + $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); + $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); + $('.dminGroup input[name="dMinGain"]').val(FC.ADVANCED_TUNING.dMinGain); + $('.dminGroup input[name="dMinAdvance"]').val(FC.ADVANCED_TUNING.dMinAdvance); - $('input[id="useIntegratedYaw"]').prop('checked', ADVANCED_TUNING.useIntegratedYaw !== 0); + $('input[id="useIntegratedYaw"]').prop('checked', FC.ADVANCED_TUNING.useIntegratedYaw !== 0); //dmin column $('#pid_main .pid_titlebar2 th').attr('colspan', 6); } else { @@ -358,33 +358,33 @@ TABS.pid_tuning.initialize = function (callback) { $('.integratedYaw').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { const dynamicNotchWidthPercent_e = $('.pid_filter input[name="dynamicNotchWidthPercent"]'); const dynamicNotchQ_e = $('.pid_filter input[name="dynamicNotchQ"]'); $('.smartfeedforward').hide(); - if (FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER')) { + if (FC.FEATURE_CONFIG.features.isEnabled('DYNAMIC_FILTER')) { $('.dynamicNotch').show(); } else { $('.dynamicNotch').hide(); } - $('.dynamicNotchRange').toggle(semver.lt(CONFIG.apiVersion, API_VERSION_1_43)); - $('.pid_filter select[name="dynamicNotchRange"]').val(FILTER_CONFIG.dyn_notch_range); - dynamicNotchWidthPercent_e.val(FILTER_CONFIG.dyn_notch_width_percent); - dynamicNotchQ_e.val(FILTER_CONFIG.dyn_notch_q); - $('.pid_filter input[name="dynamicNotchMinHz"]').val(FILTER_CONFIG.dyn_notch_min_hz); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + $('.dynamicNotchRange').toggle(semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_43)); + $('.pid_filter select[name="dynamicNotchRange"]').val(FC.FILTER_CONFIG.dyn_notch_range); + dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent); + dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q); + $('.pid_filter input[name="dynamicNotchMinHz"]').val(FC.FILTER_CONFIG.dyn_notch_min_hz); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { $('.pid_filter input[name="dynamicNotchMinHz"]').attr("max","250"); - $('.pid_filter input[name="dynamicNotchMaxHz"]').val(FILTER_CONFIG.dyn_notch_max_hz); + $('.pid_filter input[name="dynamicNotchMaxHz"]').val(FC.FILTER_CONFIG.dyn_notch_max_hz); } else { $('.dynamicNotchMaxHz').hide(); } - $('.rpmFilter').toggle(MOTOR_CONFIG.use_dshot_telemetry); + $('.rpmFilter').toggle(FC.MOTOR_CONFIG.use_dshot_telemetry); - $('.pid_filter input[name="rpmFilterHarmonics"]').val(FILTER_CONFIG.gyro_rpm_notch_harmonics); - $('.pid_filter input[name="rpmFilterMinHz"]').val(FILTER_CONFIG.gyro_rpm_notch_min_hz); + $('.pid_filter input[name="rpmFilterHarmonics"]').val(FC.FILTER_CONFIG.gyro_rpm_notch_harmonics); + $('.pid_filter input[name="rpmFilterMinHz"]').val(FC.FILTER_CONFIG.gyro_rpm_notch_min_hz); $('.pid_filter #rpmFilterEnabled').change(function() { @@ -398,7 +398,7 @@ TABS.pid_tuning.initialize = function (callback) { $('.pid_filter input[name="rpmFilterHarmonics"]').val(FILTER_DEFAULT.gyro_rpm_notch_harmonics); } - if (checked !== (FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) { // if rpmFilterEnabled is not the same value as saved in the fc + if (checked !== (FC.FILTER_CONFIG.gyro_rpm_notch_harmonics !== 0)) { // if rpmFilterEnabled is not the same value as saved in the fc if (checked) { dynamicNotchWidthPercent_e.val(FILTER_DEFAULT.dyn_notch_width_percent_rpm); dynamicNotchQ_e.val(FILTER_DEFAULT.dyn_notch_q_rpm); @@ -410,11 +410,11 @@ TABS.pid_tuning.initialize = function (callback) { showDialogDynFiltersChange(); } else { // same value, return saved values - dynamicNotchWidthPercent_e.val(FILTER_CONFIG.dyn_notch_width_percent); - dynamicNotchQ_e.val(FILTER_CONFIG.dyn_notch_q); + dynamicNotchWidthPercent_e.val(FC.FILTER_CONFIG.dyn_notch_width_percent); + dynamicNotchQ_e.val(FC.FILTER_CONFIG.dyn_notch_q); } - }).prop('checked', FILTER_CONFIG.gyro_rpm_notch_harmonics != 0).change(); + }).prop('checked', FC.FILTER_CONFIG.gyro_rpm_notch_harmonics != 0).change(); } else { $('.itermRelaxCutoff').hide(); @@ -422,16 +422,16 @@ TABS.pid_tuning.initialize = function (callback) { $('.rpmFilter').hide(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - $('.pid_tuning input[name="motorLimit"]').val(ADVANCED_TUNING.motorOutputLimit); - $('.pid_tuning input[name="cellCount"]').val(ADVANCED_TUNING.autoProfileCellCount); - $('input[name="idleMinRpm-number"]').val(ADVANCED_TUNING.idleMinRpm); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + $('.pid_tuning input[name="motorLimit"]').val(FC.ADVANCED_TUNING.motorOutputLimit); + $('.pid_tuning input[name="cellCount"]').val(FC.ADVANCED_TUNING.autoProfileCellCount); + $('input[name="idleMinRpm-number"]').val(FC.ADVANCED_TUNING.idleMinRpm); } else { $('.motorOutputLimit').hide(); $('.idleMinRpm').hide(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { const ratesTypeListElement = $('select[id="ratesType"]'); // generates list const ratesList = [ {name: "Betaflight"}, @@ -440,12 +440,12 @@ TABS.pid_tuning.initialize = function (callback) { {name: "Actual"}, {name: "QuickRates"}, ]; - // add future rates types here with CONFIG.apiVersion check + // add future rates types here with FC.CONFIG.apiVersion check for (let i = 0; i < ratesList.length; i++) { ratesTypeListElement.append(``); } - self.currentRatesType = RC_tuning.rates_type; + self.currentRatesType = FC.RC_TUNING.rates_type; self.previousRatesType = null; ratesTypeListElement.val(self.currentRatesType); @@ -457,14 +457,14 @@ TABS.pid_tuning.initialize = function (callback) { $('.rates_type').hide(); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { // FF Interpolate const ffInterpolateCheck = $('input[id="ffInterpolateSp"]'); - ffInterpolateCheck.prop('checked', ADVANCED_TUNING.ff_interpolate_sp !== 0); - $('select[id="ffInterpolate"]').val(ADVANCED_TUNING.ff_interpolate_sp > 0 ? ADVANCED_TUNING.ff_interpolate_sp : 2); - $('input[name="ffSmoothFactor"]').val(ADVANCED_TUNING.ff_smooth_factor); - $('input[name="ffBoost"]').val(ADVANCED_TUNING.ff_boost); + ffInterpolateCheck.prop('checked', FC.ADVANCED_TUNING.ff_interpolate_sp !== 0); + $('select[id="ffInterpolate"]').val(FC.ADVANCED_TUNING.ff_interpolate_sp > 0 ? FC.ADVANCED_TUNING.ff_interpolate_sp : 2); + $('input[name="ffSmoothFactor"]').val(FC.ADVANCED_TUNING.ff_smooth_factor); + $('input[name="ffBoost"]').val(FC.ADVANCED_TUNING.ff_boost); ffInterpolateCheck.change(function() { const checked = $(this).is(':checked'); @@ -474,8 +474,8 @@ TABS.pid_tuning.initialize = function (callback) { // Vbat Sag Compensation const vbatSagCompensationCheck = $('input[id="vbatSagCompensation"]'); - vbatSagCompensationCheck.prop('checked', ADVANCED_TUNING.vbat_sag_compensation !== 0); - $('input[name="vbatSagValue"]').val(ADVANCED_TUNING.vbat_sag_compensation > 0 ? ADVANCED_TUNING.vbat_sag_compensation : 100); + vbatSagCompensationCheck.prop('checked', FC.ADVANCED_TUNING.vbat_sag_compensation !== 0); + $('input[name="vbatSagValue"]').val(FC.ADVANCED_TUNING.vbat_sag_compensation > 0 ? FC.ADVANCED_TUNING.vbat_sag_compensation : 100); vbatSagCompensationCheck.change(function() { const checked = $(this).is(':checked'); @@ -518,9 +518,9 @@ TABS.pid_tuning.initialize = function (callback) { adjustDMin($(this), dMinElement); }).change(); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { var dMinSwitch = $('#dMinSwitch'); - dMinSwitch.prop('checked', ADVANCED_TUNING.dMinRoll > 0 || ADVANCED_TUNING.dMinPitch > 0 || ADVANCED_TUNING.dMinYaw > 0); + dMinSwitch.prop('checked', FC.ADVANCED_TUNING.dMinRoll > 0 || FC.ADVANCED_TUNING.dMinPitch > 0 || FC.ADVANCED_TUNING.dMinYaw > 0); dMinSwitch.change(function() { var checked = $(this).is(':checked'); if (checked) { @@ -529,15 +529,15 @@ TABS.pid_tuning.initialize = function (callback) { $('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.57), 100)); $('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.57), 100)); $('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.57), 100)); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { $('.pid_tuning input[name="dMinRoll"]').val(Math.min(Math.round($('.pid_tuning .ROLL input[name="d"]').val() * 0.65), 100)); $('.pid_tuning input[name="dMinPitch"]').val(Math.min(Math.round($('.pid_tuning .PITCH input[name="d"]').val() * 0.65), 100)); $('.pid_tuning input[name="dMinYaw"]').val(Math.min(Math.round($('.pid_tuning .YAW input[name="d"]').val() * 0.65), 100)); } } else { - $('.pid_tuning input[name="dMinRoll"]').val(ADVANCED_TUNING.dMinRoll); - $('.pid_tuning input[name="dMinPitch"]').val(ADVANCED_TUNING.dMinPitch); - $('.pid_tuning input[name="dMinYaw"]').val(ADVANCED_TUNING.dMinYaw); + $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll); + $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch); + $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw); } $('.dMinDisabledNote').hide(); $('.dminGroup .suboption').show(); @@ -560,7 +560,7 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="gyroNotch1Enabled"]').change(function() { var checked = $(this).is(':checked'); - var hz = FILTER_CONFIG.gyro_notch_hz > 0 ? FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz; + var hz = FC.FILTER_CONFIG.gyro_notch_hz > 0 ? FC.FILTER_CONFIG.gyro_notch_hz : FILTER_DEFAULT.gyro_notch_hz; $('.pid_filter input[name="gyroNotch1Frequency"]').val(checked ? hz : 0).attr('disabled', !checked) .attr("min", checked ? 1 : 0).change(); @@ -569,7 +569,7 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="gyroNotch2Enabled"]').change(function() { var checked = $(this).is(':checked'); - var hz = FILTER_CONFIG.gyro_notch2_hz > 0 ? FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz; + var hz = FC.FILTER_CONFIG.gyro_notch2_hz > 0 ? FC.FILTER_CONFIG.gyro_notch2_hz : FILTER_DEFAULT.gyro_notch2_hz; $('.pid_filter input[name="gyroNotch2Frequency"]').val(checked ? hz : 0).attr('disabled', !checked) .attr("min", checked ? 1 : 0).change(); @@ -578,7 +578,7 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="dtermNotchEnabled"]').change(function() { var checked = $(this).is(':checked'); - var hz = FILTER_CONFIG.dterm_notch_hz > 0 ? FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz; + var hz = FC.FILTER_CONFIG.dterm_notch_hz > 0 ? FC.FILTER_CONFIG.dterm_notch_hz : FILTER_DEFAULT.dterm_notch_hz; $('.pid_filter input[name="dTermNotchFrequency"]').val(checked ? hz : 0).attr('disabled', !checked) .attr("min", checked ? 1 : 0).change(); @@ -589,8 +589,8 @@ TABS.pid_tuning.initialize = function (callback) { var checked = $(this).is(':checked'); var disabledByDynamicLowpass = $('input[id="gyroLowpassDynEnabled"]').is(':checked'); - var cutoff = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; - var type = FILTER_CONFIG.gyro_lowpass_hz > 0 ? FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type; + var cutoff = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_hz : FILTER_DEFAULT.gyro_lowpass_hz; + var type = FC.FILTER_CONFIG.gyro_lowpass_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass_type : FILTER_DEFAULT.gyro_lowpass_type; $('.pid_filter input[name="gyroLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); $('.pid_filter select[name="gyroLowpassType"]').val(type).attr('disabled', !checked); @@ -605,9 +605,9 @@ TABS.pid_tuning.initialize = function (callback) { var checked = $(this).is(':checked'); var cutoff_min = FILTER_DEFAULT.gyro_lowpass_dyn_min_hz; var type = FILTER_DEFAULT.gyro_lowpass_type; - if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz) { - cutoff_min = FILTER_CONFIG.gyro_lowpass_dyn_min_hz; - type = FILTER_CONFIG.gyro_lowpass_type; + if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz) { + cutoff_min = FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz; + type = FC.FILTER_CONFIG.gyro_lowpass_type; } $('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked); @@ -616,7 +616,7 @@ TABS.pid_tuning.initialize = function (callback) { if (checked) { $('input[id="gyroLowpassEnabled"]').prop('checked', false).change(); - } else if (FILTER_CONFIG.gyro_lowpass_hz > 0 && !$('input[id="gyroLowpassEnabled"]').is(':checked')) { + } else if (FC.FILTER_CONFIG.gyro_lowpass_hz > 0 && !$('input[id="gyroLowpassEnabled"]').is(':checked')) { $('input[id="gyroLowpassEnabled"]').prop('checked', true).change(); } self.updateFilterWarning(); @@ -624,8 +624,8 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="gyroLowpass2Enabled"]').change(function() { var checked = $(this).is(':checked'); - var cutoff = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; - var type = FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type; + var cutoff = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_hz : FILTER_DEFAULT.gyro_lowpass2_hz; + var type = FC.FILTER_CONFIG.gyro_lowpass2_hz > 0 ? FC.FILTER_CONFIG.gyro_lowpass2_type : FILTER_DEFAULT.gyro_lowpass2_type; $('.pid_filter input[name="gyroLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); $('.pid_filter select[name="gyroLowpass2Type"]').val(type).attr('disabled', !checked); @@ -635,8 +635,8 @@ TABS.pid_tuning.initialize = function (callback) { var checked = $(this).is(':checked'); var disabledByDynamicLowpass = $('input[id="dtermLowpassDynEnabled"]').is(':checked'); - var cutoff = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; - var type = FILTER_CONFIG.dterm_lowpass_hz > 0 ? FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type; + var cutoff = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_hz : FILTER_DEFAULT.dterm_lowpass_hz; + var type = FC.FILTER_CONFIG.dterm_lowpass_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass_type : FILTER_DEFAULT.dterm_lowpass_type; $('.pid_filter input[name="dtermLowpassFrequency"]').val((checked || disabledByDynamicLowpass) ? cutoff : 0).attr('disabled', !checked); $('.pid_filter select[name="dtermLowpassType"]').val(type).attr('disabled', !checked); @@ -647,14 +647,14 @@ TABS.pid_tuning.initialize = function (callback) { self.updateFilterWarning(); }); - $('.dynLpfCurveExpo').toggle(semver.gte(CONFIG.apiVersion, API_VERSION_1_44)); + $('.dynLpfCurveExpo').toggle(semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)); $('input[id="dtermLowpassDynEnabled"]').change(function() { var checked = $(this).is(':checked'); var cutoff_min = FILTER_DEFAULT.dterm_lowpass_dyn_min_hz; var type = FILTER_DEFAULT.dterm_lowpass_type; - if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz) { - cutoff_min = FILTER_CONFIG.dterm_lowpass_dyn_min_hz; - type = FILTER_CONFIG.dterm_lowpass_type; + if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz) { + cutoff_min = FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz; + type = FC.FILTER_CONFIG.dterm_lowpass_type; } $('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val(checked ? cutoff_min : 0).attr('disabled', !checked); @@ -663,7 +663,7 @@ TABS.pid_tuning.initialize = function (callback) { if (checked) { $('input[id="dtermLowpassEnabled"]').prop('checked', false).change(); - } else if (FILTER_CONFIG.dterm_lowpass_hz > 0 && !$('input[id="dtermLowpassEnabled"]').is(':checked')) { + } else if (FC.FILTER_CONFIG.dterm_lowpass_hz > 0 && !$('input[id="dtermLowpassEnabled"]').is(':checked')) { $('input[id="dtermLowpassEnabled"]').prop('checked', true).change(); $('.pid_filter input[id="dtermLowpassDynExpoEnabled"]').prop('checked', false).change(); } @@ -672,15 +672,15 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="dtermLowpassDynExpoEnabled"]').change(function() { var checked = $(this).is(':checked'); - var curveExpo = FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo; + var curveExpo = FC.FILTER_CONFIG.dyn_lpf_curve_expo > 0 ? FC.FILTER_CONFIG.dyn_lpf_curve_expo : FILTER_DEFAULT.dyn_lpf_curve_expo; $('.pid_filter input[name="dtermLowpassDynExpo"]').val(checked ? curveExpo : 0).attr('disabled', !checked); }); $('input[id="dtermLowpass2Enabled"]').change(function() { var checked = $(this).is(':checked'); - var cutoff = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; - var type = FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type; + var cutoff = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_hz : FILTER_DEFAULT.dterm_lowpass2_hz; + var type = FC.FILTER_CONFIG.dterm_lowpass2_hz > 0 ? FC.FILTER_CONFIG.dterm_lowpass2_type : FILTER_DEFAULT.dterm_lowpass2_type; $('.pid_filter input[name="dtermLowpass2Frequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); $('.pid_filter select[name="dtermLowpass2Type"]').val(type).attr('disabled', !checked); @@ -688,7 +688,7 @@ TABS.pid_tuning.initialize = function (callback) { $('input[id="yawLowpassEnabled"]').change(function() { var checked = $(this).is(':checked'); - var cutoff = FILTER_CONFIG.yaw_lowpass_hz > 0 ? FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz; + var cutoff = FC.FILTER_CONFIG.yaw_lowpass_hz > 0 ? FC.FILTER_CONFIG.yaw_lowpass_hz : FILTER_DEFAULT.yaw_lowpass_hz; $('.pid_filter input[name="yawLowpassFrequency"]').val(checked ? cutoff : 0).attr('disabled', !checked); }); @@ -719,17 +719,17 @@ TABS.pid_tuning.initialize = function (callback) { }).change(); // Initial state of the filters: enabled or disabled - $('input[id="gyroNotch1Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch_hz != 0).change(); - $('input[id="gyroNotch2Enabled"]').prop('checked', FILTER_CONFIG.gyro_notch2_hz != 0).change(); - $('input[id="dtermNotchEnabled"]').prop('checked', FILTER_CONFIG.dterm_notch_hz != 0).change(); - $('input[id="gyroLowpassEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_hz != 0).change(); - $('input[id="gyroLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz).change(); - $('input[id="dtermLowpassDynExpoEnabled"]').prop('checked', FILTER_CONFIG.dyn_lpf_curve_expo != 0).change(); - $('input[id="gyroLowpass2Enabled"]').prop('checked', FILTER_CONFIG.gyro_lowpass2_hz != 0).change(); - $('input[id="dtermLowpassEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_hz != 0).change(); - $('input[id="dtermLowpassDynEnabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass_dyn_min_hz != 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz).change(); - $('input[id="dtermLowpass2Enabled"]').prop('checked', FILTER_CONFIG.dterm_lowpass2_hz != 0).change(); - $('input[id="yawLowpassEnabled"]').prop('checked', FILTER_CONFIG.yaw_lowpass_hz != 0).change(); + $('input[id="gyroNotch1Enabled"]').prop('checked', FC.FILTER_CONFIG.gyro_notch_hz != 0).change(); + $('input[id="gyroNotch2Enabled"]').prop('checked', FC.FILTER_CONFIG.gyro_notch2_hz != 0).change(); + $('input[id="dtermNotchEnabled"]').prop('checked', FC.FILTER_CONFIG.dterm_notch_hz != 0).change(); + $('input[id="gyroLowpassEnabled"]').prop('checked', FC.FILTER_CONFIG.gyro_lowpass_hz != 0).change(); + $('input[id="gyroLowpassDynEnabled"]').prop('checked', FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz != 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz).change(); + $('input[id="dtermLowpassDynExpoEnabled"]').prop('checked', FC.FILTER_CONFIG.dyn_lpf_curve_expo != 0).change(); + $('input[id="gyroLowpass2Enabled"]').prop('checked', FC.FILTER_CONFIG.gyro_lowpass2_hz != 0).change(); + $('input[id="dtermLowpassEnabled"]').prop('checked', FC.FILTER_CONFIG.dterm_lowpass_hz != 0).change(); + $('input[id="dtermLowpassDynEnabled"]').prop('checked', FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz != 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz).change(); + $('input[id="dtermLowpass2Enabled"]').prop('checked', FC.FILTER_CONFIG.dterm_lowpass2_hz != 0).change(); + $('input[id="yawLowpassEnabled"]').prop('checked', FC.FILTER_CONFIG.yaw_lowpass_hz != 0).change(); self.updatePIDColors(); } @@ -739,7 +739,7 @@ TABS.pid_tuning.initialize = function (callback) { // Catch all the changes and stuff the inside PIDs array // For each pid name - PID_names.forEach(function(elementPid, indexPid) { + FC.PID_NAMES.forEach(function(elementPid, indexPid) { // Look into the PID table to a row with the name of the pid var searchRow = $('.pid_tuning .' + elementPid + ' input'); @@ -747,7 +747,7 @@ TABS.pid_tuning.initialize = function (callback) { // Assign each value searchRow.each(function (indexInput) { if ($(this).val()) { - PIDs[indexPid][indexInput] = parseFloat($(this).val()); + FC.PIDS[indexPid][indexInput] = parseFloat($(this).val()); } }); }); @@ -763,46 +763,46 @@ TABS.pid_tuning.initialize = function (callback) { const rc_expo_e = $('.pid_tuning input[name="rc_expo"]'); const rc_yaw_expo_e = $('.pid_tuning input[name="rc_yaw_expo"]'); - RC_tuning.roll_pitch_rate = parseFloat($('.pid_tuning input[name="roll_pitch_rate"]').val()); - RC_tuning.RC_RATE = parseFloat(rc_rate_e.val()); - RC_tuning.roll_rate = parseFloat(roll_rate_e.val()); - RC_tuning.pitch_rate = parseFloat(pitch_rate_e.val()); - RC_tuning.yaw_rate = parseFloat(yaw_rate_e.val()); - RC_tuning.RC_EXPO = parseFloat(rc_expo_e.val()); - RC_tuning.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()); - RC_tuning.rcYawRate = parseFloat(rc_rate_yaw_e.val()); - RC_tuning.rcPitchRate = parseFloat(rc_rate_pitch_e.val()); - RC_tuning.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()); + FC.RC_TUNING.roll_pitch_rate = parseFloat($('.pid_tuning input[name="roll_pitch_rate"]').val()); + FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()); + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()); + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()); + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()); + FC.RC_TUNING.RC_EXPO = parseFloat(rc_expo_e.val()); + FC.RC_TUNING.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()); + FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()); + FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()); + FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { switch(self.currentRatesType) { case self.RATES_TYPE.RACEFLIGHT: - RC_tuning.pitch_rate = parseFloat(pitch_rate_e.val()) / 100; - RC_tuning.roll_rate = parseFloat(roll_rate_e.val()) / 100; - RC_tuning.yaw_rate = parseFloat(yaw_rate_e.val()) / 100; - RC_tuning.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; - RC_tuning.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; - RC_tuning.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; - RC_tuning.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()) / 100; - RC_tuning.RC_EXPO = parseFloat(rc_expo_e.val()) / 100; - RC_tuning.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()) / 100; + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 100; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 100; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 100; + FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; + FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; + FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; + FC.RC_TUNING.RC_PITCH_EXPO = parseFloat(rc_pitch_expo_e.val()) / 100; + FC.RC_TUNING.RC_EXPO = parseFloat(rc_expo_e.val()) / 100; + FC.RC_TUNING.RC_YAW_EXPO = parseFloat(rc_yaw_expo_e.val()) / 100; break; case self.RATES_TYPE.ACTUAL: - RC_tuning.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; - RC_tuning.roll_rate = parseFloat(roll_rate_e.val()) / 1000; - RC_tuning.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; - RC_tuning.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; - RC_tuning.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; - RC_tuning.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; + FC.RC_TUNING.rcPitchRate = parseFloat(rc_rate_pitch_e.val()) / 1000; + FC.RC_TUNING.RC_RATE = parseFloat(rc_rate_e.val()) / 1000; + FC.RC_TUNING.rcYawRate = parseFloat(rc_rate_yaw_e.val()) / 1000; break; case self.RATES_TYPE.QUICKRATES: - RC_tuning.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; - RC_tuning.roll_rate = parseFloat(roll_rate_e.val()) / 1000; - RC_tuning.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; + FC.RC_TUNING.pitch_rate = parseFloat(pitch_rate_e.val()) / 1000; + FC.RC_TUNING.roll_rate = parseFloat(roll_rate_e.val()) / 1000; + FC.RC_TUNING.yaw_rate = parseFloat(yaw_rate_e.val()) / 1000; break; @@ -813,146 +813,146 @@ TABS.pid_tuning.initialize = function (callback) { } } - RC_tuning.throttle_MID = parseFloat($('.throttle input[name="mid"]').val()); - RC_tuning.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val()); + FC.RC_TUNING.throttle_MID = parseFloat($('.throttle input[name="mid"]').val()); + FC.RC_TUNING.throttle_EXPO = parseFloat($('.throttle input[name="expo"]').val()); - RC_tuning.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val()); - RC_tuning.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val()); - FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val()); - FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()); - FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val()); + FC.RC_TUNING.dynamic_THR_PID = parseFloat($('.tpa input[name="tpa"]').val()); + FC.RC_TUNING.dynamic_THR_breakpoint = parseInt($('.tpa input[name="tpa-breakpoint"]').val()); + FC.FILTER_CONFIG.gyro_lowpass_hz = parseInt($('.pid_filter input[name="gyroLowpassFrequency"]').val()); + FC.FILTER_CONFIG.dterm_lowpass_hz = parseInt($('.pid_filter input[name="dtermLowpassFrequency"]').val()); + FC.FILTER_CONFIG.yaw_lowpass_hz = parseInt($('.pid_filter input[name="yawLowpassFrequency"]').val()); - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { const element = $('input[id="vbatpidcompensation"]'); const value = element.is(':checked') ? 1 : 0; let analyticsValue = undefined; - if (value !== ADVANCED_TUNING.vbatPidCompensation) { + if (value !== FC.ADVANCED_TUNING.vbatPidCompensation) { analyticsValue = element.is(':checked'); } self.analyticsChanges['VbatPidCompensation'] = analyticsValue; - ADVANCED_TUNING.vbatPidCompensation = value; + FC.ADVANCED_TUNING.vbatPidCompensation = value; } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { - ADVANCED_TUNING.deltaMethod = $('#pid-tuning .delta select').val(); + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { + FC.ADVANCED_TUNING.deltaMethod = $('#pid-tuning .delta select').val(); } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - ADVANCED_TUNING.dtermSetpointTransition = parseInt($('input[name="dtermSetpointTransition-number"]').val() * 100); - ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + FC.ADVANCED_TUNING.dtermSetpointTransition = parseInt($('input[name="dtermSetpointTransition-number"]').val() * 100); + FC.ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100); - FILTER_CONFIG.gyro_notch_hz = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val()); - FILTER_CONFIG.gyro_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val()); - FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val()); - FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val()); - if (semver.gte(CONFIG.apiVersion, "1.21.0")) { - FILTER_CONFIG.gyro_notch2_hz = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val()); - FILTER_CONFIG.gyro_notch2_cutoff = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val()); + FC.FILTER_CONFIG.gyro_notch_hz = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val()); + FC.FILTER_CONFIG.gyro_notch_cutoff = parseInt($('.pid_filter input[name="gyroNotch1Cutoff"]').val()); + FC.FILTER_CONFIG.dterm_notch_hz = parseInt($('.pid_filter input[name="dTermNotchFrequency"]').val()); + FC.FILTER_CONFIG.dterm_notch_cutoff = parseInt($('.pid_filter input[name="dTermNotchCutoff"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.21.0")) { + FC.FILTER_CONFIG.gyro_notch2_hz = parseInt($('.pid_filter input[name="gyroNotch2Frequency"]').val()); + FC.FILTER_CONFIG.gyro_notch2_cutoff = parseInt($('.pid_filter input[name="gyroNotch2Cutoff"]').val()); } } - if (semver.gte(CONFIG.apiVersion, "1.24.0")) { - ADVANCED_TUNING.levelAngleLimit = parseInt($('.pid_tuning input[name="angleLimit"]').val()); - ADVANCED_TUNING.levelSensitivity = parseInt($('.pid_tuning input[name="sensitivity"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.24.0")) { + FC.ADVANCED_TUNING.levelAngleLimit = parseInt($('.pid_tuning input[name="angleLimit"]').val()); + FC.ADVANCED_TUNING.levelSensitivity = parseInt($('.pid_tuning input[name="sensitivity"]').val()); } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { - FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassType"]').val(); - ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val()); - ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000); + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { + FC.FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassType"]').val(); + FC.ADVANCED_TUNING.itermThrottleThreshold = parseInt($('.antigravity input[name="itermThrottleThreshold"]').val()); + FC.ADVANCED_TUNING.itermAcceleratorGain = parseInt($('.antigravity input[name="itermAcceleratorGain"]').val() * 1000); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { - FILTER_CONFIG.gyro_lowpass2_hz = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()); - FILTER_CONFIG.gyro_lowpass_type = parseInt($('.pid_filter select[name="gyroLowpassType"]').val()); - FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()); - FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { + FC.FILTER_CONFIG.gyro_lowpass2_hz = parseInt($('.pid_filter input[name="gyroLowpass2Frequency"]').val()); + FC.FILTER_CONFIG.gyro_lowpass_type = parseInt($('.pid_filter select[name="gyroLowpassType"]').val()); + FC.FILTER_CONFIG.gyro_lowpass2_type = parseInt($('.pid_filter select[name="gyroLowpass2Type"]').val()); + FC.FILTER_CONFIG.dterm_lowpass2_hz = parseInt($('.pid_filter input[name="dtermLowpass2Frequency"]').val()); } - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { - ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0; - ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0; + FC.ADVANCED_TUNING.itermRotation = $('input[id="itermrotation"]').is(':checked') ? 1 : 0; + FC.ADVANCED_TUNING.smartFeedforward = $('input[id="smartfeedforward"]').is(':checked') ? 1 : 0; - ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0; - ADVANCED_TUNING.itermRelaxType = $('select[id="itermrelaxType"]').val(); - ADVANCED_TUNING.itermRelaxCutoff = parseInt($('input[name="itermRelaxCutoff"]').val()); + FC.ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0; + FC.ADVANCED_TUNING.itermRelaxType = $('select[id="itermrelaxType"]').val(); + FC.ADVANCED_TUNING.itermRelaxCutoff = parseInt($('input[name="itermRelaxCutoff"]').val()); - ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val(); + FC.ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val(); - ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val(); + FC.ADVANCED_TUNING.throttleBoost = $('input[name="throttleBoost-number"]').val(); - ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val(); + FC.ADVANCED_TUNING.acroTrainerAngleLimit = $('input[name="acroTrainerAngleLimit-number"]').val(); - ADVANCED_TUNING.feedforwardRoll = parseInt($('.pid_tuning .ROLL input[name="f"]').val()); - ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val()); - ADVANCED_TUNING.feedforwardYaw = parseInt($('.pid_tuning .YAW input[name="f"]').val()); + FC.ADVANCED_TUNING.feedforwardRoll = parseInt($('.pid_tuning .ROLL input[name="f"]').val()); + FC.ADVANCED_TUNING.feedforwardPitch = parseInt($('.pid_tuning .PITCH input[name="f"]').val()); + FC.ADVANCED_TUNING.feedforwardYaw = parseInt($('.pid_tuning .YAW input[name="f"]').val()); - ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100); + FC.ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100); - ADVANCED_TUNING.antiGravityMode = $('select[id="antiGravityMode"]').val(); + FC.ADVANCED_TUNING.antiGravityMode = $('select[id="antiGravityMode"]').val(); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { - RC_tuning.throttleLimitType = $('select[id="throttleLimitType"]').val(); - RC_tuning.throttleLimitPercent = parseInt($('.throttle_limit input[name="throttleLimitPercent"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { + FC.RC_TUNING.throttleLimitType = $('select[id="throttleLimitType"]').val(); + FC.RC_TUNING.throttleLimitPercent = parseInt($('.throttle_limit input[name="throttleLimitPercent"]').val()); - FILTER_CONFIG.dterm_lowpass2_type = $('.pid_filter select[name="dtermLowpass2Type"]').val(); - FILTER_CONFIG.gyro_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()); - FILTER_CONFIG.gyro_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()); - FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()); - FILTER_CONFIG.dterm_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()); + FC.FILTER_CONFIG.dterm_lowpass2_type = $('.pid_filter select[name="dtermLowpass2Type"]').val(); + FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMinFrequency"]').val()); + FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="gyroLowpassDynMaxFrequency"]').val()); + FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMinFrequency"]').val()); + FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = parseInt($('.pid_filter input[name="dtermLowpassDynMaxFrequency"]').val()); - if (FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FILTER_CONFIG.gyro_lowpass_dyn_max_hz ) { - FILTER_CONFIG.gyro_lowpass_type = $('.pid_filter select[name="gyroLowpassDynType"]').val(); + if (FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz < FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz ) { + FC.FILTER_CONFIG.gyro_lowpass_type = $('.pid_filter select[name="gyroLowpassDynType"]').val(); } - if (FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) { - FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val(); + if (FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz > 0 && FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz < FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz ) { + FC.FILTER_CONFIG.dterm_lowpass_type = $('.pid_filter select[name="dtermLowpassDynType"]').val(); } - ADVANCED_TUNING.dMinRoll = parseInt($('.pid_tuning input[name="dMinRoll"]').val()); - ADVANCED_TUNING.dMinPitch = parseInt($('.pid_tuning input[name="dMinPitch"]').val()); - ADVANCED_TUNING.dMinYaw = parseInt($('.pid_tuning input[name="dMinYaw"]').val()); - ADVANCED_TUNING.dMinGain = parseInt($('.dminGroup input[name="dMinGain"]').val()); - ADVANCED_TUNING.dMinAdvance = parseInt($('.dminGroup input[name="dMinAdvance"]').val()); + FC.ADVANCED_TUNING.dMinRoll = parseInt($('.pid_tuning input[name="dMinRoll"]').val()); + FC.ADVANCED_TUNING.dMinPitch = parseInt($('.pid_tuning input[name="dMinPitch"]').val()); + FC.ADVANCED_TUNING.dMinYaw = parseInt($('.pid_tuning input[name="dMinYaw"]').val()); + FC.ADVANCED_TUNING.dMinGain = parseInt($('.dminGroup input[name="dMinGain"]').val()); + FC.ADVANCED_TUNING.dMinAdvance = parseInt($('.dminGroup input[name="dMinAdvance"]').val()); - ADVANCED_TUNING.useIntegratedYaw = $('input[id="useIntegratedYaw"]').is(':checked') ? 1 : 0; + FC.ADVANCED_TUNING.useIntegratedYaw = $('input[id="useIntegratedYaw"]').is(':checked') ? 1 : 0; } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - FILTER_CONFIG.dyn_notch_range = parseInt($('.pid_filter select[name="dynamicNotchRange"]').val()); - FILTER_CONFIG.dyn_notch_width_percent = parseInt($('.pid_filter input[name="dynamicNotchWidthPercent"]').val()); - FILTER_CONFIG.dyn_notch_q = parseInt($('.pid_filter input[name="dynamicNotchQ"]').val()); - FILTER_CONFIG.dyn_notch_min_hz = parseInt($('.pid_filter input[name="dynamicNotchMinHz"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.FILTER_CONFIG.dyn_notch_range = parseInt($('.pid_filter select[name="dynamicNotchRange"]').val()); + FC.FILTER_CONFIG.dyn_notch_width_percent = parseInt($('.pid_filter input[name="dynamicNotchWidthPercent"]').val()); + FC.FILTER_CONFIG.dyn_notch_q = parseInt($('.pid_filter input[name="dynamicNotchQ"]').val()); + FC.FILTER_CONFIG.dyn_notch_min_hz = parseInt($('.pid_filter input[name="dynamicNotchMinHz"]').val()); let rpmFilterEnabled = $('.pid_filter #rpmFilterEnabled').is(':checked'); - FILTER_CONFIG.gyro_rpm_notch_harmonics = rpmFilterEnabled ? parseInt($('.pid_filter input[name="rpmFilterHarmonics"]').val()) : 0; - FILTER_CONFIG.gyro_rpm_notch_min_hz = parseInt($('.pid_filter input[name="rpmFilterMinHz"]').val()); + FC.FILTER_CONFIG.gyro_rpm_notch_harmonics = rpmFilterEnabled ? parseInt($('.pid_filter input[name="rpmFilterHarmonics"]').val()) : 0; + FC.FILTER_CONFIG.gyro_rpm_notch_min_hz = parseInt($('.pid_filter input[name="rpmFilterMinHz"]').val()); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - FILTER_CONFIG.dyn_notch_max_hz = parseInt($('.pid_filter input[name="dynamicNotchMaxHz"]').val()); - ADVANCED_TUNING.motorOutputLimit = parseInt($('.pid_tuning input[name="motorLimit"]').val()); - ADVANCED_TUNING.autoProfileCellCount = parseInt($('.pid_tuning input[name="cellCount"]').val()); - ADVANCED_TUNING.idleMinRpm = parseInt($('input[name="idleMinRpm-number"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + FC.FILTER_CONFIG.dyn_notch_max_hz = parseInt($('.pid_filter input[name="dynamicNotchMaxHz"]').val()); + FC.ADVANCED_TUNING.motorOutputLimit = parseInt($('.pid_tuning input[name="motorLimit"]').val()); + FC.ADVANCED_TUNING.autoProfileCellCount = parseInt($('.pid_tuning input[name="cellCount"]').val()); + FC.ADVANCED_TUNING.idleMinRpm = parseInt($('input[name="idleMinRpm-number"]').val()); const selectedRatesType = $('select[id="ratesType"]').val(); // send analytics for rates type let selectedRatesTypeName = undefined; - if (selectedRatesType !== RC_tuning.rates_type) { + if (selectedRatesType !== FC.RC_TUNING.rates_type) { selectedRatesTypeName = $('select[id="ratesType"]').find('option:selected').text(); } self.analyticsChanges['RatesType'] = selectedRatesTypeName; - RC_tuning.rates_type = selectedRatesType; + FC.RC_TUNING.rates_type = selectedRatesType; } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_44)) { - ADVANCED_TUNING.ff_interpolate_sp = $('input[id="ffInterpolateSp"]').is(':checked') ? $('select[id="ffInterpolate"]').val() : 0; - ADVANCED_TUNING.ff_smooth_factor = parseInt($('input[name="ffSmoothFactor"]').val()); - ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val()); - FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val()); - ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0; + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) { + FC.ADVANCED_TUNING.ff_interpolate_sp = $('input[id="ffInterpolateSp"]').is(':checked') ? $('select[id="ffInterpolate"]').val() : 0; + FC.ADVANCED_TUNING.ff_smooth_factor = parseInt($('input[name="ffSmoothFactor"]').val()); + FC.ADVANCED_TUNING.ff_boost = parseInt($('input[name="ffBoost"]').val()); + FC.FILTER_CONFIG.dyn_lpf_curve_expo = parseInt($('.pid_filter input[name="dtermLowpassDynExpo"]').val()); + FC.ADVANCED_TUNING.vbat_sag_compensation = $('input[id="vbatSagCompensation"]').is(':checked') ? parseInt($('input[name="vbatSagValue"]').val()) : 0; } } @@ -964,7 +964,7 @@ TABS.pid_tuning.initialize = function (callback) { $('.pid_optional').hide(); // Hide general div // Only show rows supported by the firmware - PID_names.forEach(function(elementPid) { + FC.PID_NAMES.forEach(function(elementPid) { // Show rows for the PID $('.pid_tuning .' + elementPid).show(); @@ -973,7 +973,7 @@ TABS.pid_tuning.initialize = function (callback) { }); // Special case - if (semver.lt(CONFIG.apiVersion, "1.24.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.24.0")) { $('#pid_sensitivity').hide(); } @@ -981,7 +981,7 @@ TABS.pid_tuning.initialize = function (callback) { function hideUnusedPids() { - if (!have_sensor(CONFIG.activeSensors, 'acc')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'acc')) { $('#pid_accel').hide(); } @@ -997,11 +997,11 @@ TABS.pid_tuning.initialize = function (callback) { var isVisibleBaroMagGps = false; - isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(CONFIG.activeSensors, 'baro') || have_sensor(CONFIG.activeSensors, 'sonar')); + isVisibleBaroMagGps |= hideSensorPid($('#pid_baro'), have_sensor(FC.CONFIG.activeSensors, 'baro') || have_sensor(FC.CONFIG.activeSensors, 'sonar')); - isVisibleBaroMagGps |= hideSensorPid($('#pid_mag'), have_sensor(CONFIG.activeSensors, 'mag')); + isVisibleBaroMagGps |= hideSensorPid($('#pid_mag'), have_sensor(FC.CONFIG.activeSensors, 'mag')); - isVisibleBaroMagGps |= hideSensorPid($('#pid_gps'), have_sensor(CONFIG.activeSensors, 'GPS')); + isVisibleBaroMagGps |= hideSensorPid($('#pid_gps'), have_sensor(FC.CONFIG.activeSensors, 'GPS')); if (!isVisibleBaroMagGps) { $('#pid_baro_mag_gps').hide(); @@ -1038,7 +1038,7 @@ TABS.pid_tuning.initialize = function (callback) { } var useLegacyCurve = false; - if (!semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (!semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { useLegacyCurve = true; } @@ -1060,13 +1060,13 @@ TABS.pid_tuning.initialize = function (callback) { } function process_html() { - FEATURE_CONFIG.features.generateElements($('.tab-pid_tuning .features')); + FC.FEATURE_CONFIG.features.generateElements($('.tab-pid_tuning .features')); - if (semver.lt(CONFIG.apiVersion, "1.16.0") || semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.16.0") || semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { $('.tab-pid_tuning .pidTuningSuperexpoRates').hide(); } - if (semver.lt(CONFIG.apiVersion, "1.39.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.39.0")) { $('input[name="dtermSetpoint-number"]').attr('max', self.SETPOINT_WEIGHT_RANGE_LEGACY); } @@ -1075,48 +1075,48 @@ TABS.pid_tuning.initialize = function (callback) { // Local cache of current rates self.currentRates = { - roll_rate: RC_tuning.roll_rate, - pitch_rate: RC_tuning.pitch_rate, - yaw_rate: RC_tuning.yaw_rate, - rc_rate: RC_tuning.RC_RATE, - rc_rate_yaw: RC_tuning.rcYawRate, - rc_expo: RC_tuning.RC_EXPO, - rc_yaw_expo: RC_tuning.RC_YAW_EXPO, - rc_rate_pitch: RC_tuning.rcPitchRate, - rc_pitch_expo: RC_tuning.RC_PITCH_EXPO, - superexpo: FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'), - deadband: RC_DEADBAND_CONFIG.deadband, - yawDeadband: RC_DEADBAND_CONFIG.yaw_deadband, - roll_rate_limit: RC_tuning.roll_rate_limit, - pitch_rate_limit: RC_tuning.pitch_rate_limit, - yaw_rate_limit: RC_tuning.yaw_rate_limit + roll_rate: FC.RC_TUNING.roll_rate, + pitch_rate: FC.RC_TUNING.pitch_rate, + yaw_rate: FC.RC_TUNING.yaw_rate, + rc_rate: FC.RC_TUNING.RC_RATE, + rc_rate_yaw: FC.RC_TUNING.rcYawRate, + rc_expo: FC.RC_TUNING.RC_EXPO, + rc_yaw_expo: FC.RC_TUNING.RC_YAW_EXPO, + rc_rate_pitch: FC.RC_TUNING.rcPitchRate, + rc_pitch_expo: FC.RC_TUNING.RC_PITCH_EXPO, + superexpo: FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'), + deadband: FC.RC_DEADBAND_CONFIG.deadband, + yawDeadband: FC.RC_DEADBAND_CONFIG.yaw_deadband, + roll_rate_limit: FC.RC_TUNING.roll_rate_limit, + pitch_rate_limit: FC.RC_TUNING.pitch_rate_limit, + yaw_rate_limit: FC.RC_TUNING.yaw_rate_limit }; - if (semver.lt(CONFIG.apiVersion, "1.7.0")) { - self.currentRates.roll_rate = RC_tuning.roll_pitch_rate; - self.currentRates.pitch_rate = RC_tuning.roll_pitch_rate; + if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) { + self.currentRates.roll_rate = FC.RC_TUNING.roll_pitch_rate; + self.currentRates.pitch_rate = FC.RC_TUNING.roll_pitch_rate; } - if (semver.lt(CONFIG.apiVersion, "1.16.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.16.0")) { self.currentRates.rc_rate_yaw = self.currentRates.rc_rate; } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { self.currentRates.superexpo = true; } - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { $('.pid_tuning input[name="sensitivity"]').hide(); $('.pid_tuning .levelSensitivityHeader').empty(); } - if (semver.lt(CONFIG.apiVersion, "1.37.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.37.0")) { self.currentRates.rc_rate_pitch = self.currentRates.rc_rate; self.currentRates.rc_expo_pitch = self.currentRates.rc_expo; } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - switch(RC_tuning.rates_type) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + switch(FC.RC_TUNING.rates_type) { case self.RATES_TYPE.RACEFLIGHT: self.currentRates.roll_rate *= 100; self.currentRates.pitch_rate *= 100; @@ -1162,8 +1162,8 @@ TABS.pid_tuning.initialize = function (callback) { function loadProfilesList() { var numberOfProfiles = 3; - if (semver.gte(CONFIG.apiVersion, "1.20.0") - && CONFIG.numProfiles === 2) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") + && FC.CONFIG.numProfiles === 2) { numberOfProfiles = 2; } @@ -1176,7 +1176,7 @@ TABS.pid_tuning.initialize = function (callback) { function loadRateProfilesList() { var numberOfRateProfiles = 6; - if (semver.lt(CONFIG.apiVersion, "1.37.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.37.0")) { numberOfRateProfiles = 3; } @@ -1252,14 +1252,14 @@ TABS.pid_tuning.initialize = function (callback) { self.updating = false; $('.tab-pid_tuning select[name="profile"]').prop('disabled', 'false'); - CONFIG.profile = self.currentProfile; + FC.CONFIG.profile = self.currentProfile; GUI.log(i18n.getMessage('pidTuningLoadedProfile', [self.currentProfile + 1])); }); }); }); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { $('.tab-pid_tuning select[name="rate_profile"]').change(function () { self.currentRateProfile = parseInt($(this).val()); self.updating = true; @@ -1269,7 +1269,7 @@ TABS.pid_tuning.initialize = function (callback) { self.updating = false; $('.tab-pid_tuning select[name="rate_profile"]').prop('disabled', 'false'); - CONFIG.rateProfile = self.currentRateProfile; + FC.CONFIG.rateProfile = self.currentRateProfile; GUI.log(i18n.getMessage('pidTuningLoadedRateProfile', [self.currentRateProfile + 1])); }); @@ -1300,18 +1300,18 @@ TABS.pid_tuning.initialize = function (callback) { $('#pid-tuning .dtermSetpoint').hide(); } - if (!semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (!semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { $('#pid-tuning .delta').hide(); $('.tab-pid_tuning .note').hide(); } // Add a name to each row of PIDs if empty $('.pid_tuning tr').each(function(){ - for(i = 0; i < PID_names.length; i++) { - if($(this).hasClass(PID_names[i])) { + for(i = 0; i < FC.PID_NAMES.length; i++) { + if($(this).hasClass(FC.PID_NAMES[i])) { var firstColumn = $(this).find('td:first'); if (!firstColumn.text()) { - firstColumn.text(PID_names[i]); + firstColumn.text(FC.PID_NAMES[i]); } } } @@ -1323,7 +1323,7 @@ TABS.pid_tuning.initialize = function (callback) { var filterTypeValues = []; filterTypeValues.push("PT1"); filterTypeValues.push("BIQUAD"); - if (semver.lt(CONFIG.apiVersion, "1.39.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.39.0")) { filterTypeValues.push("FIR"); } return filterTypeValues; @@ -1348,7 +1348,7 @@ TABS.pid_tuning.initialize = function (callback) { dynamicNotchRangeSelect.append(''); }); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { populateDynamicNotchRangeSelect(loadDynamicNotchRangeValues()); } @@ -1385,11 +1385,11 @@ TABS.pid_tuning.initialize = function (callback) { var pidController_e = $('select[name="controller"]'); - if (semver.lt(CONFIG.apiVersion, "1.31.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.31.0")) { var pidControllerList; - if (semver.lt(CONFIG.apiVersion, "1.14.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.14.0")) { pidControllerList = [ {name: "MultiWii (Old)"}, {name: "MultiWii (rewrite)"}, @@ -1398,7 +1398,7 @@ TABS.pid_tuning.initialize = function (callback) { {name: "MultiWii (2.3 - hybrid)"}, {name: "Harakiri"} ] - } else if (semver.lt(CONFIG.apiVersion, "1.20.0")) { + } else if (semver.lt(FC.CONFIG.apiVersion, "1.20.0")) { pidControllerList = [ {name: ""}, {name: "Integer"}, @@ -1415,12 +1415,12 @@ TABS.pid_tuning.initialize = function (callback) { pidController_e.append(''); } - if (semver.gte(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE)) { - pidController_e.val(PID.controller); + if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE)) { + pidController_e.val(FC.PID.controller); self.updatePidControllerParameters(); } else { - GUI.log(i18n.getMessage('pidTuningUpgradeFirmwareToChangePidController', [CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE])); + GUI.log(i18n.getMessage('pidTuningUpgradeFirmwareToChangePidController', [FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE])); pidController_e.empty(); pidController_e.append(''); @@ -1433,7 +1433,7 @@ TABS.pid_tuning.initialize = function (callback) { self.updatePidControllerParameters(); } - if (semver.lt(CONFIG.apiVersion, "1.7.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) { $('.tpa .tpa-breakpoint').hide(); $('.pid_tuning .roll_rate').hide(); @@ -1442,7 +1442,7 @@ TABS.pid_tuning.initialize = function (callback) { $('.pid_tuning .roll_pitch_rate').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.37.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.37.0")) { $('.pid_tuning .bracket').hide(); $('.pid_tuning input[name=rc_rate]').parent().attr('class', 'pid_data'); $('.pid_tuning input[name=rc_rate]').parent().attr('rowspan', 1); @@ -1488,11 +1488,11 @@ TABS.pid_tuning.initialize = function (callback) { updateNeeded = true; } - if (targetElement.attr('name') === 'rc_rate' && semver.lt(CONFIG.apiVersion, "1.16.0")) { + if (targetElement.attr('name') === 'rc_rate' && semver.lt(FC.CONFIG.apiVersion, "1.16.0")) { self.currentRates.rc_rate_yaw = targetValue; } - if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(CONFIG.apiVersion, "1.7.0")) { + if (targetElement.attr('name') === 'roll_pitch_rate' && semver.lt(FC.CONFIG.apiVersion, "1.7.0")) { self.currentRates.roll_rate = targetValue; self.currentRates.pitch_rate = targetValue; @@ -1505,15 +1505,15 @@ TABS.pid_tuning.initialize = function (callback) { updateNeeded = true; } - if (targetElement.attr('name') === 'rc_rate' && semver.lt(CONFIG.apiVersion, "1.37.0")) { + if (targetElement.attr('name') === 'rc_rate' && semver.lt(FC.CONFIG.apiVersion, "1.37.0")) { self.currentRates.rc_rate_pitch = targetValue; } - if (targetElement.attr('name') === 'rc_expo' && semver.lt(CONFIG.apiVersion, "1.37.0")) { + if (targetElement.attr('name') === 'rc_expo' && semver.lt(FC.CONFIG.apiVersion, "1.37.0")) { self.currentRates.rc_pitch_expo = targetValue; } - if (targetElement.attr('id') === 'ratesType' && semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (targetElement.attr('id') === 'ratesType' && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { self.changeRatesType(targetValue); updateNeeded = true; @@ -1560,7 +1560,7 @@ TABS.pid_tuning.initialize = function (callback) { $('input.feature').on('input change', function () { const element = $(this); - FEATURE_CONFIG.features.updateData(element); + FC.FEATURE_CONFIG.features.updateData(element); updateRates(); }); @@ -1623,7 +1623,7 @@ TABS.pid_tuning.initialize = function (callback) { midyl = canvasHeight - ((canvasHeight - midy) * 0.5 *(expo + 1)), midyr = (midy / 2) * (expo + 1); - let thrPercent = (RC.channels[3] - 1000) / 1000, + let thrPercent = (FC.RC.channels[3] - 1000) / 1000, thrpos = thrPercent <= mid ? getQuadraticCurvePoint(0, canvasHeight, midxl, midyl, midx, midy, thrPercent * (1.0 / mid)) : getQuadraticCurvePoint(midx, midy, midxr, midyr, canvasWidth, 0, (thrPercent - mid) * (1.0 / (1.0 - mid))); @@ -1681,17 +1681,17 @@ TABS.pid_tuning.initialize = function (callback) { var DIALOG_MODE_RATEPROFILE = 1; var dialogCopyProfileMode; - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { var selectProfile = $('.selectProfile'); var selectRateProfile = $('.selectRateProfile'); $.each(selectProfileValues, function(key, value) { - if (key != CONFIG.profile) + if (key != FC.CONFIG.profile) selectProfile.append(new Option(value, key)); }); $.each(selectRateProfileValues, function(key, value) { - if (key != CONFIG.rateProfile) + if (key != FC.CONFIG.rateProfile) selectRateProfile.append(new Option(value, key)); }); @@ -1716,18 +1716,18 @@ TABS.pid_tuning.initialize = function (callback) { $('.dialogCopyProfile-confirmbtn').click(function() { switch(dialogCopyProfileMode) { case DIALOG_MODE_PROFILE: - COPY_PROFILE.type = DIALOG_MODE_PROFILE; // 0 = pid profile - COPY_PROFILE.dstProfile = parseInt(selectProfile.val()); - COPY_PROFILE.srcProfile = CONFIG.profile; + FC.COPY_PROFILE.type = DIALOG_MODE_PROFILE; // 0 = pid profile + FC.COPY_PROFILE.dstProfile = parseInt(selectProfile.val()); + FC.COPY_PROFILE.srcProfile = FC.CONFIG.profile; MSP.send_message(MSPCodes.MSP_COPY_PROFILE, mspHelper.crunch(MSPCodes.MSP_COPY_PROFILE), false, close_dialog); break; case DIALOG_MODE_RATEPROFILE: - COPY_PROFILE.type = DIALOG_MODE_RATEPROFILE; // 1 = rate profile - COPY_PROFILE.dstProfile = parseInt(selectRateProfile.val()); - COPY_PROFILE.srcProfile = CONFIG.rateProfile; + FC.COPY_PROFILE.type = DIALOG_MODE_RATEPROFILE; // 1 = rate profile + FC.COPY_PROFILE.dstProfile = parseInt(selectRateProfile.val()); + FC.COPY_PROFILE.srcProfile = FC.CONFIG.rateProfile; MSP.send_message(MSPCodes.MSP_COPY_PROFILE, mspHelper.crunch(MSPCodes.MSP_COPY_PROFILE), false, close_dialog); @@ -1747,7 +1747,7 @@ TABS.pid_tuning.initialize = function (callback) { $('.copyrateprofilebtn').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { // filter and tuning sliders TuningSliders.initialize(); @@ -1768,13 +1768,13 @@ TABS.pid_tuning.initialize = function (callback) { // switch dmin and dmax values on dmin on/off if sliders available if (!TuningSliders.pidSlidersUnavailable) { if (TuningSliders.dMinFeatureEnabled) { - ADVANCED_TUNING.dMinRoll = PIDs[0][2]; - ADVANCED_TUNING.dMinPitch = PIDs[1][2]; - ADVANCED_TUNING.dMinYaw = PIDs[2][2]; + FC.ADVANCED_TUNING.dMinRoll = FC.PIDS[0][2]; + FC.ADVANCED_TUNING.dMinPitch = FC.PIDS[1][2]; + FC.ADVANCED_TUNING.dMinYaw = FC.PIDS[2][2]; } else { - PIDs[0][2] = ADVANCED_TUNING.dMinRoll; - PIDs[1][2] = ADVANCED_TUNING.dMinPitch; - PIDs[2][2] = ADVANCED_TUNING.dMinYaw; + FC.PIDS[0][2] = FC.ADVANCED_TUNING.dMinRoll; + FC.PIDS[1][2] = FC.ADVANCED_TUNING.dMinPitch; + FC.PIDS[2][2] = FC.ADVANCED_TUNING.dMinYaw; } TuningSliders.calculateNewPids(); } @@ -1938,13 +1938,13 @@ TABS.pid_tuning.initialize = function (callback) { $('.tuningHelpSliders').hide(); } - if (semver.gte(CONFIG.apiVersion, "1.16.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) { $('#pid-tuning .delta select').change(function() { self.setDirty(true); }); } - if (semver.lt(CONFIG.apiVersion, "1.31.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.31.0")) { pidController_e.change(function () { self.setDirty(true); @@ -1960,8 +1960,8 @@ TABS.pid_tuning.initialize = function (callback) { Promise.resolve(true) .then(function () { var promise; - if (semver.gte(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE) && semver.lt(CONFIG.apiVersion, "1.31.0")) { - PID.controller = pidController_e.val(); + if (semver.gte(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_PID_CONTROLLER_CHANGE) && semver.lt(FC.CONFIG.apiVersion, "1.31.0")) { + FC.PID.controller = pidController_e.val(); promise = MSP.promise(MSPCodes.MSP_SET_PID_CONTROLLER, mspHelper.crunch(MSPCodes.MSP_SET_PID_CONTROLLER)); } return promise; @@ -2031,12 +2031,12 @@ TABS.pid_tuning.renderModel = function () { if (!this.clock) { this.clock = new THREE.Clock(); } - if (RC.channels[0] && RC.channels[1] && RC.channels[2]) { + if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) { var delta = this.clock.getDelta(); - var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit), - pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate_pitch, this.currentRates.rc_pitch_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.pitch_rate_limit), - yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband, this.currentRates.yaw_rate_limit); + var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[0], this.currentRates.roll_rate, this.currentRates.rc_rate, this.currentRates.rc_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.roll_rate_limit), + pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[1], this.currentRates.pitch_rate, this.currentRates.rc_rate_pitch, this.currentRates.rc_pitch_expo, this.currentRates.superexpo, this.currentRates.deadband, this.currentRates.pitch_rate_limit), + yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[2], this.currentRates.yaw_rate, this.currentRates.rc_rate_yaw, this.currentRates.rc_yaw_expo, this.currentRates.superexpo, this.currentRates.yawDeadband, this.currentRates.yaw_rate_limit); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); @@ -2079,14 +2079,14 @@ TABS.pid_tuning.refresh = function (callback) { TABS.pid_tuning.setProfile = function () { var self = this; - self.currentProfile = CONFIG.profile; + self.currentProfile = FC.CONFIG.profile; $('.tab-pid_tuning select[name="profile"]').val(self.currentProfile); }; TABS.pid_tuning.setRateProfile = function () { var self = this; - self.currentRateProfile = CONFIG.rateProfile; + self.currentRateProfile = FC.CONFIG.rateProfile; $('.tab-pid_tuning select[name="rate_profile"]').val(self.currentRateProfile); }; @@ -2095,7 +2095,7 @@ TABS.pid_tuning.setDirty = function (isDirty) { self.dirty = isDirty; $('.tab-pid_tuning select[name="profile"]').prop('disabled', isDirty); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { $('.tab-pid_tuning select[name="rate_profile"]').prop('disabled', isDirty); } }; @@ -2107,16 +2107,16 @@ TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) { if (!self.updating && !self.dirty) { var changedProfile = false; - if (self.currentProfile !== CONFIG.profile) { + if (self.currentProfile !== FC.CONFIG.profile) { self.setProfile(); changedProfile = true; } var changedRateProfile = false; - if (semver.gte(CONFIG.apiVersion, "1.20.0") + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") && updateRateProfile - && self.currentRateProfile !== CONFIG.rateProfile) { + && self.currentRateProfile !== FC.CONFIG.rateProfile) { self.setRateProfile(); changedRateProfile = true; @@ -2125,13 +2125,13 @@ TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) { if (changedProfile || changedRateProfile) { self.refresh(function () { if (changedProfile) { - GUI.log(i18n.getMessage('pidTuningReceivedProfile', [CONFIG.profile + 1])); - CONFIG.profile = self.currentProfile; + GUI.log(i18n.getMessage('pidTuningReceivedProfile', [FC.CONFIG.profile + 1])); + FC.CONFIG.profile = self.currentProfile; } if (changedRateProfile) { - GUI.log(i18n.getMessage('pidTuningReceivedRateProfile', [CONFIG.rateProfile + 1])); - CONFIG.rateProfile = self.currentRateProfile + GUI.log(i18n.getMessage('pidTuningReceivedRateProfile', [FC.CONFIG.rateProfile + 1])); + FC.CONFIG.rateProfile = self.currentRateProfile } }); } @@ -2142,13 +2142,13 @@ TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) { TABS.pid_tuning.checkRC = function() { // Function monitors for change in the primary axes rc received data and returns true if a change is detected. - if (!this.oldRC) { this.oldRC = [RC.channels[0], RC.channels[1], RC.channels[2]]; } + if (!this.oldRC) { this.oldRC = [FC.RC.channels[0], FC.RC.channels[1], FC.RC.channels[2]]; } - // Monitor RC.channels and detect change of value; + // Monitor FC.RC.channels and detect change of value; var rateCurveUpdateRequired = false; for(var i=0; i= 50)) { + if ((FC.BATTERY_CONFIG.voltageMeterSource == 1 && FC.VOLTAGE_METERS[index].id == 10) // TODO: replace hardcoded constants + || (FC.BATTERY_CONFIG.voltageMeterSource == 2 && FC.VOLTAGE_METERS[index].id >= 50)) { meterElement.show(); } } var template = $('#tab-power-templates .voltage-configuration'); - for (var index = 0; index < VOLTAGE_METER_CONFIGS.length; index++) { + for (var index = 0; index < FC.VOLTAGE_METER_CONFIGS.length; index++) { var destination = $('#voltage-meter-' + index + ' .configuration'); var element = template.clone(); @@ -124,7 +124,7 @@ TABS.power.initialize = function (callback) { }); // amperage meters - if (BATTERY_CONFIG.currentMeterSource == 0) { + if (FC.BATTERY_CONFIG.currentMeterSource == 0) { $('.boxAmperageConfiguration').hide(); } else { $('.boxAmperageConfiguration').show(); @@ -132,7 +132,7 @@ TABS.power.initialize = function (callback) { if (!currentDataSource) { currentDataSource = []; - for (var index = 0; index < CURRENT_METER_CONFIGS.length; index++) { + for (var index = 0; index < FC.CURRENT_METER_CONFIGS.length; index++) { currentDataSource[index] = { scale: parseInt($('input[name="amperagescale-' + index + '"]').val()), offset: parseInt($('input[name="amperageoffset-' + index + '"]').val()) @@ -142,24 +142,24 @@ TABS.power.initialize = function (callback) { var template = $('#tab-power-templates .amperage-meters .amperage-meter'); var destination = $('.tab-power .amperage-meters'); destination.empty(); - for (var index = 0; index < CURRENT_METERS.length; index++) { + for (var index = 0; index < FC.CURRENT_METERS.length; index++) { var meterElement = template.clone(); $(meterElement).attr('id', 'amperage-meter-' + index); - var message = i18n.getMessage('powerAmperageId' + CURRENT_METERS[index].id); + var message = i18n.getMessage('powerAmperageId' + FC.CURRENT_METERS[index].id); $(meterElement).find('.label').text(message) destination.append(meterElement); meterElement.hide(); - if ((BATTERY_CONFIG.currentMeterSource == 1 && CURRENT_METERS[index].id == 10) // TODO: replace constants - || (BATTERY_CONFIG.currentMeterSource == 2 && CURRENT_METERS[index].id == 80) - || (BATTERY_CONFIG.currentMeterSource == 3 && CURRENT_METERS[index].id >= 50 && CURRENT_METERS[index].id < 80)) { + if ((FC.BATTERY_CONFIG.currentMeterSource == 1 && FC.CURRENT_METERS[index].id == 10) // TODO: replace constants + || (FC.BATTERY_CONFIG.currentMeterSource == 2 && FC.CURRENT_METERS[index].id == 80) + || (FC.BATTERY_CONFIG.currentMeterSource == 3 && FC.CURRENT_METERS[index].id >= 50 && FC.CURRENT_METERS[index].id < 80)) { meterElement.show(); } } var template = $('#tab-power-templates .amperage-configuration'); - for (var index = 0; index < CURRENT_METER_CONFIGS.length; index++) { + for (var index = 0; index < FC.CURRENT_METER_CONFIGS.length; index++) { var destination = $('#amperage-meter-' + index + ' .configuration'); var element = template.clone(); @@ -174,7 +174,7 @@ TABS.power.initialize = function (callback) { } $('input[name="amperagescale-0"]').change(function () { - if (BATTERY_CONFIG.currentMeterSource === 1) { + if (FC.BATTERY_CONFIG.currentMeterSource === 1) { let value = parseInt($(this).val()); if (value !== currentDataSource[0].scale) { @@ -184,7 +184,7 @@ TABS.power.initialize = function (callback) { }); $('input[name="amperagescale-1"]').change(function () { - if (BATTERY_CONFIG.currentMeterSource === 2) { + if (FC.BATTERY_CONFIG.currentMeterSource === 2) { let value = parseInt($(this).val()); if (value !== currentDataSource[1].scale) { @@ -193,7 +193,7 @@ TABS.power.initialize = function (callback) { } }); - if(BATTERY_CONFIG.voltageMeterSource == 1 || BATTERY_CONFIG.currentMeterSource == 1 || BATTERY_CONFIG.currentMeterSource == 2) { + if(FC.BATTERY_CONFIG.voltageMeterSource == 1 || FC.BATTERY_CONFIG.currentMeterSource == 1 || FC.BATTERY_CONFIG.currentMeterSource == 2) { $('.calibration').show(); } else { $('.calibration').hide(); @@ -226,18 +226,18 @@ TABS.power.initialize = function (callback) { var element = template.clone(); destination.append(element); - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { $('input[name="mincellvoltage"]').prop('step','0.01'); $('input[name="maxcellvoltage"]').prop('step','0.01'); $('input[name="warningcellvoltage"]').prop('step','0.01'); } - $('input[name="mincellvoltage"]').val(BATTERY_CONFIG.vbatmincellvoltage); - $('input[name="maxcellvoltage"]').val(BATTERY_CONFIG.vbatmaxcellvoltage); - $('input[name="warningcellvoltage"]').val(BATTERY_CONFIG.vbatwarningcellvoltage); - $('input[name="capacity"]').val(BATTERY_CONFIG.capacity); + $('input[name="mincellvoltage"]').val(FC.BATTERY_CONFIG.vbatmincellvoltage); + $('input[name="maxcellvoltage"]').val(FC.BATTERY_CONFIG.vbatmaxcellvoltage); + $('input[name="warningcellvoltage"]').val(FC.BATTERY_CONFIG.vbatwarningcellvoltage); + $('input[name="capacity"]').val(FC.BATTERY_CONFIG.capacity); - var haveFc = (semver.lt(CONFIG.apiVersion, "1.35.0") || (CONFIG.boardType == 0 || CONFIG.boardType == 2)); + var haveFc = (semver.lt(FC.CONFIG.apiVersion, "1.35.0") || (FC.CONFIG.boardType == 0 || FC.CONFIG.boardType == 2)); var batteryMeterTypes = [ i18n.getMessage('powerBatteryVoltageMeterTypeNone'), @@ -264,7 +264,7 @@ TABS.power.initialize = function (callback) { currentMeterTypes.push(i18n.getMessage('powerBatteryCurrentMeterTypeVirtual')); currentMeterTypes.push(i18n.getMessage('powerBatteryCurrentMeterTypeEsc')); - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { currentMeterTypes.push(i18n.getMessage('powerBatteryCurrentMeterTypeMsp')); } } @@ -275,23 +275,23 @@ TABS.power.initialize = function (callback) { currentMeterType_e.append(''); } - updateDisplay(VOLTAGE_METER_CONFIGS, CURRENT_METER_CONFIGS); + updateDisplay(FC.VOLTAGE_METER_CONFIGS, FC.CURRENT_METER_CONFIGS); var batteryMeterType_e = $('select.batterymetersource'); var sourceschanged = false; - batteryMeterType_e.val(BATTERY_CONFIG.voltageMeterSource); + batteryMeterType_e.val(FC.BATTERY_CONFIG.voltageMeterSource); batteryMeterType_e.change(function () { - BATTERY_CONFIG.voltageMeterSource = parseInt($(this).val()); + FC.BATTERY_CONFIG.voltageMeterSource = parseInt($(this).val()); updateDisplay(); sourceschanged = true; }); var currentMeterType_e = $('select.currentmetersource'); - currentMeterType_e.val(BATTERY_CONFIG.currentMeterSource); + currentMeterType_e.val(FC.BATTERY_CONFIG.currentMeterSource); currentMeterType_e.change(function () { - BATTERY_CONFIG.currentMeterSource = parseInt($(this).val()); + FC.BATTERY_CONFIG.currentMeterSource = parseInt($(this).val()); updateDisplay(); sourceschanged = true; @@ -299,18 +299,18 @@ TABS.power.initialize = function (callback) { function get_slow_data() { MSP.send_message(MSPCodes.MSP_VOLTAGE_METERS, false, false, function () { - for (var i = 0; i < VOLTAGE_METERS.length; i++) { + for (var i = 0; i < FC.VOLTAGE_METERS.length; i++) { var elementName = '#voltage-meter-' + i + ' .value'; var element = $(elementName); - element.text(i18n.getMessage('powerVoltageValue', [VOLTAGE_METERS[i].voltage])); + element.text(i18n.getMessage('powerVoltageValue', [FC.VOLTAGE_METERS[i].voltage])); } }); MSP.send_message(MSPCodes.MSP_CURRENT_METERS, false, false, function () { - for (var i = 0; i < CURRENT_METERS.length; i++) { + for (var i = 0; i < FC.CURRENT_METERS.length; i++) { var elementName = '#amperage-meter-' + i + ' .value'; var element = $(elementName); - element.text(i18n.getMessage('powerAmperageValue', [CURRENT_METERS[i].amperage.toFixed(2)])); + element.text(i18n.getMessage('powerAmperageValue', [FC.CURRENT_METERS[i].amperage.toFixed(2)])); } }); @@ -319,13 +319,13 @@ TABS.power.initialize = function (callback) { var element; element = $(elementPrefix + '-connection-state .value'); - element.text(BATTERY_STATE.cellCount > 0 ? i18n.getMessage('powerBatteryConnectedValueYes', [BATTERY_STATE.cellCount]) : i18n.getMessage('powerBatteryConnectedValueNo')); + element.text(FC.BATTERY_STATE.cellCount > 0 ? i18n.getMessage('powerBatteryConnectedValueYes', [FC.BATTERY_STATE.cellCount]) : i18n.getMessage('powerBatteryConnectedValueNo')); element = $(elementPrefix + '-voltage .value'); - element.text(i18n.getMessage('powerVoltageValue', [BATTERY_STATE.voltage])); + element.text(i18n.getMessage('powerVoltageValue', [FC.BATTERY_STATE.voltage])); element = $(elementPrefix + '-mah-drawn .value'); - element.text(i18n.getMessage('powerMahValue', [BATTERY_STATE.mAhDrawn])); + element.text(i18n.getMessage('powerMahValue', [FC.BATTERY_STATE.mAhDrawn])); element = $(elementPrefix + '-amperage .value'); - element.text(i18n.getMessage('powerAmperageValue', [BATTERY_STATE.amperage])); + element.text(i18n.getMessage('powerAmperageValue', [FC.BATTERY_STATE.amperage])); }); } @@ -361,17 +361,17 @@ TABS.power.initialize = function (callback) { }); $('a.calibrationmanager').click(function() { - if (BATTERY_CONFIG.voltageMeterSource == 1 && BATTERY_STATE.voltage > 0.1){ + if (FC.BATTERY_CONFIG.voltageMeterSource == 1 && FC.BATTERY_STATE.voltage > 0.1){ $('.vbatcalibration').show(); } else { $('.vbatcalibration').hide(); } - if ((BATTERY_CONFIG.currentMeterSource == 1 || BATTERY_CONFIG.currentMeterSource == 2) && BATTERY_STATE.amperage > 0.1) { + if ((FC.BATTERY_CONFIG.currentMeterSource == 1 || FC.BATTERY_CONFIG.currentMeterSource == 2) && FC.BATTERY_STATE.amperage > 0.1) { $('.amperagecalibration').show(); } else { $('.amperagecalibration').hide(); } - if (BATTERY_STATE.cellCount == 0) { + if (FC.BATTERY_STATE.cellCount == 0) { $('.vbatcalibration').hide(); $('.amperagecalibration').hide(); $('.calibrate').hide(); @@ -397,26 +397,26 @@ TABS.power.initialize = function (callback) { var vbatscalechanged = false; var amperagescalechanged = false; $('a.calibrate').click(function() { - if (BATTERY_CONFIG.voltageMeterSource == 1) { + if (FC.BATTERY_CONFIG.voltageMeterSource == 1) { var vbatcalibration = parseFloat($('input[name="vbatcalibration"]').val()); if (vbatcalibration != 0) { - var vbatnewscale = Math.round(VOLTAGE_METER_CONFIGS[0].vbatscale * (vbatcalibration / VOLTAGE_METERS[0].voltage)); + var vbatnewscale = Math.round(FC.VOLTAGE_METER_CONFIGS[0].vbatscale * (vbatcalibration / FC.VOLTAGE_METERS[0].voltage)); if (vbatnewscale >= 10 && vbatnewscale <= 255) { - VOLTAGE_METER_CONFIGS[0].vbatscale = vbatnewscale; + FC.VOLTAGE_METER_CONFIGS[0].vbatscale = vbatnewscale; vbatscalechanged = true; } } } - var ampsource = BATTERY_CONFIG.currentMeterSource; + var ampsource = FC.BATTERY_CONFIG.currentMeterSource; if (ampsource == 1 || ampsource == 2) { var amperagecalibration = parseFloat($('input[name="amperagecalibration"]').val()); - var amperageoffset = CURRENT_METER_CONFIGS[ampsource - 1].offset / 1000; + var amperageoffset = FC.CURRENT_METER_CONFIGS[ampsource - 1].offset / 1000; if (amperagecalibration != 0) { - if (CURRENT_METERS[ampsource - 1].amperage != amperageoffset && amperagecalibration != amperageoffset) { - var amperagenewscale = Math.round(CURRENT_METER_CONFIGS[ampsource - 1].scale * - ((CURRENT_METERS[ampsource - 1].amperage - amperageoffset) / (amperagecalibration - amperageoffset))); + if (FC.CURRENT_METERS[ampsource - 1].amperage != amperageoffset && amperagecalibration != amperageoffset) { + var amperagenewscale = Math.round(FC.CURRENT_METER_CONFIGS[ampsource - 1].scale * + ((FC.CURRENT_METERS[ampsource - 1].amperage - amperageoffset) / (amperagecalibration - amperageoffset))); if (amperagenewscale > -16000 && amperagenewscale < 16000 && amperagenewscale != 0) { - CURRENT_METER_CONFIGS[ampsource - 1].scale = amperagenewscale; + FC.CURRENT_METER_CONFIGS[ampsource - 1].scale = amperagenewscale; amperagescalechanged = true; } } @@ -448,7 +448,7 @@ TABS.power.initialize = function (callback) { calibrationconfirmed = true; GUI.calibrationManagerConfirmation.close(); - updateDisplay(VOLTAGE_METER_CONFIGS, CURRENT_METER_CONFIGS); + updateDisplay(FC.VOLTAGE_METER_CONFIGS, FC.CURRENT_METER_CONFIGS); $('.calibration').hide(); }); @@ -461,21 +461,21 @@ TABS.power.initialize = function (callback) { }); $('a.save').click(function () { - for (var index = 0; index < VOLTAGE_METER_CONFIGS.length; index++) { - VOLTAGE_METER_CONFIGS[index].vbatscale = parseInt($('input[name="vbatscale-' + index + '"]').val()); - VOLTAGE_METER_CONFIGS[index].vbatresdivval = parseInt($('input[name="vbatresdivval-' + index + '"]').val()); - VOLTAGE_METER_CONFIGS[index].vbatresdivmultiplier = parseInt($('input[name="vbatresdivmultiplier-' + index + '"]').val()); + for (var index = 0; index < FC.VOLTAGE_METER_CONFIGS.length; index++) { + FC.VOLTAGE_METER_CONFIGS[index].vbatscale = parseInt($('input[name="vbatscale-' + index + '"]').val()); + FC.VOLTAGE_METER_CONFIGS[index].vbatresdivval = parseInt($('input[name="vbatresdivval-' + index + '"]').val()); + FC.VOLTAGE_METER_CONFIGS[index].vbatresdivmultiplier = parseInt($('input[name="vbatresdivmultiplier-' + index + '"]').val()); } - for (var index = 0; index < CURRENT_METER_CONFIGS.length; index++) { - CURRENT_METER_CONFIGS[index].scale = parseInt($('input[name="amperagescale-' + index + '"]').val()); - CURRENT_METER_CONFIGS[index].offset = parseInt($('input[name="amperageoffset-' + index + '"]').val()); + for (var index = 0; index < FC.CURRENT_METER_CONFIGS.length; index++) { + FC.CURRENT_METER_CONFIGS[index].scale = parseInt($('input[name="amperagescale-' + index + '"]').val()); + FC.CURRENT_METER_CONFIGS[index].offset = parseInt($('input[name="amperageoffset-' + index + '"]').val()); } - BATTERY_CONFIG.vbatmincellvoltage = parseFloat($('input[name="mincellvoltage"]').val()); - BATTERY_CONFIG.vbatmaxcellvoltage = parseFloat($('input[name="maxcellvoltage"]').val()); - BATTERY_CONFIG.vbatwarningcellvoltage = parseFloat($('input[name="warningcellvoltage"]').val()); - BATTERY_CONFIG.capacity = parseInt($('input[name="capacity"]').val()); + FC.BATTERY_CONFIG.vbatmincellvoltage = parseFloat($('input[name="mincellvoltage"]').val()); + FC.BATTERY_CONFIG.vbatmaxcellvoltage = parseFloat($('input[name="maxcellvoltage"]').val()); + FC.BATTERY_CONFIG.vbatwarningcellvoltage = parseFloat($('input[name="warningcellvoltage"]').val()); + FC.BATTERY_CONFIG.capacity = parseInt($('input[name="capacity"]').val()); analytics.sendChangeEvents(analytics.EVENT_CATEGORIES.FLIGHT_CONTROLLER, self.analyticsChanges); @@ -491,7 +491,7 @@ TABS.power.initialize = function (callback) { } function save_voltage_config() { - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { mspHelper.sendVoltageConfig(save_amperage_config); } else { MSP.send_message(MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG), false, save_amperage_config); @@ -499,7 +499,7 @@ TABS.power.initialize = function (callback) { } function save_amperage_config() { - if (semver.gte(CONFIG.apiVersion, "1.36.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.36.0")) { mspHelper.sendCurrentConfig(save_to_eeprom); } else { MSP.send_message(MSPCodes.MSP_SET_CURRENT_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CURRENT_METER_CONFIG), false, save_to_eeprom); diff --git a/src/js/tabs/receiver.js b/src/js/tabs/receiver.js index fd977ec7..ff6d7222 100644 --- a/src/js/tabs/receiver.js +++ b/src/js/tabs/receiver.js @@ -32,7 +32,7 @@ TABS.receiver.initialize = function (callback) { function load_rc_configs() { var next_callback = load_rx_config; - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { MSP.send_message(MSPCodes.MSP_RC_DEADBAND, false, false, next_callback); } else { next_callback(); @@ -41,7 +41,7 @@ TABS.receiver.initialize = function (callback) { function load_rx_config() { var next_callback = load_mixer_config; - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { MSP.send_message(MSPCodes.MSP_RX_CONFIG, false, false, next_callback); } else { next_callback(); @@ -62,12 +62,12 @@ TABS.receiver.initialize = function (callback) { // translate to user-selected language i18n.localizePage(); - if (semver.lt(CONFIG.apiVersion, "1.15.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.15.0")) { $('.deadband').hide(); } else { - $('.deadband input[name="yaw_deadband"]').val(RC_DEADBAND_CONFIG.yaw_deadband); - $('.deadband input[name="deadband"]').val(RC_DEADBAND_CONFIG.deadband); - $('.deadband input[name="3ddeadbandthrottle"]').val(RC_DEADBAND_CONFIG.deadband3d_throttle); + $('.deadband input[name="yaw_deadband"]').val(FC.RC_DEADBAND_CONFIG.yaw_deadband); + $('.deadband input[name="deadband"]').val(FC.RC_DEADBAND_CONFIG.deadband); + $('.deadband input[name="3ddeadbandthrottle"]').val(FC.RC_DEADBAND_CONFIG.deadband3d_throttle); $('.deadband input[name="deadband"]').change(function () { tab.deadband = parseInt($(this).val()); @@ -77,17 +77,17 @@ TABS.receiver.initialize = function (callback) { }).change(); } - if (semver.lt(CONFIG.apiVersion, "1.15.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.15.0")) { $('.sticks').hide(); } else { - $('.sticks input[name="stick_min"]').val(RX_CONFIG.stick_min); - $('.sticks input[name="stick_center"]').val(RX_CONFIG.stick_center); - $('.sticks input[name="stick_max"]').val(RX_CONFIG.stick_max); + $('.sticks input[name="stick_min"]').val(FC.RX_CONFIG.stick_min); + $('.sticks input[name="stick_center"]').val(FC.RX_CONFIG.stick_center); + $('.sticks input[name="stick_max"]').val(FC.RX_CONFIG.stick_max); } - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - $('select[name="rcInterpolation-select"]').val(RX_CONFIG.rcInterpolation); - $('input[name="rcInterpolationInterval-number"]').val(RX_CONFIG.rcInterpolationInterval); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + $('select[name="rcInterpolation-select"]').val(FC.RX_CONFIG.rcInterpolation); + $('input[name="rcInterpolationInterval-number"]').val(FC.RX_CONFIG.rcInterpolationInterval); $('select[name="rcInterpolation-select"]').change(function () { tab.updateRcInterpolationParameters(); @@ -106,7 +106,7 @@ TABS.receiver.initialize = function (callback) { bar_container = $('.tab-receiver .bars'), aux_index = 1; - var num_bars = (RC.active_channels > 0) ? RC.active_channels : 8; + var num_bars = (FC.RC.active_channels > 0) ? FC.RC.active_channels : 8; for (var i = 0; i < num_bars; i++) { var name; @@ -122,7 +122,7 @@ TABS.receiver.initialize = function (callback) {
  • \
    \
    \ -
    \ +
    \
    \
    \
    \ @@ -164,8 +164,8 @@ TABS.receiver.initialize = function (callback) { var RC_MAP_Letters = ['A', 'E', 'R', 'T', '1', '2', '3', '4']; var strBuffer = []; - for (var i = 0; i < RC_MAP.length; i++) { - strBuffer[RC_MAP[i]] = RC_MAP_Letters[i]; + for (var i = 0; i < FC.RC_MAP.length; i++) { + strBuffer[FC.RC_MAP[i]] = RC_MAP_Letters[i]; } // reconstruct @@ -223,11 +223,11 @@ TABS.receiver.initialize = function (callback) { var rssi_channel_e = $('select[name="rssi_channel"]'); rssi_channel_e.append(''); //1-4 reserved for Roll Pitch Yaw & Throttle, starting at 5 - for (var i = 5; i < RC.active_channels + 1; i++) { + for (var i = 5; i < FC.RC.active_channels + 1; i++) { rssi_channel_e.append(''); } - $('select[name="rssi_channel"]').val(RSSI_CONFIG.channel); + $('select[name="rssi_channel"]').val(FC.RSSI_CONFIG.channel); var rateHeight = TABS.receiver.rateChartHeight; @@ -239,42 +239,42 @@ TABS.receiver.initialize = function (callback) { }); $('a.update').click(function () { - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { - RX_CONFIG.stick_max = parseInt($('.sticks input[name="stick_max"]').val()); - RX_CONFIG.stick_center = parseInt($('.sticks input[name="stick_center"]').val()); - RX_CONFIG.stick_min = parseInt($('.sticks input[name="stick_min"]').val()); - RC_DEADBAND_CONFIG.yaw_deadband = parseInt($('.deadband input[name="yaw_deadband"]').val()); - RC_DEADBAND_CONFIG.deadband = parseInt($('.deadband input[name="deadband"]').val()); - RC_DEADBAND_CONFIG.deadband3d_throttle = ($('.deadband input[name="3ddeadbandthrottle"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { + FC.RX_CONFIG.stick_max = parseInt($('.sticks input[name="stick_max"]').val()); + FC.RX_CONFIG.stick_center = parseInt($('.sticks input[name="stick_center"]').val()); + FC.RX_CONFIG.stick_min = parseInt($('.sticks input[name="stick_min"]').val()); + FC.RC_DEADBAND_CONFIG.yaw_deadband = parseInt($('.deadband input[name="yaw_deadband"]').val()); + FC.RC_DEADBAND_CONFIG.deadband = parseInt($('.deadband input[name="deadband"]').val()); + FC.RC_DEADBAND_CONFIG.deadband3d_throttle = ($('.deadband input[name="3ddeadbandthrottle"]').val()); } // catch rc map var RC_MAP_Letters = ['A', 'E', 'R', 'T', '1', '2', '3', '4']; var strBuffer = $('input[name="rcmap"]').val().split(''); - for (var i = 0; i < RC_MAP.length; i++) { - RC_MAP[i] = strBuffer.indexOf(RC_MAP_Letters[i]); + for (var i = 0; i < FC.RC_MAP.length; i++) { + FC.RC_MAP[i] = strBuffer.indexOf(RC_MAP_Letters[i]); } // catch rssi aux - RSSI_CONFIG.channel = parseInt($('select[name="rssi_channel"]').val()); + FC.RSSI_CONFIG.channel = parseInt($('select[name="rssi_channel"]').val()); - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { - RX_CONFIG.rcInterpolation = parseInt($('select[name="rcInterpolation-select"]').val()); - RX_CONFIG.rcInterpolationInterval = parseInt($('input[name="rcInterpolationInterval-number"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { + FC.RX_CONFIG.rcInterpolation = parseInt($('select[name="rcInterpolation-select"]').val()); + FC.RX_CONFIG.rcInterpolationInterval = parseInt($('input[name="rcInterpolationInterval-number"]').val()); } - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { - RX_CONFIG.rcSmoothingInputCutoff = parseInt($('input[name="rcSmoothingInputHz-number"]').val()); - RX_CONFIG.rcSmoothingDerivativeCutoff = parseInt($('input[name="rcSmoothingDerivativeCutoff-number"]').val()); - RX_CONFIG.rcSmoothingDerivativeType = parseInt($('select[name="rcSmoothingDerivativeType-select"]').val()); - RX_CONFIG.rcInterpolationChannels = parseInt($('select[name="rcSmoothingChannels-select"]').val()); - RX_CONFIG.rcSmoothingInputType = parseInt($('select[name="rcSmoothingInputType-select"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { + FC.RX_CONFIG.rcSmoothingInputCutoff = parseInt($('input[name="rcSmoothingInputHz-number"]').val()); + FC.RX_CONFIG.rcSmoothingDerivativeCutoff = parseInt($('input[name="rcSmoothingDerivativeCutoff-number"]').val()); + FC.RX_CONFIG.rcSmoothingDerivativeType = parseInt($('select[name="rcSmoothingDerivativeType-select"]').val()); + FC.RX_CONFIG.rcInterpolationChannels = parseInt($('select[name="rcSmoothingChannels-select"]').val()); + FC.RX_CONFIG.rcSmoothingInputType = parseInt($('select[name="rcSmoothingInputType-select"]').val()); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - RX_CONFIG.rcSmoothingAutoSmoothness = parseInt($('input[name="rcSmoothingAutoSmoothness-number"]').val()); + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + FC.RX_CONFIG.rcSmoothingAutoSmoothness = parseInt($('input[name="rcSmoothingAutoSmoothness-number"]').val()); } function save_rssi_config() { @@ -283,7 +283,7 @@ TABS.receiver.initialize = function (callback) { function save_rc_configs() { var next_callback = save_rx_config; - if (semver.gte(CONFIG.apiVersion, "1.15.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.15.0")) { MSP.send_message(MSPCodes.MSP_SET_RC_DEADBAND, mspHelper.crunch(MSPCodes.MSP_SET_RC_DEADBAND), false, next_callback); } else { next_callback(); @@ -292,7 +292,7 @@ TABS.receiver.initialize = function (callback) { function save_rx_config() { var next_callback = save_to_eeprom; - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, next_callback); } else { next_callback(); @@ -338,8 +338,8 @@ TABS.receiver.initialize = function (callback) { }); let showBindButton = false; - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { - showBindButton = bit_check(CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.SUPPORTS_RX_BIND); + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { + showBindButton = bit_check(FC.CONFIG.targetCapabilities, FC.TARGET_CAPABILITIES_FLAGS.SUPPORTS_RX_BIND); $("a.bind").click(function() { MSP.send_message(MSPCodes.MSP2_BETAFLIGHT_BIND); @@ -350,23 +350,23 @@ TABS.receiver.initialize = function (callback) { $(".bind_btn").toggle(showBindButton); // RC Smoothing - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { $('.tab-receiver .rcSmoothing').show(); var rc_smoothing_protocol_e = $('select[name="rcSmoothing-select"]'); rc_smoothing_protocol_e.change(function () { - RX_CONFIG.rcSmoothingType = $(this).val(); + FC.RX_CONFIG.rcSmoothingType = $(this).val(); updateInterpolationView(); }); - rc_smoothing_protocol_e.val(RX_CONFIG.rcSmoothingType); + rc_smoothing_protocol_e.val(FC.RX_CONFIG.rcSmoothingType); const rcSmoothingNumberElement = $('input[name="rcSmoothingInputHz-number"]'); const rcSmoothingDerivativeNumberElement = $('input[name="rcSmoothingDerivativeCutoff-number"]'); - rcSmoothingNumberElement.val(RX_CONFIG.rcSmoothingInputCutoff); - rcSmoothingDerivativeNumberElement.val(RX_CONFIG.rcSmoothingDerivativeCutoff); + rcSmoothingNumberElement.val(FC.RX_CONFIG.rcSmoothingInputCutoff); + rcSmoothingDerivativeNumberElement.val(FC.RX_CONFIG.rcSmoothingDerivativeCutoff); $('.tab-receiver .rcSmoothing-input-cutoff').show(); $('select[name="rcSmoothing-input-manual-select"]').val("1"); - if (RX_CONFIG.rcSmoothingInputCutoff == 0) { + if (FC.RX_CONFIG.rcSmoothingInputCutoff == 0) { $('.tab-receiver .rcSmoothing-input-cutoff').hide(); $('select[name="rcSmoothing-input-manual-select"]').val("0"); } @@ -376,14 +376,14 @@ TABS.receiver.initialize = function (callback) { $('.tab-receiver .rcSmoothing-input-cutoff').hide(); } if ($(this).val() == 1) { - rcSmoothingNumberElement.val(RX_CONFIG.rcSmoothingInputCutoff); + rcSmoothingNumberElement.val(FC.RX_CONFIG.rcSmoothingInputCutoff); $('.tab-receiver .rcSmoothing-input-cutoff').show(); } }).change(); $('.tab-receiver .rcSmoothing-derivative-cutoff').show(); $('select[name="rcSmoothing-input-derivative-select"]').val("1"); - if (RX_CONFIG.rcSmoothingDerivativeCutoff == 0) { + if (FC.RX_CONFIG.rcSmoothingDerivativeCutoff == 0) { $('select[name="rcSmoothing-input-derivative-select"]').val("0"); $('.tab-receiver .rcSmoothing-derivative-cutoff').hide(); } @@ -394,22 +394,22 @@ TABS.receiver.initialize = function (callback) { } if ($(this).val() == 1) { $('.tab-receiver .rcSmoothing-derivative-cutoff').show(); - rcSmoothingDerivativeNumberElement.val(RX_CONFIG.rcSmoothingDerivativeCutoff); + rcSmoothingDerivativeNumberElement.val(FC.RX_CONFIG.rcSmoothingDerivativeCutoff); } }).change(); var rc_smoothing_derivative_type = $('select[name="rcSmoothingDerivativeType-select"]'); - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { rc_smoothing_derivative_type.append($(``)); } - rc_smoothing_derivative_type.val(RX_CONFIG.rcSmoothingDerivativeType); + rc_smoothing_derivative_type.val(FC.RX_CONFIG.rcSmoothingDerivativeType); var rc_smoothing_channels = $('select[name="rcSmoothingChannels-select"]'); - rc_smoothing_channels.val(RX_CONFIG.rcInterpolationChannels); + rc_smoothing_channels.val(FC.RX_CONFIG.rcInterpolationChannels); var rc_smoothing_input_type = $('select[name="rcSmoothingInputType-select"]'); - rc_smoothing_input_type.val(RX_CONFIG.rcSmoothingInputType); + rc_smoothing_input_type.val(FC.RX_CONFIG.rcSmoothingInputType); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { $('select[name="rcSmoothing-input-manual-select"], select[name="rcSmoothing-input-derivative-select"]').change(function() { if ($('select[name="rcSmoothing-input-manual-select"]').val() == 0 || $('select[name="rcSmoothing-input-derivative-select"]').val() == 0) { $('.tab-receiver .rcSmoothing-auto-smoothness').show(); @@ -420,7 +420,7 @@ TABS.receiver.initialize = function (callback) { $('select[name="rcSmoothing-input-manual-select"]').change(); var rc_smoothing_auto_smoothness = $('input[name="rcSmoothingAutoSmoothness-number"]'); - rc_smoothing_auto_smoothness.val(RX_CONFIG.rcSmoothingAutoSmoothness); + rc_smoothing_auto_smoothness.val(FC.RX_CONFIG.rcSmoothingAutoSmoothness); } else { $('.tab-receiver .rcSmoothing-auto-smoothness').hide(); } @@ -439,7 +439,7 @@ TABS.receiver.initialize = function (callback) { } // Only show the MSP control sticks if the MSP Rx feature is enabled - $(".sticks_btn").toggle(FEATURE_CONFIG.features.isEnabled('RX_MSP')); + $(".sticks_btn").toggle(FC.FEATURE_CONFIG.features.isEnabled('RX_MSP')); $('select[name="rx_refresh_rate"]').change(function () { var plot_update_rate = parseInt($(this).val(), 10); @@ -452,7 +452,7 @@ TABS.receiver.initialize = function (callback) { } // setup plot - var RX_plot_data = new Array(RC.active_channels); + var RX_plot_data = new Array(FC.RC.active_channels); for (var i = 0; i < RX_plot_data.length; i++) { RX_plot_data[i] = []; } @@ -473,17 +473,17 @@ TABS.receiver.initialize = function (callback) { function update_ui() { - if (RC.active_channels > 0) { + if (FC.RC.active_channels > 0) { // update bars with latest data - for (var i = 0; i < RC.active_channels; i++) { - meter_fill_array[i].css('width', ((RC.channels[i] - meter_scale.min) / (meter_scale.max - meter_scale.min) * 100).clamp(0, 100) + '%'); - meter_label_array[i].text(RC.channels[i]); + for (var i = 0; i < FC.RC.active_channels; i++) { + meter_fill_array[i].css('width', ((FC.RC.channels[i] - meter_scale.min) / (meter_scale.max - meter_scale.min) * 100).clamp(0, 100) + '%'); + meter_label_array[i].text(FC.RC.channels[i]); } // push latest data to the main array - for (var i = 0; i < RC.active_channels; i++) { - RX_plot_data[i].push([samples, RC.channels[i]]); + for (var i = 0; i < FC.RC.active_channels; i++) { + RX_plot_data[i].push([samples, FC.RC.channels[i]]); } // Remove old data from array @@ -583,15 +583,15 @@ TABS.receiver.initModelPreview = function () { this.model = new Model($('.model_preview'), $('.model_preview canvas')); this.useSuperExpo = false; - if (semver.gte(CONFIG.apiVersion, "1.20.0") || (semver.gte(CONFIG.apiVersion, "1.16.0") && FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'))) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0") || (semver.gte(FC.CONFIG.apiVersion, "1.16.0") && FC.FEATURE_CONFIG.features.isEnabled('SUPEREXPO_RATES'))) { this.useSuperExpo = true; } var useOldRateCurve = false; - if (CONFIG.flightControllerIdentifier == 'CLFL' && semver.lt(CONFIG.apiVersion, '2.0.0')) { + if (FC.CONFIG.flightControllerIdentifier == 'CLFL' && semver.lt(FC.CONFIG.apiVersion, '2.0.0')) { useOldRateCurve = true; } - if (CONFIG.flightControllerIdentifier == 'BTFL' && semver.lt(CONFIG.flightControllerVersion, '2.8.0')) { + if (FC.CONFIG.flightControllerIdentifier == 'BTFL' && semver.lt(FC.CONFIG.flightControllerVersion, '2.8.0')) { useOldRateCurve = true; } @@ -605,12 +605,12 @@ TABS.receiver.renderModel = function () { if (!this.clock) { this.clock = new THREE.Clock(); } - if (RC.channels[0] && RC.channels[1] && RC.channels[2]) { + if (FC.RC.channels[0] && FC.RC.channels[1] && FC.RC.channels[2]) { var delta = this.clock.getDelta(); - var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[0], RC_tuning.roll_rate, RC_tuning.RC_RATE, RC_tuning.RC_EXPO, this.useSuperExpo, this.deadband, RC_tuning.roll_rate_limit), - pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[1], RC_tuning.pitch_rate, RC_tuning.rcPitchRate, RC_tuning.RC_PITCH_EXPO, this.useSuperExpo, this.deadband, RC_tuning.pitch_rate_limit), - yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(RC.channels[2], RC_tuning.yaw_rate, RC_tuning.rcYawRate, RC_tuning.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband, RC_tuning.yaw_rate_limit); + var roll = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[0], FC.RC_TUNING.roll_rate, FC.RC_TUNING.RC_RATE, FC.RC_TUNING.RC_EXPO, this.useSuperExpo, this.deadband, FC.RC_TUNING.roll_rate_limit), + pitch = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[1], FC.RC_TUNING.pitch_rate, FC.RC_TUNING.rcPitchRate, FC.RC_TUNING.RC_PITCH_EXPO, this.useSuperExpo, this.deadband, FC.RC_TUNING.pitch_rate_limit), + yaw = delta * this.rateCurve.rcCommandRawToDegreesPerSecond(FC.RC.channels[2], FC.RC_TUNING.yaw_rate, FC.RC_TUNING.rcYawRate, FC.RC_TUNING.RC_YAW_EXPO, this.useSuperExpo, this.yawDeadband, FC.RC_TUNING.yaw_rate_limit); this.model.rotateBy(-degToRad(pitch), -degToRad(yaw), -degToRad(roll)); } @@ -642,7 +642,7 @@ TABS.receiver.refresh = function (callback) { }; TABS.receiver.updateRcInterpolationParameters = function () { - if (semver.gte(CONFIG.apiVersion, "1.20.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.20.0")) { if ($('select[name="rcInterpolation-select"]').val() === '3') { $('.tab-receiver .rc-interpolation-manual').show(); } else { @@ -659,13 +659,13 @@ function updateInterpolationView() { $('.tab-receiver .rcSmoothing-input-type').show(); $('.tab-receiver .rcSmoothing-derivative-manual').show(); $('.tab-receiver .rcSmoothing-input-manual').show(); - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { - if (RX_CONFIG.rcSmoothingDerivativeCutoff == 0 || RX_CONFIG.rcSmoothingInputCutoff == 0) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { + if (FC.RX_CONFIG.rcSmoothingDerivativeCutoff == 0 || FC.RX_CONFIG.rcSmoothingInputCutoff == 0) { $('.tab-receiver .rcSmoothing-auto-smoothness').show(); } } - if (RX_CONFIG.rcSmoothingType == 0) { + if (FC.RX_CONFIG.rcSmoothingType == 0) { $('.tab-receiver .rcInterpolation').show(); $('.tab-receiver .rcSmoothing-derivative-cutoff').hide(); $('.tab-receiver .rcSmoothing-input-cutoff').hide(); @@ -675,10 +675,10 @@ function updateInterpolationView() { $('.tab-receiver .rcSmoothing-input-manual').hide(); $('.tab-receiver .rcSmoothing-auto-smoothness').hide(); } - if (RX_CONFIG.rcSmoothingDerivativeCutoff == 0) { + if (FC.RX_CONFIG.rcSmoothingDerivativeCutoff == 0) { $('.tab-receiver .rcSmoothing-derivative-cutoff').hide(); } - if (RX_CONFIG.rcSmoothingInputCutoff == 0) { + if (FC.RX_CONFIG.rcSmoothingInputCutoff == 0) { $('.tab-receiver .rcSmoothing-input-cutoff').hide(); } } diff --git a/src/js/tabs/sensors.js b/src/js/tabs/sensors.js index 7a0c011e..436211b3 100644 --- a/src/js/tabs/sensors.js +++ b/src/js/tabs/sensors.js @@ -10,12 +10,12 @@ TABS.sensors.initialize = function (callback) { function initSensorData(){ for (var i = 0; i < 3; i++) { - SENSOR_DATA.accelerometer[i] = 0; - SENSOR_DATA.gyroscope[i] = 0; - SENSOR_DATA.magnetometer[i] = 0; - SENSOR_DATA.sonar = 0; - SENSOR_DATA.altitude = 0; - SENSOR_DATA.debug[i] = 0; + FC.SENSOR_DATA.accelerometer[i] = 0; + FC.SENSOR_DATA.gyroscope[i] = 0; + FC.SENSOR_DATA.magnetometer[i] = 0; + FC.SENSOR_DATA.sonar = 0; + FC.SENSOR_DATA.altitude = 0; + FC.SENSOR_DATA.debug[i] = 0; } } @@ -187,17 +187,17 @@ TABS.sensors.initialize = function (callback) { var checkboxes = $('.tab-sensors .info .checkboxes input'); checkboxes.parent().show(); - if (CONFIG.boardType == 0 || CONFIG.boardType == 2) { - if (!have_sensor(CONFIG.activeSensors, 'acc')) { + if (FC.CONFIG.boardType == 0 || FC.CONFIG.boardType == 2) { + if (!have_sensor(FC.CONFIG.activeSensors, 'acc')) { checkboxes.eq(1).prop('disabled', true); } - if (!have_sensor(CONFIG.activeSensors, 'mag')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'mag')) { checkboxes.eq(2).prop('disabled', true); } - if (!(have_sensor(CONFIG.activeSensors, 'baro') || (semver.gte(CONFIG.apiVersion, "1.40.0") && have_sensor(CONFIG.activeSensors, 'gps')))) { + if (!(have_sensor(FC.CONFIG.activeSensors, 'baro') || (semver.gte(FC.CONFIG.apiVersion, "1.40.0") && have_sensor(FC.CONFIG.activeSensors, 'gps')))) { checkboxes.eq(3).prop('disabled', true); } - if (!have_sensor(CONFIG.activeSensors, 'sonar')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'sonar')) { checkboxes.eq(4).prop('disabled', true); } } else { @@ -243,7 +243,7 @@ TABS.sensors.initialize = function (callback) { }); let altitudeHint_e = $('.tab-sensors #sensorsAltitudeHint'); - if (semver.lt(CONFIG.apiVersion, "1.40.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.40.0")) { altitudeHint_e.hide(); } @@ -367,57 +367,57 @@ TABS.sensors.initialize = function (callback) { if (checkboxes[0]) { updateGraphHelperSize(gyroHelpers); - samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, SENSOR_DATA.gyroscope); + samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, FC.SENSOR_DATA.gyroscope); drawGraph(gyroHelpers, gyro_data, samples_gyro_i); - raw_data_text_ements.x[0].text(SENSOR_DATA.gyroscope[0].toFixed(2)); - raw_data_text_ements.y[0].text(SENSOR_DATA.gyroscope[1].toFixed(2)); - raw_data_text_ements.z[0].text(SENSOR_DATA.gyroscope[2].toFixed(2)); + raw_data_text_ements.x[0].text(FC.SENSOR_DATA.gyroscope[0].toFixed(2)); + raw_data_text_ements.y[0].text(FC.SENSOR_DATA.gyroscope[1].toFixed(2)); + raw_data_text_ements.z[0].text(FC.SENSOR_DATA.gyroscope[2].toFixed(2)); } if (checkboxes[1]) { updateGraphHelperSize(accelHelpers); - samples_accel_i = addSampleToData(accel_data, samples_accel_i, SENSOR_DATA.accelerometer); + samples_accel_i = addSampleToData(accel_data, samples_accel_i, FC.SENSOR_DATA.accelerometer); drawGraph(accelHelpers, accel_data, samples_accel_i); - raw_data_text_ements.x[1].text(SENSOR_DATA.accelerometer[0].toFixed(2)); - raw_data_text_ements.y[1].text(SENSOR_DATA.accelerometer[1].toFixed(2)); - raw_data_text_ements.z[1].text(SENSOR_DATA.accelerometer[2].toFixed(2)); + raw_data_text_ements.x[1].text(FC.SENSOR_DATA.accelerometer[0].toFixed(2)); + raw_data_text_ements.y[1].text(FC.SENSOR_DATA.accelerometer[1].toFixed(2)); + raw_data_text_ements.z[1].text(FC.SENSOR_DATA.accelerometer[2].toFixed(2)); } if (checkboxes[2]) { updateGraphHelperSize(magHelpers); - samples_mag_i = addSampleToData(mag_data, samples_mag_i, SENSOR_DATA.magnetometer); + samples_mag_i = addSampleToData(mag_data, samples_mag_i, FC.SENSOR_DATA.magnetometer); drawGraph(magHelpers, mag_data, samples_mag_i); - raw_data_text_ements.x[2].text(SENSOR_DATA.magnetometer[0].toFixed(2)); - raw_data_text_ements.y[2].text(SENSOR_DATA.magnetometer[1].toFixed(2)); - raw_data_text_ements.z[2].text(SENSOR_DATA.magnetometer[2].toFixed(2)); + raw_data_text_ements.x[2].text(FC.SENSOR_DATA.magnetometer[0].toFixed(2)); + raw_data_text_ements.y[2].text(FC.SENSOR_DATA.magnetometer[1].toFixed(2)); + raw_data_text_ements.z[2].text(FC.SENSOR_DATA.magnetometer[2].toFixed(2)); } } function update_altitude_graph() { updateGraphHelperSize(altitudeHelpers); - samples_altitude_i = addSampleToData(altitude_data, samples_altitude_i, [SENSOR_DATA.altitude]); + samples_altitude_i = addSampleToData(altitude_data, samples_altitude_i, [FC.SENSOR_DATA.altitude]); drawGraph(altitudeHelpers, altitude_data, samples_altitude_i); - raw_data_text_ements.x[3].text(SENSOR_DATA.altitude.toFixed(2)); + raw_data_text_ements.x[3].text(FC.SENSOR_DATA.altitude.toFixed(2)); } function update_sonar_graphs() { updateGraphHelperSize(sonarHelpers); - samples_sonar_i = addSampleToData(sonar_data, samples_sonar_i, [SENSOR_DATA.sonar]); + samples_sonar_i = addSampleToData(sonar_data, samples_sonar_i, [FC.SENSOR_DATA.sonar]); drawGraph(sonarHelpers, sonar_data, samples_sonar_i); - raw_data_text_ements.x[4].text(SENSOR_DATA.sonar.toFixed(2)); + raw_data_text_ements.x[4].text(FC.SENSOR_DATA.sonar.toFixed(2)); } function update_debug_graphs() { for (var i = 0; i < 4; i++) { updateGraphHelperSize(debugHelpers[i]); - addSampleToData(debug_data[i], samples_debug_i, [SENSOR_DATA.debug[i]]); + addSampleToData(debug_data[i], samples_debug_i, [FC.SENSOR_DATA.debug[i]]); drawGraph(debugHelpers[i], debug_data[i], samples_debug_i); - raw_data_text_ements.x[5 + i].text(SENSOR_DATA.debug[i]); + raw_data_text_ements.x[5 + i].text(FC.SENSOR_DATA.debug[i]); } samples_debug_i++; } diff --git a/src/js/tabs/servos.js b/src/js/tabs/servos.js index ac0a1e4b..a13d9a69 100644 --- a/src/js/tabs/servos.js +++ b/src/js/tabs/servos.js @@ -30,7 +30,7 @@ TABS.servos.initialize = function (callback) { function update_ui() { - if (semver.lt(CONFIG.apiVersion, "1.12.0") || SERVO_CONFIG.length === 0) { + if (semver.lt(FC.CONFIG.apiVersion, "1.12.0") || FC.SERVO_CONFIG.length === 0) { $(".tab-servos").removeClass("supported"); return; @@ -40,14 +40,14 @@ TABS.servos.initialize = function (callback) { let servoCheckbox = ''; let servoHeader = ''; - for (let i = 0; i < RC.active_channels-4; i++) { + for (let i = 0; i < FC.RC.active_channels-4; i++) { servoHeader = servoHeader + '\ A' + (i+1) + '\ '; } servoHeader = servoHeader + ''; - for (let i = 0; i < RC.active_channels; i++) { + for (let i = 0; i < FC.RC.active_channels; i++) { servoCheckbox = servoCheckbox + '\ \ '; @@ -62,17 +62,17 @@ TABS.servos.initialize = function (callback) { $('div.tab-servos table.fields').append('\ \ ' + name + '\ - \ - \ - \ + \ + \ + \ ' + servoCheckbox + '\ \ \ \ '); - if (SERVO_CONFIG[obj].indexOfChannelToForward >= 0) { - $('div.tab-servos table.fields tr:last td.channel input').eq(SERVO_CONFIG[obj].indexOfChannelToForward).prop('checked', true); + if (FC.SERVO_CONFIG[obj].indexOfChannelToForward >= 0) { + $('div.tab-servos table.fields tr:last td.channel input').eq(FC.SERVO_CONFIG[obj].indexOfChannelToForward).prop('checked', true); } // adding select box and generating options @@ -87,7 +87,7 @@ TABS.servos.initialize = function (callback) { } // select current rate - select.val(SERVO_CONFIG[obj].rate); + select.val(FC.SERVO_CONFIG[obj].rate); $('div.tab-servos table.fields tr:last').data('info', {'obj': obj}); @@ -112,15 +112,15 @@ TABS.servos.initialize = function (callback) { channelIndex = undefined; } - SERVO_CONFIG[info.obj].indexOfChannelToForward = channelIndex; + FC.SERVO_CONFIG[info.obj].indexOfChannelToForward = channelIndex; - SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val()); - SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val()); - SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val()); + FC.SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val()); + FC.SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val()); + FC.SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val()); const val = parseInt($('.direction select', this).val()); - SERVO_CONFIG[info.obj].rate = val; + FC.SERVO_CONFIG[info.obj].rate = val; }); // diff --git a/src/js/tabs/setup.js b/src/js/tabs/setup.js index 0bea95c4..b51b02db 100644 --- a/src/js/tabs/setup.js +++ b/src/js/tabs/setup.js @@ -29,11 +29,11 @@ TABS.setup.initialize = function (callback) { // translate to user-selected language i18n.localizePage(); - if (semver.lt(CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_BACKUP_RESTORE)) { + if (semver.lt(FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_BACKUP_RESTORE)) { $('#content .backup').addClass('disabled'); $('#content .restore').addClass('disabled'); - GUI.log(i18n.getMessage('initialSetupBackupAndRestoreApiVersion', [CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_BACKUP_RESTORE])); + GUI.log(i18n.getMessage('initialSetupBackupAndRestoreApiVersion', [FC.CONFIG.apiVersion, CONFIGURATOR.API_VERSION_MIN_SUPPORTED_BACKUP_RESTORE])); } // initialize 3D Model @@ -47,12 +47,12 @@ TABS.setup.initialize = function (callback) { $('span.heading').text(i18n.getMessage('initialSetupAttitude', [0])); // check if we have accelerometer and magnetometer - if (!have_sensor(CONFIG.activeSensors, 'acc')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'acc')) { $('a.calibrateAccel').addClass('disabled'); $('default_btn').addClass('disabled'); } - if (!have_sensor(CONFIG.activeSensors, 'mag')) { + if (!have_sensor(FC.CONFIG.activeSensors, 'mag')) { $('a.calibrateMag').addClass('disabled'); $('default_btn').addClass('disabled'); } @@ -61,7 +61,7 @@ TABS.setup.initialize = function (callback) { $('#arming-disable-flag').attr('title', i18n.getMessage('initialSetupArmingDisableFlagsTooltip')); - if (semver.gte(CONFIG.apiVersion, "1.40.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.40.0")) { if (isExpertModeEnabled()) { $('.initialSetupRebootBootloader').show(); } else { @@ -151,7 +151,7 @@ TABS.setup.initialize = function (callback) { // reset yaw button hook $('div#interactive_block > a.reset').click(function () { - self.yaw_fix = SENSOR_DATA.kinematics[2] * - 1.0; + self.yaw_fix = FC.SENSOR_DATA.kinematics[2] * - 1.0; $(this).text(i18n.getMessage('initialSetupButtonResetZaxisValue', [self.yaw_fix])); console.log('YAW reset to 0 deg, fix: ' + self.yaw_fix + ' deg'); @@ -194,7 +194,7 @@ TABS.setup.initialize = function (callback) { pitch_e = $('dd.pitch'), heading_e = $('dd.heading'); - if (semver.lt(CONFIG.apiVersion, "1.36.0")) { + if (semver.lt(FC.CONFIG.apiVersion, "1.36.0")) { arming_disable_flags_e.hide(); } @@ -220,26 +220,26 @@ TABS.setup.initialize = function (callback) { 'MSP', ]; - if (semver.gte(CONFIG.apiVersion, "1.38.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.38.0")) { disarmFlagElements.splice(disarmFlagElements.indexOf('THROTTLE'), 0, 'RUNAWAY_TAKEOFF'); } - if (semver.gte(CONFIG.apiVersion, "1.39.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.39.0")) { disarmFlagElements = disarmFlagElements.concat(['PARALYZE', 'GPS']); } - if (semver.gte(CONFIG.apiVersion, "1.41.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.41.0")) { disarmFlagElements.splice(disarmFlagElements.indexOf('OSD_MENU'), 1); disarmFlagElements = disarmFlagElements.concat(['RESC']); disarmFlagElements = disarmFlagElements.concat(['RPMFILTER']); } - if (semver.gte(CONFIG.apiVersion, "1.42.0")) { + if (semver.gte(FC.CONFIG.apiVersion, "1.42.0")) { disarmFlagElements.splice(disarmFlagElements.indexOf('THROTTLE'), 0, 'CRASH'); disarmFlagElements = disarmFlagElements.concat(['REBOOT_REQD', 'DSHOT_BBANG']); } - if (semver.gte(CONFIG.apiVersion, API_VERSION_1_43)) { + if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) { disarmFlagElements = disarmFlagElements.concat(['NO_ACC_CAL', 'MOTOR_PROTO']); } @@ -250,14 +250,14 @@ TABS.setup.initialize = function (callback) { arming_disable_flags_e.append(''); // Arming disabled flags - for (var i = 0; i < CONFIG.armingDisableCount; i++) { + for (var i = 0; i < FC.CONFIG.armingDisableCount; i++) { // All the known elements but the ARM_SWITCH (it must be always the last element) if (i < disarmFlagElements.length - 1) { arming_disable_flags_e.append(''); // The ARM_SWITCH, always the last element - } else if (i == CONFIG.armingDisableCount - 1) { + } else if (i == FC.CONFIG.armingDisableCount - 1) { arming_disable_flags_e.append(''); // Unknown disarm flags @@ -273,36 +273,36 @@ TABS.setup.initialize = function (callback) { MSP.send_message(MSPCodes.MSP_STATUS, false, false, function() { - $('#initialSetupArmingAllowed').toggle(CONFIG.armingDisableFlags == 0); + $('#initialSetupArmingAllowed').toggle(FC.CONFIG.armingDisableFlags == 0); - for (var i = 0; i < CONFIG.armingDisableCount; i++) { - $('#initialSetupArmingDisableFlags'+i).css('display',(CONFIG.armingDisableFlags & (1 << i)) == 0 ? 'none':'inline-block'); + for (var i = 0; i < FC.CONFIG.armingDisableCount; i++) { + $('#initialSetupArmingDisableFlags'+i).css('display',(FC.CONFIG.armingDisableFlags & (1 << i)) == 0 ? 'none':'inline-block'); } }); MSP.send_message(MSPCodes.MSP_ANALOG, false, false, function () { - bat_voltage_e.text(i18n.getMessage('initialSetupBatteryValue', [ANALOG.voltage])); - bat_mah_drawn_e.text(i18n.getMessage('initialSetupBatteryMahValue', [ANALOG.mAhdrawn])); - bat_mah_drawing_e.text(i18n.getMessage('initialSetupBatteryAValue', [ANALOG.amperage.toFixed(2)])); - rssi_e.text(i18n.getMessage('initialSetupRSSIValue', [((ANALOG.rssi / 1023) * 100).toFixed(0)])); + bat_voltage_e.text(i18n.getMessage('initialSetupBatteryValue', [FC.ANALOG.voltage])); + bat_mah_drawn_e.text(i18n.getMessage('initialSetupBatteryMahValue', [FC.ANALOG.mAhdrawn])); + bat_mah_drawing_e.text(i18n.getMessage('initialSetupBatteryAValue', [FC.ANALOG.amperage.toFixed(2)])); + rssi_e.text(i18n.getMessage('initialSetupRSSIValue', [((FC.ANALOG.rssi / 1023) * 100).toFixed(0)])); }); - if (have_sensor(CONFIG.activeSensors, 'gps')) { + if (have_sensor(FC.CONFIG.activeSensors, 'gps')) { MSP.send_message(MSPCodes.MSP_RAW_GPS, false, false, function () { - gpsFix_e.html((GPS_DATA.fix) ? i18n.getMessage('gpsFixTrue') : i18n.getMessage('gpsFixFalse')); - gpsSats_e.text(GPS_DATA.numSat); - gpsLat_e.text((GPS_DATA.lat / 10000000).toFixed(4) + ' deg'); - gpsLon_e.text((GPS_DATA.lon / 10000000).toFixed(4) + ' deg'); + gpsFix_e.html((FC.GPS_DATA.fix) ? i18n.getMessage('gpsFixTrue') : i18n.getMessage('gpsFixFalse')); + gpsSats_e.text(FC.GPS_DATA.numSat); + gpsLat_e.text((FC.GPS_DATA.lat / 10000000).toFixed(4) + ' deg'); + gpsLon_e.text((FC.GPS_DATA.lon / 10000000).toFixed(4) + ' deg'); }); } } function get_fast_data() { MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, function () { - roll_e.text(i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[0]])); - pitch_e.text(i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[1]])); - heading_e.text(i18n.getMessage('initialSetupAttitude', [SENSOR_DATA.kinematics[2]])); + roll_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[0]])); + pitch_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[1]])); + heading_e.text(i18n.getMessage('initialSetupAttitude', [FC.SENSOR_DATA.kinematics[2]])); self.renderModel(); self.updateInstruments(); @@ -322,9 +322,9 @@ TABS.setup.initializeInstruments = function() { var heading = $.flightIndicator('#heading', 'heading', options); this.updateInstruments = function() { - attitude.setRoll(SENSOR_DATA.kinematics[0]); - attitude.setPitch(SENSOR_DATA.kinematics[1]); - heading.setHeading(SENSOR_DATA.kinematics[2]); + attitude.setRoll(FC.SENSOR_DATA.kinematics[0]); + attitude.setPitch(FC.SENSOR_DATA.kinematics[1]); + heading.setHeading(FC.SENSOR_DATA.kinematics[2]); }; }; @@ -335,9 +335,9 @@ TABS.setup.initModel = function () { }; TABS.setup.renderModel = function () { - var x = (SENSOR_DATA.kinematics[1] * -1.0) * 0.017453292519943295, - y = ((SENSOR_DATA.kinematics[2] * -1.0) - this.yaw_fix) * 0.017453292519943295, - z = (SENSOR_DATA.kinematics[0] * -1.0) * 0.017453292519943295; + var x = (FC.SENSOR_DATA.kinematics[1] * -1.0) * 0.017453292519943295, + y = ((FC.SENSOR_DATA.kinematics[2] * -1.0) - this.yaw_fix) * 0.017453292519943295, + z = (FC.SENSOR_DATA.kinematics[0] * -1.0) * 0.017453292519943295; this.model.rotateTo(x, y, z); }; diff --git a/src/js/tabs/transponder.js b/src/js/tabs/transponder.js index 1bb892ae..b250f506 100644 --- a/src/js/tabs/transponder.js +++ b/src/js/tabs/transponder.js @@ -115,8 +115,8 @@ TABS.transponder.initialize = function(callback, scrollPosition) { //googleAnalytics.sendAppView('Transponder'); } // transponder supported added in MSP API Version 1.16.0 - if ( CONFIG ) { - TABS.transponder.available = semver.gte(CONFIG.apiVersion, "1.16.0"); + if ( FC.CONFIG ) { + TABS.transponder.available = semver.gte(FC.CONFIG.apiVersion, "1.16.0"); } ////////////// if ( !TABS.transponder.available ) { @@ -243,9 +243,9 @@ TABS.transponder.initialize = function(callback, scrollPosition) { let hexRegExp = new RegExp('[0-9a-fA-F]{' + (transponderProvider.dataLength * 2) + '}', 'gi'); if ( !dataString.match(hexRegExp) ) { - TRANSPONDER.data = []; + FC.TRANSPONDER.data = []; } else { - TRANSPONDER.data = hexToBytes(dataString); + FC.TRANSPONDER.data = hexToBytes(dataString); } _persistentInputValues[transponderProvider.id] = dataString; }; @@ -260,7 +260,7 @@ TABS.transponder.initialize = function(callback, scrollPosition) { */ function toggleTransponderType() { - TRANSPONDER.provider = $(this).val(); + FC.TRANSPONDER.provider = $(this).val(); let defaultProvider = $(this).attr('data-defaultValue'); if ( defaultProvider == $(this).val() ) { $('.save_reboot').hide(); @@ -271,25 +271,25 @@ TABS.transponder.initialize = function(callback, scrollPosition) { } let clearValue = true; - buildDataBlockForTransponderProviders(TRANSPONDER.providers.find(function(provider) { - return provider.id == TRANSPONDER.provider; - }), bytesToHex(TRANSPONDER.data), clearValue); + buildDataBlockForTransponderProviders(FC.TRANSPONDER.providers.find(function(provider) { + return provider.id == FC.TRANSPONDER.provider; + }), bytesToHex(FC.TRANSPONDER.data), clearValue); } MSP.send_message(MSPCodes.MSP_TRANSPONDER_CONFIG, false, false, load_html); function process_html() { - $(".tab-transponder").toggleClass("transponder-supported", TABS.transponder.available && TRANSPONDER.supported); + $(".tab-transponder").toggleClass("transponder-supported", TABS.transponder.available && FC.TRANSPONDER.supported); i18n.localizePage(); - if ( TABS.transponder.available && TRANSPONDER.providers.length > 0 ) { + if ( TABS.transponder.available && FC.TRANSPONDER.providers.length > 0 ) { - fillByTransponderProviders(TRANSPONDER.providers, TRANSPONDER.provider, toggleTransponderType); - buildDataBlockForTransponderProviders(TRANSPONDER.providers.find(function(provider) { - return provider.id == TRANSPONDER.provider; - }), bytesToHex(TRANSPONDER.data)); + fillByTransponderProviders(FC.TRANSPONDER.providers, FC.TRANSPONDER.provider, toggleTransponderType); + buildDataBlockForTransponderProviders(FC.TRANSPONDER.providers.find(function(provider) { + return provider.id == FC.TRANSPONDER.provider; + }), bytesToHex(FC.TRANSPONDER.data)); $('a.save').click(function() { @@ -311,8 +311,8 @@ TABS.transponder.initialize = function(callback, scrollPosition) { }); } - if (TRANSPONDER.provider !== "0" && TRANSPONDER.data.length !== TRANSPONDER.providers.find(function(provider) { - return provider.id == TRANSPONDER.provider; + if (FC.TRANSPONDER.provider !== "0" && FC.TRANSPONDER.data.length !== FC.TRANSPONDER.providers.find(function(provider) { + return provider.id == FC.TRANSPONDER.provider; }).dataLength ) { GUI.log(i18n.getMessage('transponderDataInvalid')); } else { diff --git a/src/js/tabs/vtx.js b/src/js/tabs/vtx.js index ae0f597f..63d2e10a 100644 --- a/src/js/tabs/vtx.js +++ b/src/js/tabs/vtx.js @@ -23,7 +23,7 @@ TABS.vtx.initialize = function (callback) { self.analyticsChanges = {}; - this.supported = semver.gte(CONFIG.apiVersion, "1.42.0"); + this.supported = semver.gte(FC.CONFIG.apiVersion, "1.42.0"); if (!this.supported) { load_html(); @@ -65,14 +65,14 @@ TABS.vtx.initialize = function (callback) { TABS.vtx.VTXTABLE_BAND_LIST = []; vtxtable_bands.counter = 1; } else { - TABS.vtx.VTXTABLE_BAND_LIST.push(Object.assign({}, VTXTABLE_BAND)); + TABS.vtx.VTXTABLE_BAND_LIST.push(Object.assign({}, FC.VTXTABLE_BAND)); vtxtable_bands.counter++; } const buffer = []; buffer.push8(vtxtable_bands.counter); - if (vtxtable_bands.counter <= VTX_CONFIG.vtx_table_bands) { + if (vtxtable_bands.counter <= FC.VTX_CONFIG.vtx_table_bands) { MSP.send_message(MSPCodes.MSP_VTXTABLE_BAND, buffer, false, vtxtable_bands); } else { vtxtable_bands.counter = undefined; @@ -88,14 +88,14 @@ TABS.vtx.initialize = function (callback) { TABS.vtx.VTXTABLE_POWERLEVEL_LIST = []; vtxtable_powerlevels.counter = 1; } else { - TABS.vtx.VTXTABLE_POWERLEVEL_LIST.push(Object.assign({}, VTXTABLE_POWERLEVEL)); + TABS.vtx.VTXTABLE_POWERLEVEL_LIST.push(Object.assign({}, FC.VTXTABLE_POWERLEVEL)); vtxtable_powerlevels.counter++; } const buffer = []; buffer.push8(vtxtable_powerlevels.counter); - if (vtxtable_powerlevels.counter <= VTX_CONFIG.vtx_table_powerlevels) { + if (vtxtable_powerlevels.counter <= FC.VTX_CONFIG.vtx_table_powerlevels) { MSP.send_message(MSPCodes.MSP_VTXTABLE_POWERLEVEL, buffer, false, vtxtable_powerlevels); } else { vtxtable_powerlevels.counter = undefined; @@ -144,12 +144,12 @@ TABS.vtx.initialize = function (callback) { function read_vtx_config_json(vtxConfig, vtxcallback_after_read) { // Bands and channels - VTX_CONFIG.vtx_table_bands = vtxConfig.vtx_table.bands_list.length; + FC.VTX_CONFIG.vtx_table_bands = vtxConfig.vtx_table.bands_list.length; let maxChannels = 0; TABS.vtx.VTXTABLE_BAND_LIST = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_bands; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_bands; i++) { TABS.vtx.VTXTABLE_BAND_LIST[i - 1] = {}; TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_number = i; TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_name = vtxConfig.vtx_table.bands_list[i - 1].name; @@ -160,13 +160,13 @@ TABS.vtx.initialize = function (callback) { maxChannels = Math.max(maxChannels, TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_frequencies.length); } - VTX_CONFIG.vtx_table_channels = maxChannels; + FC.VTX_CONFIG.vtx_table_channels = maxChannels; // Power levels - VTX_CONFIG.vtx_table_powerlevels = vtxConfig.vtx_table.powerlevels_list.length; + FC.VTX_CONFIG.vtx_table_powerlevels = vtxConfig.vtx_table.powerlevels_list.length; TABS.vtx.VTXTABLE_POWERLEVEL_LIST = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_powerlevels; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_powerlevels; i++) { TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1] = {}; TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_number = i; TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_value = vtxConfig.vtx_table.powerlevels_list[i - 1].value; @@ -197,15 +197,15 @@ TABS.vtx.initialize = function (callback) { }); // Supported? - const vtxSupported = VTX_CONFIG.vtx_type !== 0 && VTX_CONFIG.vtx_type !== 255; - const vtxTableNotConfigured = vtxSupported && VTX_CONFIG.vtx_table_available && - (VTX_CONFIG.vtx_table_bands === 0 || VTX_CONFIG.vtx_table_channels === 0 || VTX_CONFIG.vtx_table_powerlevels === 0); + const vtxSupported = FC.VTX_CONFIG.vtx_type !== 0 && FC.VTX_CONFIG.vtx_type !== 255; + const vtxTableNotConfigured = vtxSupported && FC.VTX_CONFIG.vtx_table_available && + (FC.VTX_CONFIG.vtx_table_bands === 0 || FC.VTX_CONFIG.vtx_table_channels === 0 || FC.VTX_CONFIG.vtx_table_powerlevels === 0); - TABS.vtx.vtxTableFactoryBandsSupported = VTX_CONFIG.vtx_type === 3; + TABS.vtx.vtxTableFactoryBandsSupported = FC.VTX_CONFIG.vtx_type === 3; $(".vtx_supported").toggle(vtxSupported); $(".vtx_not_supported").toggle(!vtxSupported); - $(".vtx_table_available").toggle(vtxSupported && VTX_CONFIG.vtx_table_available); + $(".vtx_table_available").toggle(vtxSupported && FC.VTX_CONFIG.vtx_table_available); $(".vtx_table_not_configured").toggle(vtxTableNotConfigured); $(".vtx_table_save_pending").toggle(TABS.vtx.vtxTableSavePending); $(".factory_band").toggle(TABS.vtx.vtxTableFactoryBandsSupported); @@ -215,63 +215,63 @@ TABS.vtx.initialize = function (callback) { // Insert actual values in the fields // Values of the selected mode - $("#vtx_frequency").val(VTX_CONFIG.vtx_frequency); - $("#vtx_band").val(VTX_CONFIG.vtx_band); + $("#vtx_frequency").val(FC.VTX_CONFIG.vtx_frequency); + $("#vtx_band").val(FC.VTX_CONFIG.vtx_band); $("#vtx_band").change(populateChannelSelect).change(); - $("#vtx_channel").val(VTX_CONFIG.vtx_channel); - if (VTX_CONFIG.vtx_table_available) { - $("#vtx_channel").attr("max", VTX_CONFIG.vtx_table_channels); + $("#vtx_channel").val(FC.VTX_CONFIG.vtx_channel); + if (FC.VTX_CONFIG.vtx_table_available) { + $("#vtx_channel").attr("max", FC.VTX_CONFIG.vtx_table_channels); } - $("#vtx_power").val(VTX_CONFIG.vtx_power); - $("#vtx_pit_mode").prop('checked', VTX_CONFIG.vtx_pit_mode); - $("#vtx_pit_mode_frequency").val(VTX_CONFIG.vtx_pit_mode_frequency); - $("#vtx_low_power_disarm").val(VTX_CONFIG.vtx_low_power_disarm); + $("#vtx_power").val(FC.VTX_CONFIG.vtx_power); + $("#vtx_pit_mode").prop('checked', FC.VTX_CONFIG.vtx_pit_mode); + $("#vtx_pit_mode_frequency").val(FC.VTX_CONFIG.vtx_pit_mode_frequency); + $("#vtx_low_power_disarm").val(FC.VTX_CONFIG.vtx_low_power_disarm); // Values of the current values const yesMessage = i18n.getMessage("yes"); const noMessage = i18n.getMessage("no"); - $("#vtx_device_ready_description").text(VTX_CONFIG.vtx_device_ready ? yesMessage : noMessage); - $("#vtx_type_description").text(i18n.getMessage(`vtxType_${VTX_CONFIG.vtx_type}`)); - $("#vtx_channel_description").text(VTX_CONFIG.vtx_channel); - $("#vtx_frequency_description").text(VTX_CONFIG.vtx_frequency); - $("#vtx_pit_mode_description").text(VTX_CONFIG.vtx_pit_mode ? yesMessage : noMessage); - $("#vtx_pit_mode_frequency_description").text(VTX_CONFIG.vtx_pit_mode_frequency); - $("#vtx_low_power_disarm_description").text(i18n.getMessage(`vtxLowPowerDisarmOption_${VTX_CONFIG.vtx_low_power_disarm}`)); + $("#vtx_device_ready_description").text(FC.VTX_CONFIG.vtx_device_ready ? yesMessage : noMessage); + $("#vtx_type_description").text(i18n.getMessage(`vtxType_${FC.VTX_CONFIG.vtx_type}`)); + $("#vtx_channel_description").text(FC.VTX_CONFIG.vtx_channel); + $("#vtx_frequency_description").text(FC.VTX_CONFIG.vtx_frequency); + $("#vtx_pit_mode_description").text(FC.VTX_CONFIG.vtx_pit_mode ? yesMessage : noMessage); + $("#vtx_pit_mode_frequency_description").text(FC.VTX_CONFIG.vtx_pit_mode_frequency); + $("#vtx_low_power_disarm_description").text(i18n.getMessage(`vtxLowPowerDisarmOption_${FC.VTX_CONFIG.vtx_low_power_disarm}`)); - if (VTX_CONFIG.vtx_band === 0) { + if (FC.VTX_CONFIG.vtx_band === 0) { $("#vtx_band_description").text(i18n.getMessage("vtxBand_0")); } else { - if (VTX_CONFIG.vtx_table_available && TABS.vtx.VTXTABLE_BAND_LIST[VTX_CONFIG.vtx_band - 1]) { - let bandName = TABS.vtx.VTXTABLE_BAND_LIST[VTX_CONFIG.vtx_band - 1].vtxtable_band_name; + if (FC.VTX_CONFIG.vtx_table_available && TABS.vtx.VTXTABLE_BAND_LIST[FC.VTX_CONFIG.vtx_band - 1]) { + let bandName = TABS.vtx.VTXTABLE_BAND_LIST[FC.VTX_CONFIG.vtx_band - 1].vtxtable_band_name; if (bandName.trim() === '') { - bandName = VTX_CONFIG.vtx_band; + bandName = FC.VTX_CONFIG.vtx_band; } $("#vtx_band_description").text(bandName); } else { - $("#vtx_band_description").text(VTX_CONFIG.vtx_band); + $("#vtx_band_description").text(FC.VTX_CONFIG.vtx_band); } } - if (VTX_CONFIG.vtx_power === 0) { + if (FC.VTX_CONFIG.vtx_power === 0) { $("#vtx_power_description").text(i18n.getMessage("vtxPower_0")); } else { - if (VTX_CONFIG.vtx_table_available) { - let powerLevel = TABS.vtx.VTXTABLE_POWERLEVEL_LIST[VTX_CONFIG.vtx_power - 1].vtxtable_powerlevel_label; + if (FC.VTX_CONFIG.vtx_table_available) { + let powerLevel = TABS.vtx.VTXTABLE_POWERLEVEL_LIST[FC.VTX_CONFIG.vtx_power - 1].vtxtable_powerlevel_label; if (powerLevel.trim() === '') { - powerLevel = VTX_CONFIG.vtx_power; + powerLevel = FC.VTX_CONFIG.vtx_power; } $("#vtx_power_description").text(powerLevel); } else { - const levelText = i18n.getMessage('vtxPower_X', {powerLevel: VTX_CONFIG.vtx_power}); + const levelText = i18n.getMessage('vtxPower_X', {powerLevel: FC.VTX_CONFIG.vtx_power}); $("#vtx_power_description").text(levelText); } } - $("#vtx_table_powerlevels").val(VTX_CONFIG.vtx_table_powerlevels); + $("#vtx_table_powerlevels").val(FC.VTX_CONFIG.vtx_table_powerlevels); // Populate power levels for (let i = 1; i <= TABS.vtx.VTXTABLE_POWERLEVEL_LIST.length; i++) { @@ -279,8 +279,8 @@ TABS.vtx.initialize = function (callback) { $(`#vtx_table_powerlabels_${i}`).val(TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_label); } - $("#vtx_table_bands").val(VTX_CONFIG.vtx_table_bands); - $("#vtx_table_channels").val(VTX_CONFIG.vtx_table_channels); + $("#vtx_table_bands").val(FC.VTX_CONFIG.vtx_table_bands); + $("#vtx_table_channels").val(FC.VTX_CONFIG.vtx_table_channels); // Populate VTX Table let hasFactoryBands = false; @@ -317,7 +317,7 @@ TABS.vtx.initialize = function (callback) { } } - $("#vtx_frequency_channel").prop('checked', VTX_CONFIG.vtx_band === 0 && VTX_CONFIG.vtx_frequency > 0).change(frequencyOrBandChannel); + $("#vtx_frequency_channel").prop('checked', FC.VTX_CONFIG.vtx_band === 0 && FC.VTX_CONFIG.vtx_frequency > 0).change(frequencyOrBandChannel); if ($("#vtx_frequency_channel").prop('checked')) { $(".field.vtx_channel").hide(); @@ -440,8 +440,8 @@ TABS.vtx.initialize = function (callback) { const selectBand = $(".field #vtx_band"); selectBand.append(new Option(i18n.getMessage('vtxBand_0'), 0)); - if (VTX_CONFIG.vtx_table_available) { - for (let i = 1; i <= VTX_CONFIG.vtx_table_bands; i++) { + if (FC.VTX_CONFIG.vtx_table_available) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_bands; i++) { let bandName = TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_name; if (bandName.trim() === '') { bandName = i18n.getMessage('vtxBand_X', {bandName: i}); @@ -463,7 +463,7 @@ TABS.vtx.initialize = function (callback) { selectChannel.empty(); selectChannel.append(new Option(i18n.getMessage('vtxChannel_0'), 0)); - if (VTX_CONFIG.vtx_table_available) { + if (FC.VTX_CONFIG.vtx_table_available) { if (TABS.vtx.VTXTABLE_BAND_LIST[selectedBand - 1]) { for (let i = 1; i <= TABS.vtx.VTXTABLE_BAND_LIST[selectedBand - 1].vtxtable_band_frequencies.length; i++) { const channelName = TABS.vtx.VTXTABLE_BAND_LIST[selectedBand - 1].vtxtable_band_frequencies[i - 1]; @@ -482,9 +482,9 @@ TABS.vtx.initialize = function (callback) { function populatePowerSelect() { const selectPower = $(".field #vtx_power"); - if (VTX_CONFIG.vtx_table_available) { + if (FC.VTX_CONFIG.vtx_table_available) { selectPower.append(new Option(i18n.getMessage('vtxPower_0'), 0)); - for (let i = 1; i <= VTX_CONFIG.vtx_table_powerlevels; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_powerlevels; i++) { let powerLevel = TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_label; if (powerLevel.trim() === '') { powerLevel = i18n.getMessage('vtxPower_X', {powerLevel: i}); @@ -492,7 +492,7 @@ TABS.vtx.initialize = function (callback) { selectPower.append(new Option(powerLevel, i)); } } else { - const powerMaxMinValues = getPowerValues(VTX_CONFIG.vtx_type); + const powerMaxMinValues = getPowerValues(FC.VTX_CONFIG.vtx_type); for (let i = powerMaxMinValues.min; i <= powerMaxMinValues.max; i++) { if (i === 0) { selectPower.append(new Option(i18n.getMessage('vtxPower_0'), 0)); @@ -508,8 +508,8 @@ TABS.vtx.initialize = function (callback) { let powerMinMax = {}; - if (VTX_CONFIG.vtx_table_available) { - powerMinMax = {min: 1, max: VTX_CONFIG.vtx_table_powerlevels}; + if (FC.VTX_CONFIG.vtx_table_available) { + powerMinMax = {min: 1, max: FC.VTX_CONFIG.vtx_table_powerlevels}; } else { switch (vtxType) { @@ -568,8 +568,8 @@ TABS.vtx.initialize = function (callback) { const suffix = 'lua'; let filename; - if(CONFIG.name && CONFIG.name.trim() !== '') { - filename = CONFIG.name.trim().replace(' ', '_'); + if(FC.CONFIG.name && FC.CONFIG.name.trim() !== '') { + filename = FC.CONFIG.name.trim().replace(' ', '_'); }else{ filename = suggestedName; } @@ -819,8 +819,8 @@ TABS.vtx.initialize = function (callback) { } - if (save_vtx_powerlevels.counter < VTX_CONFIG.vtx_table_powerlevels) { - VTXTABLE_POWERLEVEL = Object.assign({}, TABS.vtx.VTXTABLE_POWERLEVEL_LIST[save_vtx_powerlevels.counter]); + if (save_vtx_powerlevels.counter < FC.VTX_CONFIG.vtx_table_powerlevels) { + FC.VTXTABLE_POWERLEVEL = Object.assign({}, TABS.vtx.VTXTABLE_POWERLEVEL_LIST[save_vtx_powerlevels.counter]); MSP.send_message(MSPCodes.MSP_SET_VTXTABLE_POWERLEVEL, mspHelper.crunch(MSPCodes.MSP_SET_VTXTABLE_POWERLEVEL), false, save_vtx_powerlevels); } else { save_vtx_powerlevels.counter = undefined; @@ -838,8 +838,8 @@ TABS.vtx.initialize = function (callback) { } - if (save_vtx_bands.counter < VTX_CONFIG.vtx_table_bands) { - VTXTABLE_BAND = Object.assign({}, TABS.vtx.VTXTABLE_BAND_LIST[save_vtx_bands.counter]); + if (save_vtx_bands.counter < FC.VTX_CONFIG.vtx_table_bands) { + FC.VTXTABLE_BAND = Object.assign({}, TABS.vtx.VTXTABLE_BAND_LIST[save_vtx_bands.counter]); MSP.send_message(MSPCodes.MSP_SET_VTXTABLE_BAND, mspHelper.crunch(MSPCodes.MSP_SET_VTXTABLE_BAND), false, save_vtx_bands); } else { save_vtx_bands.counter = undefined; @@ -871,29 +871,29 @@ TABS.vtx.initialize = function (callback) { // General config const frequencyEnabled = $("#vtx_frequency_channel").prop('checked'); if (frequencyEnabled) { - VTX_CONFIG.vtx_frequency = parseInt($("#vtx_frequency").val()); - VTX_CONFIG.vtx_band = 0; - VTX_CONFIG.vtx_channel = 0; + FC.VTX_CONFIG.vtx_frequency = parseInt($("#vtx_frequency").val()); + FC.VTX_CONFIG.vtx_band = 0; + FC.VTX_CONFIG.vtx_channel = 0; } else { - VTX_CONFIG.vtx_band = parseInt($("#vtx_band").val()); - VTX_CONFIG.vtx_channel = parseInt($("#vtx_channel").val()); - VTX_CONFIG.vtx_frequency = 0; - if (semver.lt(CONFIG.apiVersion, "1.42.0")) { - if (VTX_CONFIG.vtx_band > 0 || VTX_CONFIG.vtx_channel > 0) { - VTX_CONFIG.vtx_frequency = (band - 1) * 8 + (channel - 1); + FC.VTX_CONFIG.vtx_band = parseInt($("#vtx_band").val()); + FC.VTX_CONFIG.vtx_channel = parseInt($("#vtx_channel").val()); + FC.VTX_CONFIG.vtx_frequency = 0; + if (semver.lt(FC.CONFIG.apiVersion, "1.42.0")) { + if (FC.VTX_CONFIG.vtx_band > 0 || FC.VTX_CONFIG.vtx_channel > 0) { + FC.VTX_CONFIG.vtx_frequency = (band - 1) * 8 + (channel - 1); } } } - VTX_CONFIG.vtx_power = parseInt($("#vtx_power").val()); - VTX_CONFIG.vtx_pit_mode = $("#vtx_pit_mode").prop('checked'); - VTX_CONFIG.vtx_low_power_disarm = parseInt($("#vtx_low_power_disarm").val()); - VTX_CONFIG.vtx_table_clear = true; + FC.VTX_CONFIG.vtx_power = parseInt($("#vtx_power").val()); + FC.VTX_CONFIG.vtx_pit_mode = $("#vtx_pit_mode").prop('checked'); + FC.VTX_CONFIG.vtx_low_power_disarm = parseInt($("#vtx_low_power_disarm").val()); + FC.VTX_CONFIG.vtx_table_clear = true; // Power levels - VTX_CONFIG.vtx_table_powerlevels = parseInt($("#vtx_table_powerlevels").val()); + FC.VTX_CONFIG.vtx_table_powerlevels = parseInt($("#vtx_table_powerlevels").val()); TABS.vtx.VTXTABLE_POWERLEVEL_LIST = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_powerlevels; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_powerlevels; i++) { TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1] = {}; TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_number = i; TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_value = parseInt($(`#vtx_table_powerlevels_${i}`).val()); @@ -901,10 +901,10 @@ TABS.vtx.initialize = function (callback) { } // Bands and channels - VTX_CONFIG.vtx_table_bands = parseInt($("#vtx_table_bands").val()); - VTX_CONFIG.vtx_table_channels = parseInt($("#vtx_table_channels").val()); + FC.VTX_CONFIG.vtx_table_bands = parseInt($("#vtx_table_bands").val()); + FC.VTX_CONFIG.vtx_table_channels = parseInt($("#vtx_table_channels").val()); TABS.vtx.VTXTABLE_BAND_LIST = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_bands; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_bands; i++) { TABS.vtx.VTXTABLE_BAND_LIST[i - 1] = {}; TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_number = i; TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_name = $(`#vtx_table_band_name_${i}`).val(); @@ -912,7 +912,7 @@ TABS.vtx.initialize = function (callback) { TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_is_factory_band = TABS.vtx.vtxTableFactoryBandsSupported ? $(`#vtx_table_band_factory_${i}`).prop('checked') : false; TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_frequencies = []; - for (let j = 1; j <= VTX_CONFIG.vtx_table_channels; j++) { + for (let j = 1; j <= FC.VTX_CONFIG.vtx_table_channels; j++) { TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_frequencies.push(parseInt($(`#vtx_table_band_channel_${i}_${j}`).val())); } } @@ -930,7 +930,7 @@ TABS.vtx.initialize = function (callback) { vtxConfig.vtx_table = {}; vtxConfig.vtx_table.bands_list = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_bands; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_bands; i++) { vtxConfig.vtx_table.bands_list[i - 1] = {}; vtxConfig.vtx_table.bands_list[i - 1].name = TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_name; vtxConfig.vtx_table.bands_list[i - 1].letter = TABS.vtx.VTXTABLE_BAND_LIST[i - 1].vtxtable_band_letter; @@ -939,7 +939,7 @@ TABS.vtx.initialize = function (callback) { } vtxConfig.vtx_table.powerlevels_list = []; - for (let i = 1; i <= VTX_CONFIG.vtx_table_powerlevels; i++) { + for (let i = 1; i <= FC.VTX_CONFIG.vtx_table_powerlevels; i++) { vtxConfig.vtx_table.powerlevels_list[i - 1] = {}; vtxConfig.vtx_table.powerlevels_list[i - 1].value = TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_value; vtxConfig.vtx_table.powerlevels_list[i - 1].label = TABS.vtx.VTXTABLE_POWERLEVEL_LIST[i - 1].vtxtable_powerlevel_label;