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betaflight-configurator
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Merge pull request #160 from mikeller/fix_2_9_0_msp 

Fixed MSP for 2.9.0.
10.3.x-maintenance
Michael Keller 2016-07-30 11:54:24 +12:00 committed by GitHub
parent d74f3bc33f c9a6ae63ca
commit d8534af70a
1 changed files with 42 additions and 26 deletions
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68
js/msp.js
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@ -904,10 +904,15 @@ var MSP = {
offset += 2;
RX_CONFIG.rx_max_usec = data.getUint16(offset, 1);
offset += 2;
RX_CONFIG.rcSmoothing = data.getUint8(offset, 1);
RX_CONFIG.rcSmoothInterval = data.getUint8(offset, 1);
RX_CONFIG.airModeActivateThreshold = data.getUint16(offset, 1);
offset += 2;
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
RX_CONFIG.rcSmoothing = data.getUint8(offset, 1);
RX_CONFIG.rcSmoothInterval = data.getUint8(offset, 1);
RX_CONFIG.airModeActivateThreshold = data.getUint16(offset, 1);
} else {
RX_CONFIG.rcSmoothing = 0;
RX_CONFIG.rcSmoothInterval = 0;
RX_CONFIG.airModeActivateThreshold = 0;
}
break;
case MSP_codes.MSP_FAILSAFE_CONFIG:
@ -960,7 +965,7 @@ var MSP = {
break;
case MSP_codes.MSP_PID_ADVANCED:
if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
var offset = 0;
ADVANCED_TUNING.rollPitchItermIgnoreRate = data.getUint16(offset, 1);
offset += 2;
@ -970,15 +975,24 @@ var MSP = {
offset += 2;
ADVANCED_TUNING.deltaMethod = data.getUint8(offset++, 1);
ADVANCED_TUNING.vbatPidCompensation = data.getUint8(offset++, 1);
ADVANCED_TUNING.ptermSetpointWeight = data.getUint8(offset++, 1);
ADVANCED_TUNING.dtermSetpointWeight = data.getUint8(offset++, 1);
ADVANCED_TUNING.toleranceBand = data.getUint8(offset++, 1);
ADVANCED_TUNING.toleranceBandReduction = data.getUint8(offset++, 1);
ADVANCED_TUNING.itermThrottleGain = data.getUint8(offset++, 1);
ADVANCED_TUNING.pidMaxVelocity = data.getUint16(offset, 1);
offset += 2;
ADVANCED_TUNING.pidMaxVelocityYaw = data.getUint16(offset, 1);
offset += 2;
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
ADVANCED_TUNING.ptermSetpointWeight = data.getUint8(offset++, 1);
ADVANCED_TUNING.dtermSetpointWeight = data.getUint8(offset++, 1);
ADVANCED_TUNING.toleranceBand = data.getUint8(offset++, 1);
ADVANCED_TUNING.toleranceBandReduction = data.getUint8(offset++, 1);
ADVANCED_TUNING.itermThrottleGain = data.getUint8(offset++, 1);
ADVANCED_TUNING.pidMaxVelocity = data.getUint16(offset, 1);
offset += 2;
ADVANCED_TUNING.pidMaxVelocityYaw = data.getUint16(offset, 1);
} else {
ADVANCED_TUNING.ptermSetpointWeight = 0;
ADVANCED_TUNING.dtermSetpointWeight = 0;
ADVANCED_TUNING.toleranceBand = 0;
ADVANCED_TUNING.toleranceBandReduction = 0;
ADVANCED_TUNING.itermThrottleGain = 0;
ADVANCED_TUNING.pidMaxVelocity = 0;
ADVANCED_TUNING.pidMaxVelocityYaw = 0;
}
}
break;
case MSP_codes.MSP_SENSOR_CONFIG:
@ -1639,19 +1653,21 @@ MSP.crunch = function (code) {
.push16(FILTER_CONFIG.yaw_lpf_hz);
break;
case MSP_codes.MSP_SET_PID_ADVANCED:
if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
if (semver.gte(CONFIG.apiVersion, "1.16.0")) {
buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
.push16(ADVANCED_TUNING.yaw_p_limit)
.push8(ADVANCED_TUNING.deltaMethod)
.push8(ADVANCED_TUNING.vbatPidCompensation)
.push8(ADVANCED_TUNING.ptermSetpointWeight)
.push8(ADVANCED_TUNING.dtermSetpointWeight)
.push8(ADVANCED_TUNING.toleranceBand)
.push8(ADVANCED_TUNING.toleranceBandReduction)
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
.push16(ADVANCED_TUNING.yawItermIgnoreRate)
.push16(ADVANCED_TUNING.yaw_p_limit)
.push8(ADVANCED_TUNING.deltaMethod);
if (semver.lt(CONFIG.apiVersion, "1.20.0")) {
buffer.push8(ADVANCED_TUNING.vbatPidCompensation)
.push8(ADVANCED_TUNING.ptermSetpointWeight)
.push8(ADVANCED_TUNING.dtermSetpointWeight)
.push8(ADVANCED_TUNING.toleranceBand)
.push8(ADVANCED_TUNING.toleranceBandReduction)
.push8(ADVANCED_TUNING.itermThrottleGain)
.push16(ADVANCED_TUNING.pidMaxVelocity)
.push16(ADVANCED_TUNING.pidMaxVelocityYaw);
}
}
break;
case MSP_codes.MSP_SET_SENSOR_CONFIG: