diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 91e33056..741ea82a 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -672,6 +672,9 @@
"receiverButtonRefresh": {
"message": "Refresh"
},
+ "receiverButtonSticks": {
+ "message": "Control sticks"
+ },
"receiverDataRefreshed": {
"message": "RC Tuning data refreshed"
},
@@ -1146,5 +1149,41 @@
},
"ledStripEepromSaved": {
"message": "EEPROM saved"
+ },
+ "controlAxisRoll": {
+ "message": "Roll"
+ },
+ "controlAxisPitch": {
+ "message": "Pitch"
+ },
+ "controlAxisYaw": {
+ "message": "Yaw"
+ },
+ "controlAxisThrottle": {
+ "message": "Throttle"
+ },
+ "controlAxisAux1": {
+ "message": "AUX 1"
+ },
+ "controlAxisAux2": {
+ "message": "AUX 2"
+ },
+ "controlAxisAux3": {
+ "message": "AUX 3"
+ },
+ "controlAxisAux4": {
+ "message": "AUX 4"
+ },
+ "controlAxisAux5": {
+ "message": "AUX 5"
+ },
+ "controlAxisAux6": {
+ "message": "AUX 6"
+ },
+ "controlAxisAux7": {
+ "message": "AUX 7"
+ },
+ "controlAxisAux8": {
+ "message": "AUX 8"
}
-}
+}
\ No newline at end of file
diff --git a/js/msp.js b/js/msp.js
index 49676381..e2232272 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -1130,6 +1130,22 @@ MSP.crunch = function (code) {
return buffer;
};
+/**
+ * Set raw Rx values over MSP protocol.
+ *
+ * Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
+ */
+MSP.setRawRx = function(channels) {
+ var buffer = [];
+
+ for (var i = 0; i < channels.length; i++) {
+ buffer.push(specificByte(channels[i], 0));
+ buffer.push(specificByte(channels[i], 1));
+ }
+
+ MSP.send_message(MSP_codes.MSP_SET_RAW_RC, buffer, false);
+}
+
/**
* Send a request to read a block of data from the dataflash at the given address and pass that address and a dataview
* of the returned data to the given callback (or null for the data if an error occured).
diff --git a/tabs/receiver.css b/tabs/receiver.css
index fe1a3c4f..9c7c6903 100644
--- a/tabs/receiver.css
+++ b/tabs/receiver.css
@@ -299,6 +299,7 @@
position: absolute;
bottom: 10px;
}
+.tab-receiver .sticks,
.tab-receiver .update,
.tab-receiver .refresh {
display: block;
@@ -317,6 +318,7 @@
border: 1px solid silver;
background-color: #ececec;
}
+.tab-receiver .sticks,
.tab-receiver .refresh {
margin-right: 10px;
}
diff --git a/tabs/receiver.html b/tabs/receiver.html
index f562050c..f20c8a98 100644
--- a/tabs/receiver.html
+++ b/tabs/receiver.html
@@ -86,5 +86,6 @@
+
diff --git a/tabs/receiver.js b/tabs/receiver.js
index 0efb5f18..9e08e321 100644
--- a/tabs/receiver.js
+++ b/tabs/receiver.js
@@ -18,7 +18,12 @@ TABS.receiver.initialize = function (callback) {
}
function get_rc_map() {
- MSP.send_message(MSP_codes.MSP_RX_MAP, false, false, load_html);
+ MSP.send_message(MSP_codes.MSP_RX_MAP, false, false, load_config);
+ }
+
+ // Fetch features so we can check if RX_MSP is enabled:
+ function load_config() {
+ MSP.send_message(MSP_codes.MSP_BF_CONFIG, false, false, load_html);
}
function load_html() {
@@ -52,7 +57,12 @@ TABS.receiver.initialize = function (callback) {
});
// generate bars
- var bar_names = ['Roll', 'Pitch', 'Yaw', 'Throttle'],
+ var bar_names = [
+ chrome.i18n.getMessage('controlAxisRoll'),
+ chrome.i18n.getMessage('controlAxisPitch'),
+ chrome.i18n.getMessage('controlAxisYaw'),
+ chrome.i18n.getMessage('controlAxisThrottle')
+ ],
bar_container = $('.tab-receiver .bars'),
aux_index = 1;
@@ -61,7 +71,7 @@ TABS.receiver.initialize = function (callback) {
if (i < bar_names.length) {
name = bar_names[i];
} else {
- name = 'AUX ' + aux_index++;
+ name = chrome.i18n.getMessage("controlAxisAux" + (aux_index++));
}
bar_container.append('\
@@ -302,6 +312,27 @@ TABS.receiver.initialize = function (callback) {
MSP.send_message(MSP_codes.MSP_SET_RC_TUNING, MSP.crunch(MSP_codes.MSP_SET_RC_TUNING), false, save_rc_map);
});
+
+ $("a.sticks").click(function() {
+ var
+ windowWidth = 370,
+ windowHeight = 510;
+
+ chrome.app.window.create("/tabs/receiver_msp.html", {
+ id: "receiver_msp",
+ innerBounds: {
+ minWidth: windowWidth, minHeight: windowHeight,
+ width: windowWidth, height: windowHeight,
+ maxWidth: windowWidth, maxHeight: windowHeight
+ }
+ }, function(createdWindow) {
+ // Give the window a callback it can use to access our MSP object to send to CF
+ createdWindow.contentWindow.setRawRx = MSP.setRawRx;
+ });
+ });
+
+ // Only show the MSP control sticks if the MSP Rx feature is enabled
+ $("a.sticks").toggle(bit_check(BF_CONFIG.features, 14 /* RX_MSP */));
$('select[name="rx_refresh_rate"]').change(function () {
var plot_update_rate = parseInt($(this).val(), 10);
diff --git a/tabs/receiver_msp.css b/tabs/receiver_msp.css
new file mode 100644
index 00000000..29ecf158
--- /dev/null
+++ b/tabs/receiver_msp.css
@@ -0,0 +1,109 @@
+body {
+ font-family: 'Segoe UI', Tahoma, sans-serif;
+ font-size: 12px;
+ color: #303030;
+ margin: 10px;
+}
+
+.control-gimbals {
+ /* A generous padding around the window edges ensures that we continue to receive mousemove events (since
+ * cursor stays in the window for longer)
+ */
+ padding:25px;
+ padding-bottom:0;
+ text-align:center;
+}
+
+.control-gimbal {
+ position:relative;
+ width:120px;
+ height:120px;
+ background-color:#eee;
+ margin-left:1em;
+ margin-right:1em;
+ margin-bottom:2em;
+ display:inline-block;
+ border-radius:5px;
+
+ cursor:pointer;
+}
+
+.crosshair {
+ display:block;
+ position:absolute;
+ background-color:#ddd;
+}
+
+.crosshair-vert {
+ width:1px;
+ height:100%;
+ left:50%;
+}
+
+.crosshair-horz {
+ height:1px;
+ width:100%;
+ top:50%;
+}
+
+.gimbal-label {
+ display:block;
+ position:absolute;
+ text-align:center;
+}
+
+.gimbal-label-horz {
+ top:calc(100% + 0.5em);
+ width:100%;
+}
+
+.gimbal-label-vert {
+ transform:rotate(-90deg);
+ /*transform-origin:0% 100%;*/
+ top:calc(50% - 0.5em);
+ width:100%;
+ left:calc(-50% - 1em);
+}
+
+.control-stick {
+ background-color:rgba(255,50,50,1.0);
+ width:20px;
+ height:20px;
+ margin-left:-10px;
+ margin-top:-10px;
+ display:block;
+ border-radius:100%;
+ position:absolute;
+
+ cursor:pointer;
+}
+
+.control-slider {
+ margin:20px;
+}
+
+.tooltip {
+ position: absolute;
+ left: calc(100% + 24px);
+ top: 0;
+}
+
+.control-slider .slider {
+ margin-left:50px;
+ margin-right:50px;
+}
+
+.slider-label {
+ position:absolute;
+ text-align:right;
+ width:40px;
+ left:-65px;
+}
+
+.button-enable {
+ padding:0.5em;
+ font-size:110%;
+ margin-left:auto;
+ margin-right:auto;
+ display:block;
+}
\ No newline at end of file
diff --git a/tabs/receiver_msp.html b/tabs/receiver_msp.html
new file mode 100644
index 00000000..fb1a5482
--- /dev/null
+++ b/tabs/receiver_msp.html
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ These sticks allow Cleanflight to be armed and tested without a transmitter or receiver being
+ present. However, this feature is not intended for flight and propellers must not be attached.
+
+
+ This feature does not guarantee reliable control of your craft. Serious injury is likely to
+ result if propellers are left on.
+
+
+
+
+
\ No newline at end of file
diff --git a/tabs/receiver_msp.js b/tabs/receiver_msp.js
new file mode 100644
index 00000000..91fd9c24
--- /dev/null
+++ b/tabs/receiver_msp.js
@@ -0,0 +1,182 @@
+"use strict";
+
+var
+ CHANNEL_MIN_VALUE = 1000,
+ CHANNEL_MID_VALUE = 1500,
+ CHANNEL_MAX_VALUE = 2000,
+
+ // What's the index of each channel in the MSP channel list?
+ channelMSPIndexes = {
+ roll: 0,
+ pitch: 1,
+ yaw: 2,
+ throttle: 3,
+ aux1: 4,
+ aux2: 5,
+ aux3: 6,
+ aux4: 7,
+ },
+
+ // Set reasonable initial stick positions (Mode 2)
+ stickValues = {
+ throttle: CHANNEL_MIN_VALUE,
+ pitch: CHANNEL_MID_VALUE,
+ roll: CHANNEL_MID_VALUE,
+ yaw: CHANNEL_MID_VALUE,
+ aux1: CHANNEL_MIN_VALUE,
+ aux2: CHANNEL_MIN_VALUE,
+ aux3: CHANNEL_MIN_VALUE,
+ aux4: CHANNEL_MIN_VALUE
+ },
+
+ // First the vertical axis, then the horizontal:
+ gimbals = [
+ ["throttle", "yaw"],
+ ["pitch", "roll"],
+ ],
+
+ gimbalElems,
+ sliderElems,
+
+ enableTX = false;
+
+function transmitChannels() {
+ var
+ channelValues = [0, 0, 0, 0, 0, 0, 0, 0];
+
+ if (!enableTX) {
+ return;
+ }
+
+ for (var stickName in stickValues) {
+ channelValues[channelMSPIndexes[stickName]] = stickValues[stickName];
+ }
+
+ // Callback given to us by the window creator so we can have it send data over MSP for us:
+ window.setRawRx(channelValues);
+}
+
+function stickPortionToChannelValue(portion) {
+ portion = Math.min(Math.max(portion, 0.0), 1.0);
+
+ return Math.round(portion * (CHANNEL_MAX_VALUE - CHANNEL_MIN_VALUE) + CHANNEL_MIN_VALUE);
+}
+
+function channelValueToStickPortion(channel) {
+ return (channel - CHANNEL_MIN_VALUE) / (CHANNEL_MAX_VALUE - CHANNEL_MIN_VALUE);
+}
+
+function updateControlPositions() {
+ for (var stickName in stickValues) {
+ var
+ stickValue = stickValues[stickName];
+
+ // Look for the gimbal which corresponds to this stick name
+ for (var gimbalIndex in gimbals) {
+ var
+ gimbal = gimbals[gimbalIndex],
+ gimbalElem = gimbalElems.get(gimbalIndex),
+ gimbalSize = $(gimbalElem).width(),
+ stickElem = $(".control-stick", gimbalElem);
+
+ if (gimbal[0] == stickName) {
+ stickElem.css('top', (1.0 - channelValueToStickPortion(stickValue)) * gimbalSize + "px");
+ break;
+ } else if (gimbal[1] == stickName) {
+ stickElem.css('left', channelValueToStickPortion(stickValue) * gimbalSize + "px");
+ break;
+ }
+ }
+ }
+}
+
+function handleGimbalMouseDrag(e) {
+ var
+ gimbal = $(gimbalElems.get(e.data.gimbalIndex)),
+ gimbalOffset = gimbal.offset(),
+ gimbalSize = gimbal.width();
+
+ stickValues[gimbals[e.data.gimbalIndex][0]] = stickPortionToChannelValue(1.0 - (e.pageY - gimbalOffset.top) / gimbalSize);
+ stickValues[gimbals[e.data.gimbalIndex][1]] = stickPortionToChannelValue((e.pageX - gimbalOffset.left) / gimbalSize);
+
+ updateControlPositions();
+}
+
+function localizeAxisNames() {
+ for (var gimbalIndex in gimbals) {
+ var
+ gimbal = gimbalElems.get(gimbalIndex);
+
+ $(".gimbal-label-vert", gimbal).text(chrome.i18n.getMessage("controlAxis" + gimbals[gimbalIndex][0]));
+ $(".gimbal-label-horz", gimbal).text(chrome.i18n.getMessage("controlAxis" + gimbals[gimbalIndex][1]));
+ }
+
+ for (var sliderIndex = 0; sliderIndex < 4; sliderIndex++) {
+ $(".slider-label", sliderElems.get(sliderIndex)).text(chrome.i18n.getMessage("controlAxisAux" + (sliderIndex + 1)));
+ }
+}
+
+$(document).ready(function() {
+ $(".button-enable").click(function() {
+ var
+ shrinkHeight = $(".warning").height();
+
+ $(".warning").slideUp("short", function() {
+ chrome.app.window.current().innerBounds.minHeight -= shrinkHeight;
+ chrome.app.window.current().innerBounds.height -= shrinkHeight;
+ chrome.app.window.current().innerBounds.maxHeight -= shrinkHeight;
+ });
+
+ enableTX = true;
+ });
+
+ gimbalElems = $(".control-gimbal");
+ sliderElems = $(".control-slider");
+
+ gimbalElems.each(function(gimbalIndex) {
+ $(this).on('mousedown', {gimbalIndex: gimbalIndex}, function(e) {
+ if (e.which == 1) { // Only move sticks on left mouse button
+ handleGimbalMouseDrag(e);
+
+ $(window).on('mousemove', {gimbalIndex: gimbalIndex}, handleGimbalMouseDrag);
+ }
+ });
+ });
+
+ $(".slider", sliderElems).each(function(sliderIndex) {
+ var
+ initialValue = stickValues["aux" + (sliderIndex + 1)];
+
+ $(this)
+ .noUiSlider({
+ start: initialValue,
+ range: {
+ min: CHANNEL_MIN_VALUE,
+ max: CHANNEL_MAX_VALUE
+ }
+ }).on('slide change set', function(e, value) {
+ value = Math.round(parseFloat(value));
+
+ stickValues["aux" + (sliderIndex + 1)] = value;
+
+ $(".tooltip", this).text(value);
+ });
+
+ $(this).append('');
+
+ $(".tooltip", this).text(initialValue);
+ });
+
+ /*
+ * Mouseup handler needs to be bound to the window in order to receive mouseup if mouse leaves window.
+ */
+ $(window).mouseup(function(e) {
+ $(this).off('mousemove', handleGimbalMouseDrag);
+ });
+
+ localizeAxisNames();
+
+ updateControlPositions();
+
+ setInterval(transmitChannels, 100);
+});
\ No newline at end of file