From f9dbdf661d0cce6cc21e91e4d843e7496cc4c98c Mon Sep 17 00:00:00 2001
From: nathan <nathan@vertile.com>
Date: Sat, 30 Jul 2016 02:27:34 -0700
Subject: [PATCH] implement verison checking in conflicting msp commands

---
 js/msp.js          | 25 ++++++++++++++++++++++---
 tabs/pid_tuning.js |  4 ++--
 2 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/js/msp.js b/js/msp.js
index 658d68bb..96f889ba 100755
--- a/js/msp.js
+++ b/js/msp.js
@@ -962,8 +962,8 @@ var MSP = {
                 break;
 
             case MSP_codes.MSP_PID_ADVANCED:
-                if (semver.gte(CONFIG.flightControllerVersion, "2.8.2")) {
-                    var offset = 0;
+                var offset = 0;
+                if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {
                     ADVANCED_TUNING.rollPitchItermIgnoreRate = data.getUint16(offset, 1);
                     offset += 2;
                     ADVANCED_TUNING.yawItermIgnoreRate = data.getUint16(offset, 1);
@@ -982,6 +982,17 @@ var MSP = {
                     ADVANCED_TUNING.pidMaxVelocityYaw = data.getUint16(offset, 1);
                     offset += 2;
                 }
+                // intentionally supports only 1 version previous to 3.0.0
+                else {
+                    ADVANCED_TUNING.rollPitchItermIgnoreRate = data.getUint16(offset, 1);
+                    offset += 2;
+                    ADVANCED_TUNING.yawItermIgnoreRate = data.getUint16(offset, 1);
+                    offset += 2;
+                    ADVANCED_TUNING.yaw_p_limit = data.getUint16(offset, 1);
+                    offset += 2;
+                    ADVANCED_TUNING.deltaMethod = data.getUint8(offset++, 1);
+                    ADVANCED_TUNING.vbatPidCompensation = data.getUint8(offset++, 1);
+                }
                 break;
             case MSP_codes.MSP_SPECIAL_PARAMETERS:
                  var offset = 0;
@@ -1651,7 +1662,7 @@ 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.flightControllerVersion, "3.0.0")) {
                 buffer.push16(ADVANCED_TUNING.rollPitchItermIgnoreRate)
                 .push16(ADVANCED_TUNING.yawItermIgnoreRate)
                 .push16(ADVANCED_TUNING.yaw_p_limit)
@@ -1665,6 +1676,14 @@ MSP.crunch = function (code) {
                 .push16(ADVANCED_TUNING.pidMaxVelocity)
                 .push16(ADVANCED_TUNING.pidMaxVelocityYaw);
             }
+            // 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);
+            }
             break;
         case MSP_codes.MSP_SET_SPECIAL_PARAMETERS:
             buffer.push(Math.round(RC_tuning.yaw_rate * 100));
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index c49c40de..90fd52b3 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -26,7 +26,7 @@ TABS.pid_tuning.initialize = function (callback) {
           return MSP.promise(MSP_codes.MSP_SPECIAL_PARAMETERS);
         }
     }).then(function() {
-        if (semver.gte(CONFIG.apiVersion, "3.0.0")) {
+        if (semver.gte(CONFIG.apiVersion, "2.8.2")) {
           return MSP.promise(MSP_codes.MSP_PID_ADVANCED);
         }
     }).then(function() {
@@ -707,7 +707,7 @@ TABS.pid_tuning.initialize = function (callback) {
                   return MSP.promise(MSP_codes.MSP_SET_SPECIAL_PARAMETERS, MSP.crunch(MSP_codes.MSP_SET_SPECIAL_PARAMETERS));
                 }
             }).then(function () {
-                if (semver.gte(CONFIG.apiVersion, "3.0.0")) {
+                if (semver.gte(CONFIG.apiVersion, "2.8.2")) {
                   return MSP.promise(MSP_codes.MSP_SET_PID_ADVANCED, MSP.crunch(MSP_codes.MSP_SET_PID_ADVANCED));
                 }
             }).then(function () {