Use MSP_STATUS_EX to display CPU load in status bar, from INAV 1.2.0

4 files changed, 36 insertions, 7 deletions

diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 99b8e601..57dac942 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -213,7 +213,10 @@
     "statusbar_cycle_time": {
         "message": "Cycle Time:"
     },
-
+    "statusbar_cpu_load": {
+        "message": "CPU Load: $1%"
+    },
+    
     "dfu_connect_message": {
         "message": "Please use the Firmware Flasher to access DFU devices"
     },
diff --git a/js/msp.js b/js/msp.js
index 4b9ee8a7..0f3675aa 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -66,6 +66,7 @@ var MSP_codes = {
     MSP_3D:                 124,
     MSP_RC_DEADBAND:        125,
     MSP_SENSOR_ALIGNMENT:   126,
+    MSP_STATUS_EX:          150,
 
     MSP_SET_RAW_RC:         200,
     MSP_SET_RAW_GPS:        201,
@@ -263,6 +264,20 @@ var MSP = {
                 $('span.i2c-error').text(CONFIG.i2cError);
                 $('span.cycle-time').text(CONFIG.cycleTime);
                 break;
+            case MSP_codes.MSP_STATUS_EX:
+                CONFIG.cycleTime = data.getUint16(0, 1);
+                CONFIG.i2cError = data.getUint16(2, 1);
+                CONFIG.activeSensors = data.getUint16(4, 1);
+                CONFIG.mode = data.getUint32(6, 1);
+                CONFIG.profile = data.getUint8(10);
+                CONFIG.cpuload = data.getUint16(11, 1);
+
+                sensor_status(CONFIG.activeSensors);
+                $('span.i2c-error').text(CONFIG.i2cError);
+                $('span.cycle-time').text(CONFIG.cycleTime);
+                $('span.cpu-load').text(chrome.i18n.getMessage('statusbar_cpu_load', [CONFIG.cpuload]));
+                break;
+            
             case MSP_codes.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
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 8bdb0350..cfe34beb 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -73,6 +73,8 @@ $(document).ready(function () {
                     // Reset various UI elements
                     $('span.i2c-error').text(0);
                     $('span.cycle-time').text(0);
+                    if (semver.gte(CONFIG.flightControllerVersion, "1.2.0"))
+                        $('span.cpu-load').text('');
 
                     // unlock port select & baud
                     $('div#port-picker #port').prop('disabled', false);
@@ -260,8 +262,12 @@ function onConnect() {
     $('#tabs ul.mode-disconnected').hide();
     $('#tabs ul.mode-connected').show();
 
-    MSP.send_message(MSP_codes.MSP_STATUS, false, false);
-
+    if (semver.gte(CONFIG.flightControllerVersion, "1.2.0")) {
+        MSP.send_message(MSP_codes.MSP_STATUS_EX, false, false);
+    } else {
+        MSP.send_message(MSP_codes.MSP_STATUS, false, false);
+    }
+    
     MSP.send_message(MSP_codes.MSP_DATAFLASH_SUMMARY, false, false);
 
     var sensor_state = $('#sensor-status');
@@ -351,7 +357,7 @@ function sensor_status(sensors_detected) {
 
     if (have_sensor(sensors_detected, 'mag')) {
         $('.mag', e_sensor_status).addClass('on');
-		$('.magicon', e_sensor_status).addClass('active');
+        $('.magicon', e_sensor_status).addClass('active');
     } else {
         $('.mag', e_sensor_status).removeClass('on');
         $('.magicon', e_sensor_status).removeClass('active');
@@ -359,7 +365,7 @@ function sensor_status(sensors_detected) {
 
     if (have_sensor(sensors_detected, 'gps')) {
         $('.gps', e_sensor_status).addClass('on');
-		$('.gpsicon', e_sensor_status).addClass('active');
+        $('.gpsicon', e_sensor_status).addClass('active');
     } else {
         $('.gps', e_sensor_status).removeClass('on');
         $('.gpsicon', e_sensor_status).removeClass('active');
@@ -443,7 +449,10 @@ function update_live_status() {
 
     if (GUI.active_tab != 'cli') {
         MSP.send_message(MSP_codes.MSP_BOXNAMES, false, false);
-        MSP.send_message(MSP_codes.MSP_STATUS, false, false);
+        if (semver.gte(CONFIG.flightControllerVersion, "1.2.0"))
+        	MSP.send_message(MSP_codes.MSP_STATUS_EX, false, false);
+        else
+        	MSP.send_message(MSP_codes.MSP_STATUS, false, false);
         MSP.send_message(MSP_codes.MSP_ANALOG, false, false);
     }
 
@@ -509,7 +518,6 @@ function update_live_status() {
     startLiveDataRefreshTimer();
 }
 
-
 function specificByte(num, pos) {
     return 0x000000FF & (num >> (8 * pos));
 }
diff --git a/main.html b/main.html
index 42abd9ec..129510ae 100755
--- a/main.html
+++ b/main.html
@@ -247,6 +247,9 @@
             <div>
                 <span i18n="statusbar_cycle_time"></span> <span class="cycle-time">0</span>
             </div>
+            <div>
+                <span class="cpu-load"> </span>
+            </div>
             <div class="version">
                 <!-- configuration version generated here -->
             </div>