Merge branch 'master' into MrD-Highlight-parameters-that-change-with-profiles-or-battery-profiles

8 files changed, 108 insertions, 378 deletions

diff --git a/js/fc.js b/js/fc.js
index e81cdcf3..62800900 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -38,7 +38,6 @@ var CONFIG,
     DATAFLASH,
     SDCARD,
     BLACKBOX,
-    TRANSPONDER,
     RC_deadband,
     SENSOR_ALIGNMENT,
     RX_CONFIG,
@@ -77,14 +76,11 @@ var FC = {
         return (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
     },
     isRpyFfComponentUsed: function () {
-        return (MIXER_CONFIG.platformType == PLATFORM_AIRPLANE || MIXER_CONFIG.platformType == PLATFORM_ROVER || MIXER_CONFIG.platformType == PLATFORM_BOAT) || ((MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER) && semver.gte(CONFIG.flightControllerVersion, "2.6.0"));
+        return true; // Currently all planes have roll, pitch and yaw FF
     },
     isRpyDComponentUsed: function () {
         return true; // Currently all platforms use D term
     },
-    isCdComponentUsed: function () {
-        return (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
-    },
     resetState: function () {
         SENSOR_STATUS = {
             isHardwareHealthy: 0,
@@ -252,23 +248,6 @@ var FC = {
             packetCount: 0
         };
 
-        /* MISSION_PLANNER = {
-            maxWaypoints: 0,
-            isValidMission: 0,
-            countBusyPoints: 0,
-            bufferPoint: {
-                number: 0,
-                action: 0,
-                lat: 0,
-                lon: 0,
-                alt: 0,
-                endMission: 0,
-                p1: 0,
-                p2: 0,
-                p3: 0
-            }
-        }; */
-
         MISSION_PLANNER = new WaypointCollection();
 
         ANALOG = {
@@ -479,11 +458,6 @@ var FC = {
             blackboxRateDenom: 1
         };
 
-        TRANSPONDER = {
-            supported: false,
-            data: []
-        };
-
         RC_deadband = {
             deadband: 0,
             yaw_deadband: 0,
@@ -601,10 +575,6 @@ var FC = {
             {bit: 31, group: 'other', name: "FW_AUTOTRIM", haveTip: true, showNameInTip: true}
         ];
 
-        if (semver.gte(CONFIG.flightControllerVersion, "2.4.0") && semver.lt(CONFIG.flightControllerVersion, "2.5.0")) {
-            features.push({bit: 5, group: 'other', name: 'DYNAMIC_FILTERS', haveTip: true, showNameInTip: true});
-        }
-
         return features.reverse();
     },
     isFeatureEnabled: function (featureName, features) {
@@ -664,168 +634,69 @@ var FC = {
         ];
     },
     getEscProtocols: function () {
-
-        if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
-            return {
-                0: {
-                    name: "STANDARD",
-                    message: null,
-                    defaultRate: 400,
-                    rates: {
-                        50: "50Hz",
-                        400: "400Hz"
-                    }
-                },
-                1: {
-                    name: "ONESHOT125",
-                    message: null,
-                    defaultRate: 1000,
-                    rates: {
-                        1000: "1kHz",
-                        2000: "2kHz"
-                    }
-                },
-                2: {
-                    name: "MULTISHOT",
-                    message: null,
-                    defaultRate: 2000,
-                    rates: {
-                        1000: "1kHz",
-                        2000: "2kHz"
-                    }
-                },
-                3: {
-                    name: "BRUSHED",
-                    message: null,
-                    defaultRate: 8000,
-                    rates: {
-                        8000: "8kHz",
-                        16000: "16kHz",
-                        32000: "32kHz"
-                    }
-                },
-                4: {
-                    name: "DSHOT150",
-                    message: null,
-                    defaultRate: 4000,
-                    rates: {
-                        4000: "4kHz"
-                    }
-                },
-                5: {
-                    name: "DSHOT300",
-                    message: null,
-                    defaultRate: 8000,
-                    rates: {
-                        8000: "8kHz"
-                    }
-                },
-                6: {
-                    name: "DSHOT600",
-                    message: null,
-                    defaultRate: 16000,
-                    rates: {
-                        16000: "16kHz"
-                    }
+        return {
+            0: {
+                name: "STANDARD",
+                message: null,
+                defaultRate: 400,
+                rates: {
+                    50: "50Hz",
+                    400: "400Hz"
                 }
-            };
-        } else {
-            return {
-                0: {
-                    name: "STANDARD",
-                    message: null,
-                    defaultRate: 400,
-                    rates: {
-                        50: "50Hz",
-                        400: "400Hz"
-                    }
-                },
-                1: {
-                    name: "ONESHOT125",
-                    message: null,
-                    defaultRate: 1000,
-                    rates: {
-                        400: "400Hz",
-                        1000: "1kHz",
-                        2000: "2kHz"
-                    }
-                },
-                2: {
-                    name: "ONESHOT42",
-                    message: null,
-                    defaultRate: 2000,
-                    rates: {
-                        400: "400Hz",
-                        1000: "1kHz",
-                        2000: "2kHz",
-                        4000: "4kHz",
-                        8000: "8kHz"
-                    }
-                },
-                3: {
-                    name: "MULTISHOT",
-                    message: null,
-                    defaultRate: 2000,
-                    rates: {
-                        400: "400Hz",
-                        1000: "1kHz",
-                        2000: "2kHz",
-                        4000: "4kHz",
-                        8000: "8kHz"
-                    }
-                },
-                4: {
-                    name: "BRUSHED",
-                    message: null,
-                    defaultRate: 8000,
-                    rates: {
-                        8000: "8kHz",
-                        16000: "16kHz",
-                        32000: "32kHz"
-                    }
-                },
-                5: {
-                    name: "DSHOT150",
-                    message: null,
-                    defaultRate: 4000,
-                    rates: {
-                        4000: "4kHz"
-                    }
-                },
-                6: {
-                    name: "DSHOT300",
-                    message: null,
-                    defaultRate: 8000,
-                    rates: {
-                        8000: "8kHz"
-                    }
-                },
-                7: {
-                    name: "DSHOT600",
-                    message: null,
-                    defaultRate: 16000,
-                    rates: {
-                        16000: "16kHz"
-                    }
-                },
-                8: {
-                    name: "DSHOT1200",
-                    message: "escProtocolNotAdvised",
-                    defaultRate: 16000,
-                    rates: {
-                        16000: "16kHz"
-                    }
-                },
-                9: {
-                    name: "SERIALSHOT",
-                    message: "escProtocolExperimental",
-                    defaultRate: 4000,
-                    rates: {
-                        4000: "4kHz"
-                    }
+            },
+            1: {
+                name: "ONESHOT125",
+                message: null,
+                defaultRate: 1000,
+                rates: {
+                    1000: "1kHz",
+                    2000: "2kHz"
                 }
-            };
-        }
+            },
+            2: {
+                name: "MULTISHOT",
+                message: null,
+                defaultRate: 2000,
+                rates: {
+                    1000: "1kHz",
+                    2000: "2kHz"
+                }
+            },
+            3: {
+                name: "BRUSHED",
+                message: null,
+                defaultRate: 8000,
+                rates: {
+                    8000: "8kHz",
+                    16000: "16kHz",
+                    32000: "32kHz"
+                }
+            },
+            4: {
+                name: "DSHOT150",
+                message: null,
+                defaultRate: 4000,
+                rates: {
+                    4000: "4kHz"
+                }
+            },
+            5: {
+                name: "DSHOT300",
+                message: null,
+                defaultRate: 8000,
+                rates: {
+                    8000: "8kHz"
+                }
+            },
+            6: {
+                name: "DSHOT600",
+                message: null,
+                defaultRate: 16000,
+                rates: {
+                    16000: "16kHz"
+                }
+            }
+        };
     },
     getServoRates: function () {
         return {
@@ -866,37 +737,6 @@ var FC = {
     getOsdDisabledFields: function () {
         return [];
     },
-    getAccelerometerNames: function () {
-        return [ "NONE", "AUTO", "MPU6050", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"];
-    },
-    getBarometerNames: function () {
-        if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
-            return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "MSP", "FAKE"];
-        } else {
-            return ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "FAKE"];
-        }
-    },
-    getPitotNames: function () {
-        if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
-            return ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"];
-        } else {
-            return ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE"];
-        }
-    },
-    getRangefinderNames: function () {
-        if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
-            return [ "NONE", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "Benewake TFmini", "VL53L1X", "US42"];
-        } else {
-            return [ "NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UIB", "Benewake TFmini"];
-        }
-    },
-    getOpticalFlowNames: function () {
-        if (semver.gte(CONFIG.flightControllerVersion, "2.7.0")) {
-            return [ "NONE", "CXOF", "MSP", "FAKE" ];
-        } else {
-            return [ "NONE", "PMW3901", "CXOF", "MSP", "FAKE" ];
-        }
-    },
     getArmingFlags: function () {
         return {
             0: "OK_TO_ARM",
@@ -933,7 +773,7 @@ var FC = {
         ]
     },
     getPidNames: function () {
-        let list = [
+        return [
             'Roll',
             'Pitch',
             'Yaw',
@@ -943,14 +783,9 @@ var FC = {
             'Surface',
             'Level',
             'Heading Hold',
-            'Velocity Z'
+            'Velocity Z',
+            'Nav Heading'
         ];
-
-        if (semver.gte(CONFIG.flightControllerVersion, '2.5.0')) {
-            list.push("Nav Heading")
-        }
-
-        return list;
     },
     getRthAltControlMode: function () {
         return ["Current", "Extra", "Fixed", "Max", "At least", "At least, linear descent"];
diff --git a/js/gui.js b/js/gui.js
index 46fe85db..4765e6ba 100644
--- a/js/gui.js
+++ b/js/gui.js
@@ -18,7 +18,6 @@ var GUI_control = function () {
     ];
     this.defaultAllowedTabsWhenConnected = [
         'failsafe',
-        'transponder',
         'adjustments',
         'auxiliary',
         'cli',
diff --git a/js/msp.js b/js/msp.js
index e98cd4fd..727f9fa0 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -72,7 +72,7 @@ var MSP = {
 
     ledDirectionLetters:        ['n', 'e', 's', 'w', 'u', 'd'],        // in LSB bit order
     ledFunctionLetters:         ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
-    ledBaseFunctionLetters:     ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
+    ledBaseFunctionLetters:     ['c', 'f', 'a', 'l', 's', 'g', 'r', 'h'], // in LSB bit
     ledOverlayLetters:          ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
 
     last_received_timestamp:   null,
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 6e39f7f0..856a6ade 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -64,8 +64,6 @@ var MSPCodes = {
     MSP_SDCARD_SUMMARY:         79,
     MSP_BLACKBOX_CONFIG:        80,
     MSP_SET_BLACKBOX_CONFIG:    81,
-    MSP_TRANSPONDER_CONFIG:     82,
-    MSP_SET_TRANSPONDER_CONFIG: 83,
     MSP_OSD_CONFIG:             84,
     MSP_SET_OSD_CONFIG:         85,
     MSP_OSD_CHAR_READ:          86,
@@ -107,7 +105,7 @@ var MSPCodes = {
     MSP_RC_DEADBAND:        125,
     MSP_SENSOR_ALIGNMENT:   126,
     MSP_LED_STRIP_MODECOLOR:127,
-    MSP_STATUS_EX:          150,
+    MSP_STATUS_EX:          150,    // Deprecated, do not use.
     MSP_SENSOR_STATUS:      151,
 
     MSP_SET_RAW_RC:         200,
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 976d39f4..f8f1c324 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -68,27 +68,6 @@ var mspHelper = (function (gui) {
             colorCount,
             color;
         if (!dataHandler.unsupported || dataHandler.unsupported) switch (dataHandler.code) {
-            case MSPCodes.MSP_STATUS:
-                console.log('Using deprecated msp command: MSP_STATUS');
-                CONFIG.cycleTime = data.getUint16(0, true);
-                CONFIG.i2cError = data.getUint16(2, true);
-                CONFIG.activeSensors = data.getUint16(4, true);
-                CONFIG.mode = data.getUint32(6, true);
-                CONFIG.profile = data.getUint8(10);
-                gui.updateProfileChange();
-                gui.updateStatusBar();
-                break;
-            case MSPCodes.MSP_STATUS_EX:
-                CONFIG.cycleTime = data.getUint16(0, true);
-                CONFIG.i2cError = data.getUint16(2, true);
-                CONFIG.activeSensors = data.getUint16(4, true);
-                CONFIG.profile = data.getUint8(10);
-                CONFIG.cpuload = data.getUint16(11, true);
-                CONFIG.armingFlags = data.getUint16(13, true);
-                gui.updateStatusBar();
-                gui.updateProfileChange();
-                break;
-
             case MSPCodes.MSPV2_INAV_STATUS:
                 CONFIG.cycleTime = data.getUint16(offset, true);
                 offset += 2;
@@ -125,12 +104,7 @@ var mspHelper = (function (gui) {
                 SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
                 SENSOR_STATUS.speedHwStatus = data.getUint8(7);
                 SENSOR_STATUS.flowHwStatus = data.getUint8(8);
-
-                if (semver.gte(CONFIG.flightControllerVersion, "3.1.0")) {
-                    SENSOR_STATUS.imu2HwStatus = data.getUint8(9);
-                } else {
-                    SENSOR_STATUS.imu2HwStatus = 0;
-                }
+                SENSOR_STATUS.imu2HwStatus = data.getUint8(9);
                 sensor_status_ex(SENSOR_STATUS);
                 break;
 
@@ -720,7 +694,7 @@ var mspHelper = (function (gui) {
                 BOARD_ALIGNMENT.pitch = data.getInt16(2, true); // -180 - 360
                 BOARD_ALIGNMENT.yaw = data.getInt16(4, true); // -180 - 360
                 break;
-            
+
             case MSPCodes.MSP_SET_BOARD_ALIGNMENT:
                 console.log('MSP_SET_BOARD_ALIGNMENT saved');
                 break;
@@ -1128,17 +1102,6 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSP_SET_BLACKBOX_CONFIG:
                 console.log("Blackbox config saved");
                 break;
-            case MSPCodes.MSP_TRANSPONDER_CONFIG:
-                TRANSPONDER.supported = (data.getUint8(offset++) & 1) != 0;
-                TRANSPONDER.data = [];
-                var bytesRemaining = data.byteLength - offset;
-                for (i = 0; i < bytesRemaining; i++) {
-                    TRANSPONDER.data.push(data.getUint8(offset++));
-                }
-                break;
-            case MSPCodes.MSP_SET_TRANSPONDER_CONFIG:
-                console.log("Transponder config saved");
-                break;
             case MSPCodes.MSP_VTX_CONFIG:
                 VTX_CONFIG.device_type = data.getUint8(offset++);
                 if (VTX_CONFIG.device_type != VTX.DEV_UNKNOWN) {
@@ -1274,11 +1237,9 @@ var mspHelper = (function (gui) {
                 CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
                 CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
 
-                if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
-                    CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
-                    CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
-                    CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
-                }
+                CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
+                CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
+                CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
 
                 break;
 
@@ -1520,7 +1481,7 @@ var mspHelper = (function (gui) {
 
                     // fire callback
                     if (callback) {
-                        callback({'command': dataHandler.code, 'data': data, 'length': dataHandler.message_length_expected});
+                        callback({ 'command': dataHandler.code, 'data': data, 'length': dataHandler.message_length_expected });
                     }
                     break;
                 }
@@ -1559,7 +1520,7 @@ var mspHelper = (function (gui) {
                 buffer.push(specificByte(CURRENT_METER_CONFIG.capacity, 0));
                 buffer.push(specificByte(CURRENT_METER_CONFIG.capacity, 1));
                 break;
-                
+
             case MSPCodes.MSP_SET_VTX_CONFIG:
                 if (VTX_CONFIG.band > 0) {
                     buffer.push16(((VTX_CONFIG.band - 1) * 8) + (VTX_CONFIG.channel - 1));
@@ -1772,12 +1733,6 @@ var mspHelper = (function (gui) {
                 buffer.push(FAILSAFE_CONFIG.failsafe_min_distance_procedure);
                 break;
 
-            case MSPCodes.MSP_SET_TRANSPONDER_CONFIG:
-                for (i = 0; i < TRANSPONDER.data.length; i++) {
-                    buffer.push(TRANSPONDER.data[i]);
-                }
-                break;
-
             case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
                 for (i = 0; i < SERVO_CONFIG.length; i++) {
                     var out = SERVO_CONFIG[i].indexOfChannelToForward;
@@ -1925,16 +1880,14 @@ var mspHelper = (function (gui) {
                 buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
                 buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
 
-                if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
-                    buffer.push(lowByte(CALIBRATION_DATA.magGain.X));
-                    buffer.push(highByte(CALIBRATION_DATA.magGain.X));
+                buffer.push(lowByte(CALIBRATION_DATA.magGain.X));
+                buffer.push(highByte(CALIBRATION_DATA.magGain.X));
 
-                    buffer.push(lowByte(CALIBRATION_DATA.magGain.Y));
-                    buffer.push(highByte(CALIBRATION_DATA.magGain.Y));
+                buffer.push(lowByte(CALIBRATION_DATA.magGain.Y));
+                buffer.push(highByte(CALIBRATION_DATA.magGain.Y));
 
-                    buffer.push(lowByte(CALIBRATION_DATA.magGain.Z));
-                    buffer.push(highByte(CALIBRATION_DATA.magGain.Z));
-                }
+                buffer.push(lowByte(CALIBRATION_DATA.magGain.Z));
+                buffer.push(highByte(CALIBRATION_DATA.magGain.Z));
 
                 break;
 
@@ -2151,9 +2104,9 @@ var mspHelper = (function (gui) {
     };
 
     self.sendBlackboxConfiguration = function (onDataCallback) {
-    var buffer = [];
-    var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
-    buffer.push(BLACKBOX.blackboxDevice & 0xFF);
+        var buffer = [];
+        var messageId = MSPCodes.MSP_SET_BLACKBOX_CONFIG;
+        buffer.push(BLACKBOX.blackboxDevice & 0xFF);
         messageId = MSPCodes.MSP2_SET_BLACKBOX_CONFIG;
         buffer.push(lowByte(BLACKBOX.blackboxRateNum));
         buffer.push(highByte(BLACKBOX.blackboxRateNum));
@@ -2161,7 +2114,7 @@ var mspHelper = (function (gui) {
         buffer.push(highByte(BLACKBOX.blackboxRateDenom));
         //noinspection JSUnusedLocalSymbols
         MSP.send_message(messageId, buffer, false, function (response) {
-        onDataCallback();
+            onDataCallback();
         });
     };
 
@@ -2328,9 +2281,7 @@ var mspHelper = (function (gui) {
 
             buffer.push(conditionIndex);
             buffer.push(condition.getEnabled());
-            if (semver.gte(CONFIG.flightControllerVersion, "2.5.0")) {
-                buffer.push(condition.getActivatorId());
-            }
+            buffer.push(condition.getActivatorId());
             buffer.push(condition.getOperation());
             buffer.push(condition.getOperandAType());
             buffer.push(specificByte(condition.getOperandAValue(), 0));
@@ -2623,7 +2574,7 @@ var mspHelper = (function (gui) {
             /*
                 ledDirectionLetters:        ['n', 'e', 's', 'w', 'u', 'd'],      // in LSB bit order
                 ledFunctionLetters:         ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
-                ledBaseFunctionLetters:     ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
+                ledBaseFunctionLetters:     ['c', 'f', 'a', 'l', 's', 'g', 'r', 'h'], // in LSB bit
                 ledOverlayLetters:          ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
 
                 */
@@ -2714,10 +2665,6 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_INAV_PID, false, false, callback);
     };
 
-    self.loadLoopTime = function (callback) {
-        MSP.send_message(MSPCodes.MSP_LOOP_TIME, false, false, callback);
-    };
-
     self.loadAdvancedConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, callback);
     };
@@ -2746,10 +2693,6 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_PIDNAMES, false, false, callback);
     };
 
-    self.loadStatus = function (callback) {
-        MSP.send_message(MSPCodes.MSP_STATUS, false, false, callback);
-    };
-
     self.loadFeatures = function (callback) {
         MSP.send_message(MSPCodes.MSP_FEATURE, false, false, callback);
     };
@@ -2757,7 +2700,7 @@ var mspHelper = (function (gui) {
     self.loadBoardAlignment = function (callback) {
         MSP.send_message(MSPCodes.MSP_BOARD_ALIGNMENT, false, false, callback);
     };
-    
+
     self.loadCurrentMeterConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_CURRENT_METER_CONFIG, false, false, callback);
     };
@@ -2779,7 +2722,7 @@ var mspHelper = (function (gui) {
     };
 
     self.loadBatteryConfig = function (callback) {
-    MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
+        MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
     };
 
     self.loadArmingConfig = function (callback) {
@@ -2834,10 +2777,6 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_SET_INAV_PID, mspHelper.crunch(MSPCodes.MSP_SET_INAV_PID), false, callback);
     };
 
-    self.saveLooptimeConfig = function (callback) {
-        MSP.send_message(MSPCodes.MSP_SET_LOOP_TIME, mspHelper.crunch(MSPCodes.MSP_SET_LOOP_TIME), false, callback);
-    };
-
     self.saveAdvancedConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_SET_ADVANCED_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ADVANCED_CONFIG), false, callback);
     };
@@ -2947,7 +2886,7 @@ var mspHelper = (function (gui) {
     };
 
     self.saveFwConfig = function (callback) {
-            MSP.send_message(MSPCodes.MSP_SET_FW_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FW_CONFIG), false, callback);
+        MSP.send_message(MSPCodes.MSP_SET_FW_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FW_CONFIG), false, callback);
     };
 
     self.getMissionInfo = function (callback) {
@@ -2999,7 +2938,7 @@ var mspHelper = (function (gui) {
 
         function nextSafehome() {
             safehomeId++;
-            if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
+            if (safehomeId < SAFEHOMES.getMaxSafehomeCount() - 1) {
                 MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
             }
             else {
@@ -3014,7 +2953,7 @@ var mspHelper = (function (gui) {
 
         function nextSendSafehome() {
             safehomeId++;
-            if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
+            if (safehomeId < SAFEHOMES.getMaxSafehomeCount() - 1) {
                 MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
             }
             else {
@@ -3043,9 +2982,7 @@ var mspHelper = (function (gui) {
             var setting = {};
 
             // Discard setting name
-            if (semver.gte(CONFIG.apiVersion, "2.4.0")) {
-                result.data.readString();
-            }
+            result.data.readString();
 
             // Discard PG ID
             result.data.readU16();
@@ -3073,7 +3010,7 @@ var mspHelper = (function (gui) {
                 for (var ii = setting.min; ii <= setting.max; ii++) {
                     values.push(result.data.readString());
                 }
-                setting.table = {values: values};
+                setting.table = { values: values };
             }
             SETTINGS[name] = setting;
             return setting;
@@ -3128,7 +3065,7 @@ var mspHelper = (function (gui) {
                     default:
                         throw "Unknown setting type " + setting.type;
                 }
-                return {setting: setting, value: value};
+                return { setting: setting, value: value };
             });
         });
     };
@@ -3217,8 +3154,8 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_MOTOR, false, false, callback);
     };
 
-    self.getCraftName = function(callback) {
-        MSP.send_message(MSPCodes.MSP_NAME, false, false, function(resp) {
+    self.getCraftName = function (callback) {
+        MSP.send_message(MSPCodes.MSP_NAME, false, false, function (resp) {
             var name = resp.data.readString();
             if (callback) {
                 callback(name);
@@ -3226,7 +3163,7 @@ var mspHelper = (function (gui) {
         });
     };
 
-    self.setCraftName = function(name, callback) {
+    self.setCraftName = function (name, callback) {
         var data = [];
         name = name || "";
         for (var ii = 0; ii < name.length; ii++) {
@@ -3247,26 +3184,26 @@ var mspHelper = (function (gui) {
         MSP.send_message(MSPCodes.MSP_VTX_CONFIG, false, false, callback);
     };
 
-    self.saveVTXConfig = function(callback) {
+    self.saveVTXConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_SET_VTX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_VTX_CONFIG), false, callback);
     };
 
-    self.loadBrakingConfig = function(callback) {
+    self.loadBrakingConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
     }
 
-    self.saveBrakingConfig = function(callback) {
+    self.saveBrakingConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP2_INAV_SET_MC_BRAKING, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_MC_BRAKING), false, callback);
     };
 
-    self.loadParameterGroups = function(callback) {
+    self.loadParameterGroups = function (callback) {
         MSP.send_message(MSPCodes.MSP2_COMMON_PG_LIST, false, false, function (resp) {
             var groups = [];
             while (resp.data.offset < resp.data.byteLength) {
                 var id = resp.data.readU16();
                 var start = resp.data.readU16();
                 var end = resp.data.readU16();
-                groups.push({id: id, start: start, end: end});
+                groups.push({ id: id, start: start, end: end });
             }
             if (callback) {
                 callback(groups);
@@ -3274,7 +3211,7 @@ var mspHelper = (function (gui) {
         });
     };
 
-    self.loadBrakingConfig = function(callback) {
+    self.loadBrakingConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
     }
 
@@ -3283,19 +3220,11 @@ var mspHelper = (function (gui) {
     };
 
     self.loadGlobalVariablesStatus = function (callback) {
-        if (semver.gte(CONFIG.flightControllerVersion, "2.5.0")) {
-            MSP.send_message(MSPCodes.MSP2_INAV_GVAR_STATUS, false, false, callback);
-        } else {
-            callback();
-        }
+        MSP.send_message(MSPCodes.MSP2_INAV_GVAR_STATUS, false, false, callback);
     };
 
     self.loadProgrammingPidStatus = function (callback) {
-        if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
-            MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
-        } else {
-            callback();
-        }
+        MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
     };
 
     return self;
diff --git a/js/serial_backend.js b/js/serial_backend.js
index 5e40e8a4..9fd17adc 100755
--- a/js/serial_backend.js
+++ b/js/serial_backend.js
@@ -62,7 +62,7 @@ $(document).ready(function () {
         } else {
 
             helper.timeout.add('waiting_for_bootup', function waiting_for_bootup() {
-                MSP.send_message(MSPCodes.MSP_STATUS, false, false, function () {
+                MSP.send_message(MSPCodes.MSPV2_INAV_STATUS, false, false, function () {
                     //noinspection JSUnresolvedVariable
                     GUI.log(chrome.i18n.getMessage('deviceReady'));
                     //noinspection JSValidateTypes
@@ -334,12 +334,8 @@ function onConnect() {
     /*
      * Init PIDs bank with a length that depends on the version
      */
-    let pidCount;
-    if (semver.gte(CONFIG.flightControllerVersion, "2.5.0")) {
-        pidCount = 11;
-    } else {
-        pidCount = 10;
-    }
+    let pidCount = 11;
+    
     for (let i = 0; i < pidCount; i++) {
         PIDs.push(new Array(4));
     }
diff --git a/js/settings.js b/js/settings.js
index defbf8d7..7c9482d3 100644
--- a/js/settings.js
+++ b/js/settings.js
@@ -1,7 +1,5 @@
 'use strict';
 
-const GulpClient = require("gulp");
-
 var Settings = (function () {
     let self = {};
 
diff --git a/js/tasks.js b/js/tasks.js
deleted file mode 100644
index 9a53d0ba..00000000
--- a/js/tasks.js
+++ /dev/null
@@ -1,25 +0,0 @@
-'use strict';
-
-var helper = helper || {};
-
-helper.task = (function () {
-
-    var publicScope = {},
-        privateScope = {};
-
-    privateScope.getStatusPullInterval = function () {
-        //TODO use serial connection speed to determine update interval
-        return 250;
-    };
-
-    publicScope.statusPullStart = function () {
-        helper.interval.add('status_pull', function () {
-            MSP.send_message(MSPCodes.MSP_STATUS, false, false, function () {
-                MSP.send_message(MSPCodes.MSP_SENSOR_STATUS);
-            });
-
-        }, privateScope.getStatusPullInterval(), true);
-    };
-
-    return publicScope;
-})();
\ No newline at end of file