diff options
| author | Pawel Spychalski (DzikuVx) <pspychalski@gmail.com> | 2019-03-10 14:07:30 +0300 |
|---|---|---|
| committer | Pawel Spychalski (DzikuVx) <pspychalski@gmail.com> | 2019-03-10 14:07:30 +0300 |
| commit | 6306f53da64e731218fcf6708b375f6f228b6f11 (patch) | |
| tree | b75cd72106d5a0bdcd90c1f7bcfd93b7f18173a7 /js | |
| parent | fa3d57749fe7761577bbba1b0941c0224011f7e8 (diff) | |
Switch to MSP2_INAV_SERVO_MIXER when possible
Diffstat (limited to 'js')
| -rw-r--r-- | js/msp/MSPCodes.js | 5 | ||||
| -rw-r--r-- | js/msp/MSPHelper.js | 22 | ||||
| -rw-r--r-- | js/servoMixRule.js | 10 |
3 files changed, 35 insertions, 2 deletions
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js index 40f8f234..9308719b 100644 --- a/js/msp/MSPCodes.js +++ b/js/msp/MSPCodes.js @@ -203,6 +203,11 @@ var MSPCodes = { MSP2_INAV_SET_TEMP_SENSOR_CONFIG: 0x201D, MSP2_INAV_TEMPERATURES: 0x201E, + MSP2_INAV_SERVO_MIXER: 0x2020, + MSP2_INAV_SET_SERVO_MIXER: 0x2021, + MSP2_INAV_LOGIC_CONDITIONS: 0x2022, + MSP2_INAV_SET_LOGIC_CONDITIONS: 0x2023, + MSP2_PID: 0x2030, MSP2_SET_PID: 0x2031 }; diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js index 8f2b7f4d..8ce043e8 100644 --- a/js/msp/MSPHelper.js +++ b/js/msp/MSPHelper.js @@ -520,6 +520,22 @@ var mspHelper = (function (gui) { SERVO_RULES.cleanup(); break; + case MSPCodes.MSP2_INAV_SERVO_MIXER: + SERVO_RULES.flush(); + if (data.byteLength % 6 === 0) { + for (i = 0; i < data.byteLength; i += 6) { + SERVO_RULES.put(new ServoMixRule( + data.getInt8(i), + data.getInt8(i + 1), + data.getInt16(i + 2, true), + data.getInt8(i + 4), + data.getInt8(i + 5) + )); + } + } + SERVO_RULES.cleanup(); + + break; case MSPCodes.MSP_SET_SERVO_MIX_RULE: console.log("Servo mix saved"); @@ -3115,7 +3131,11 @@ var mspHelper = (function (gui) { }; self.loadServoMixRules = function (callback) { - MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, callback); + if (semver.gte(CONFIG.flightControllerVersion, "2.2.0")) { + MSP.send_message(MSPCodes.MSP2_INAV_SERVO_MIXER, false, false, callback); + } else { + MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, callback); + } }; self.loadMotorMixRules = function (callback) { diff --git a/js/servoMixRule.js b/js/servoMixRule.js index 03c3c0e5..a2de27fe 100644 --- a/js/servoMixRule.js +++ b/js/servoMixRule.js @@ -1,7 +1,7 @@ /*global $*/ 'use strict'; -var ServoMixRule = function (target, input, rate, speed) { +var ServoMixRule = function (target, input, rate, speed, condition) { var self = {}; @@ -41,5 +41,13 @@ var ServoMixRule = function (target, input, rate, speed) { return rate !== 0; }; + self.getConditionId = function () { + return (condition == undefined) ? -1 : condition; + } + + self.setConditionId = function (data) { + condition = data; + }; + return self; };
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