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@ -519,7 +519,7 @@ var mspHelper = (function (gui) {
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));
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));
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}
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}
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}
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}
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break;
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break;
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case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS:
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case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS:
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@ -1297,7 +1297,7 @@ var mspHelper = (function (gui) {
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CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
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CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
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CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
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CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
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CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
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CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
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if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
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if (semver.gte(CONFIG.flightControllerVersion, "2.6.0")) {
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CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
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CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
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CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
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CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
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@ -1513,8 +1513,8 @@ var mspHelper = (function (gui) {
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break;
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break;
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case MSPCodes.MSP2_INAV_SET_SAFEHOME:
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case MSPCodes.MSP2_INAV_SET_SAFEHOME:
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console.log('Safehome points saved');
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console.log('Safehome points saved');
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break;
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break;
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default:
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default:
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console.log('Unknown code detected: ' + dataHandler.code);
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console.log('Unknown code detected: ' + dataHandler.code);
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} else {
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} else {
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@ -2125,7 +2125,7 @@ var mspHelper = (function (gui) {
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buffer.push(SENSOR_CONFIG.opflow);
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buffer.push(SENSOR_CONFIG.opflow);
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break;
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break;
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case MSPCodes.MSP_WP_MISSION_SAVE:
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case MSPCodes.MSP_WP_MISSION_SAVE:
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// buffer.push(0);
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// buffer.push(0);
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console.log(buffer);
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console.log(buffer);
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@ -2985,51 +2985,50 @@ var mspHelper = (function (gui) {
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self.getMissionInfo = function (callback) {
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self.getMissionInfo = function (callback) {
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
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};
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};
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self.loadWaypoints = function (callback) {
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self.loadWaypoints = function (callback) {
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MISSION_PLANER.reinit();
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MISSION_PLANER.reinit();
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let waypointId = 1;
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let waypointId = 0;
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, getFirstWP);
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let startTime = new Date().getTime();
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, loadWaypoint);
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function getFirstWP() {
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MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint)
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function loadWaypoint() {
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};
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function nextWaypoint() {
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waypointId++;
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waypointId++;
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if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
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if (waypointId < MISSION_PLANER.getCountBusyPoints()) {
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MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, nextWaypoint);
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MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, loadWaypoint);
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}
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} else {
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else {
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GUI.log('Receive time: ' + (new Date().getTime() - startTime) + 'ms');
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MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
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MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
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}
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}
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};
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};
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};
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};
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self.saveWaypoints = function (callback) {
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self.saveWaypoints = function (callback) {
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let waypointId = 1;
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let waypointId = 0;
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MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint)
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let startTime = new Date().getTime();
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sendWaypoint();
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function nextWaypoint() {
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function sendWaypoint() {
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waypointId++;
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waypointId++;
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if (waypointId < MISSION_PLANER.get().length) {
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if (waypointId < MISSION_PLANER.get().length) {
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MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, nextWaypoint);
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MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, sendWaypoint);
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}
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}
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else {
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else {
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MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission);
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MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANER.extractBuffer(waypointId), false, endMission);
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}
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}
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};
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};
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function endMission() {
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function endMission() {
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GUI.log('Send time: ' + (new Date().getTime() - startTime) + 'ms');
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
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MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
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}
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}
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};
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};
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self.loadSafehomes = function (callback) {
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self.loadSafehomes = function (callback) {
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SAFEHOMES.flush();
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SAFEHOMES.flush();
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let safehomeId = 0;
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let safehomeId = 0;
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MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
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MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
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function nextSafehome() {
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function nextSafehome() {
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safehomeId++;
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safehomeId++;
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if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
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if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
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@ -3040,11 +3039,11 @@ var mspHelper = (function (gui) {
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}
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}
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};
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};
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};
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};
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self.saveSafehomes = function (callback) {
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self.saveSafehomes = function (callback) {
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let safehomeId = 0;
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let safehomeId = 0;
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MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
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MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
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function nextSendSafehome() {
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function nextSendSafehome() {
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safehomeId++;
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safehomeId++;
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if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
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if (safehomeId < SAFEHOMES.getMaxSafehomeCount()-1) {
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