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@ -216,10 +216,7 @@ var mspHelper = (function (gui) {
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break;
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case MSPCodes.MSP_ALTITUDE:
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SENSOR_DATA.altitude = parseFloat((data.getInt32(0, true) / 100.0).toFixed(2)); // correct scale factor
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// On 1.6 and above this provides also baro raw altitude
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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SENSOR_DATA.barometer = parseFloat((data.getInt32(6, true) / 100.0).toFixed(2)); // correct scale factor
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}
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SENSOR_DATA.barometer = parseFloat((data.getInt32(6, true) / 100.0).toFixed(2)); // correct scale factor
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break;
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case MSPCodes.MSP_SONAR:
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SENSOR_DATA.sonar = data.getInt32(0, true);
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@ -1177,12 +1174,8 @@ var mspHelper = (function (gui) {
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PID_ADVANCED.rollPitchItermIgnoreRate = data.getUint16(0, true);
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PID_ADVANCED.yawItermIgnoreRate = data.getUint16(2, true);
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PID_ADVANCED.yawPLimit = data.getUint16(4, true);
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
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PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
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}
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PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
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PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
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PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
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PID_ADVANCED.axisAccelerationLimitYaw = data.getUint16(15, true);
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break;
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@ -2016,15 +2009,9 @@ var mspHelper = (function (gui) {
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buffer.push(0); //BF: currentProfile->pidProfile.vbatPidCompensation
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buffer.push(0); //BF: currentProfile->pidProfile.setpointRelaxRatio
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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buffer.push(PID_ADVANCED.dtermSetpointWeight);
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buffer.push(lowByte(PID_ADVANCED.pidSumLimit));
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buffer.push(highByte(PID_ADVANCED.pidSumLimit));
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} else {
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buffer.push(0);
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buffer.push(0); // reserved
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buffer.push(0); // reserved
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}
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buffer.push(PID_ADVANCED.dtermSetpointWeight);
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buffer.push(lowByte(PID_ADVANCED.pidSumLimit));
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buffer.push(highByte(PID_ADVANCED.pidSumLimit));
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buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
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@ -2837,35 +2824,19 @@ var mspHelper = (function (gui) {
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};
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self.loadNavPosholdConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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MSP.send_message(MSPCodes.MSP_NAV_POSHOLD, false, false, callback);
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} else {
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callback();
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}
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MSP.send_message(MSPCodes.MSP_NAV_POSHOLD, false, false, callback);
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};
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self.saveNavPosholdConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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MSP.send_message(MSPCodes.MSP_SET_NAV_POSHOLD, mspHelper.crunch(MSPCodes.MSP_SET_NAV_POSHOLD), false, callback);
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} else {
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callback();
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}
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MSP.send_message(MSPCodes.MSP_SET_NAV_POSHOLD, mspHelper.crunch(MSPCodes.MSP_SET_NAV_POSHOLD), false, callback);
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};
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self.loadPositionEstimationConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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MSP.send_message(MSPCodes.MSP_POSITION_ESTIMATION_CONFIG, false, false, callback);
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} else {
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callback();
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}
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MSP.send_message(MSPCodes.MSP_POSITION_ESTIMATION_CONFIG, false, false, callback);
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};
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self.savePositionEstimationConfig = function (callback) {
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if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
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MSP.send_message(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG), false, callback);
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} else {
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callback();
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}
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MSP.send_message(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG), false, callback);
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};
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self.loadCalibrationData = function (callback) {
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