MSP commands for ADVANCED_CONFIG

js/fc.js

@@ -37,6 +37,7 @@ var SENSOR_ALIGNMENT;
 var RX_CONFIG;
 var FAILSAFE_CONFIG;
 var RXFAIL_CONFIG;
+var ADVANCED_CONFIG;
 
 var FC = {
     isRatesInDps: function () {
@@ -199,6 +200,16 @@ var FC = {
             vbatwarningcellvoltage: 0
         };
 
+        ADVANCED_CONFIG = {
+            gyroSyncDenominator: null,
+            pidProcessDenom: null,
+            useUnsyncedPwm: null,
+            motorPwmProtocol: null,
+            motorPwmRate: null,
+            servoPwmRate: null,
+            gyroSync: null
+        };
+
         _3D = {
             deadband3d_low:         0,
             deadband3d_high:        0,

js/msp.js

@@ -43,6 +43,9 @@ var MSP_codes = {
     MSP_TRANSPONDER_CONFIG:     82,
     MSP_SET_TRANSPONDER_CONFIG: 83,
 
+    MSP_ADVANCED_CONFIG: 90,
+    MSP_SET_ADVANCED_CONFIG: 91,
+
     // Multiwii MSP commands
     MSP_IDENT:              100,
     MSP_STATUS:             101,
@@ -1070,6 +1073,28 @@ var MSP = {
             case MSP_codes.MSP_SET_TRANSPONDER_CONFIG:
                 console.log("Transponder config saved");
                 break;
+
+            case MSP_codes.MSP_ADVANCED_CONFIG:
+                var offset = 0;
+                ADVANCED_CONFIG.gyroSyncDenominator = data.getUint8(offset, 1);
+                offset++;
+                ADVANCED_CONFIG.pidProcessDenom = data.getUint8(offset, 1);
+                offset++;
+                ADVANCED_CONFIG.useUnsyncedPwm = data.getUint8(offset, 1);
+                offset++;
+                ADVANCED_CONFIG.motorPwmProtocol = data.getUint8(offset, 1);
+                offset++;
+                ADVANCED_CONFIG.motorPwmRate = data.getUint16(offset, 1);
+                offset += 2;
+                ADVANCED_CONFIG.servoPwmRate = data.getUint16(offset, 1);
+                offset += 2;
+                ADVANCED_CONFIG.gyroSync = data.getUint8(offset, 1);
+                break;
+
+            case MSP_codes.MSP_SET_ADVANCED_CONFIG:
+                console.log("Advanced config saved");
+                break;
+
             case MSP_codes.MSP_SET_MODE_RANGE:
                 console.log('Mode range saved');
                 break;
@@ -1454,6 +1479,21 @@ MSP.crunch = function (code) {
             buffer.push(SENSOR_ALIGNMENT.align_mag);
             break;
 
+        case MSP_codes.MSP_SET_ADVANCED_CONFIG:
+            buffer.push(ADVANCED_CONFIG.gyroSyncDenominator);
+            buffer.push(ADVANCED_CONFIG.pidProcessDenom);
+            buffer.push(ADVANCED_CONFIG.useUnsyncedPwm);
+            buffer.push(ADVANCED_CONFIG.motorPwmProtocol);
+
+            buffer.push(lowByte(ADVANCED_CONFIG.motorPwmRate));
+            buffer.push(highByte(ADVANCED_CONFIG.motorPwmRate));
+
+            buffer.push(lowByte(ADVANCED_CONFIG.servoPwmRate));
+            buffer.push(highByte(ADVANCED_CONFIG.servoPwmRate));
+
+            buffer.push(ADVANCED_CONFIG.gyroSync);
+            break;
+
         default:
             return false;
     }

tabs/configuration.js

@@ -68,13 +68,23 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_sensor_alignment() {
-        var next_callback = load_html;
+        var next_callback = loadAdvancedConfig;
         if (semver.gte(CONFIG.apiVersion, "1.15.0")) {
             MSP.send_message(MSP_codes.MSP_SENSOR_ALIGNMENT, false, false, next_callback);
         } else {
             next_callback();
         }
     }
+
+    function loadAdvancedConfig() {
+        var next_callback = load_html;
+        if (semver.gte(CONFIG.flightControllerVersion, "1.3.0")) {
+            MSP.send_message(MSP_codes.MSP_ADVANCED_CONFIG, false, false, next_callback);
+        } else {
+            next_callback();
+        }
+    }
+
     //Update Analog/Battery Data
     function load_analog() {
         MSP.send_message(MSP_codes.MSP_ANALOG, false, false, function () {
@@ -605,7 +615,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
 
             function save_rx_config() {
-                var next_callback = save_to_eeprom;
+                var next_callback = saveAdvancedConfig;
                 if(semver.gte(CONFIG.apiVersion, "1.21.0")) {
                    MSP.send_message(MSP_codes.MSP_SET_RX_CONFIG, MSP.crunch(MSP_codes.MSP_SET_RX_CONFIG), false, next_callback);
                 } else {
@@ -613,6 +623,15 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
                 }
             }
 
+            function saveAdvancedConfig() {
+                var next_callback = save_to_eeprom;
+                if(semver.gte(CONFIG.flightControllerVersion, "1.3.0")) {
+                   MSP.send_message(MSP_codes.MSP_SET_ADVANCED_CONFIG, MSP.crunch(MSP_codes.MSP_SET_ADVANCED_CONFIG), false, next_callback);
+                } else {
+                   next_callback();
+                }
+            }
+
             function save_to_eeprom() {
                 MSP.send_message(MSP_codes.MSP_EEPROM_WRITE, false, false, reboot);
             }