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3269 lines
136 KiB
JavaScript
3269 lines
136 KiB
JavaScript
/*global $, SERVO_DATA, PID_names, ADJUSTMENT_RANGES, RXFAIL_CONFIG, SERVO_CONFIG,CONFIG*/
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'use strict';
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var mspHelper = (function (gui) {
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var self = {};
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self.BAUD_RATES_post1_6_3 = [
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'AUTO',
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'1200',
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'2400',
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'4800',
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'9600',
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'19200',
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'38400',
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'57600',
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'115200',
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'230400',
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'250000',
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'460800',
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'921600'
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];
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self.SERIAL_PORT_FUNCTIONS = {
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'MSP': 0,
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'GPS': 1,
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'TELEMETRY_FRSKY': 2,
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'TELEMETRY_HOTT': 3,
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'TELEMETRY_LTM': 4, // LTM replaced MSP
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'TELEMETRY_SMARTPORT': 5,
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'RX_SERIAL': 6,
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'BLACKBOX': 7,
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'TELEMETRY_MAVLINK': 8,
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'TELEMETRY_IBUS': 9,
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'RUNCAM_DEVICE_CONTROL': 10,
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'TBS_SMARTAUDIO': 11,
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'IRC_TRAMP': 12,
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'OPFLOW': 14,
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'LOG': 15,
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'RANGEFINDER': 16,
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'VTX_FFPV': 17,
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'ESC': 18,
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'GSM_SMS': 19,
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'FRSKY_OSD': 20,
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'DJI_FPV': 21,
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'SMARTPORT_MASTER': 23,
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'IMU2': 24,
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'HDZERO_VTX': 25,
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};
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// Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
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// the newline at the end, so we keep the pending message here until we find a
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// '\0', then print it. Messages sent by MSP_DEBUGMSG are guaranteed to
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// always finish with a '\0'.
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var debugMsgBuffer = '';
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/**
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*
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* @param {MSP} dataHandler
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*/
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self.processData = function (dataHandler) {
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var data = new DataView(dataHandler.message_buffer, 0), // DataView (allowing us to view arrayBuffer as struct/union)
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offset = 0,
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needle = 0,
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i = 0,
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buff = [],
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identifier = '',
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flags,
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colorCount,
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color;
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if (!dataHandler.unsupported || dataHandler.unsupported) switch (dataHandler.code) {
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case MSPCodes.MSPV2_INAV_STATUS:
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CONFIG.cycleTime = data.getUint16(offset, true);
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offset += 2;
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CONFIG.i2cError = data.getUint16(offset, true);
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offset += 2;
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CONFIG.activeSensors = data.getUint16(offset, true);
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offset += 2;
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CONFIG.cpuload = data.getUint16(offset, true);
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offset += 2;
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profile_byte = data.getUint8(offset++)
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CONFIG.profile = profile_byte & 0x0F;
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CONFIG.battery_profile = (profile_byte & 0xF0) >> 4;
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CONFIG.armingFlags = data.getUint32(offset, true);
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offset += 4;
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gui.updateStatusBar();
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gui.updateProfileChange();
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break;
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case MSPCodes.MSP_ACTIVEBOXES:
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var words = dataHandler.message_length_expected / 4;
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CONFIG.mode = [];
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for (i = 0; i < words; ++i)
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CONFIG.mode.push(data.getUint32(i * 4, true));
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break;
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case MSPCodes.MSP_SENSOR_STATUS:
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SENSOR_STATUS.isHardwareHealthy = data.getUint8(0);
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SENSOR_STATUS.gyroHwStatus = data.getUint8(1);
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SENSOR_STATUS.accHwStatus = data.getUint8(2);
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SENSOR_STATUS.magHwStatus = data.getUint8(3);
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SENSOR_STATUS.baroHwStatus = data.getUint8(4);
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SENSOR_STATUS.gpsHwStatus = data.getUint8(5);
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SENSOR_STATUS.rangeHwStatus = data.getUint8(6);
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SENSOR_STATUS.speedHwStatus = data.getUint8(7);
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SENSOR_STATUS.flowHwStatus = data.getUint8(8);
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SENSOR_STATUS.imu2HwStatus = data.getUint8(9);
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sensor_status_ex(SENSOR_STATUS);
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break;
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case MSPCodes.MSP_RAW_IMU:
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// 512 for mpu6050, 256 for mma
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// currently we are unable to differentiate between the sensor types, so we are goign with 512
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SENSOR_DATA.accelerometer[0] = data.getInt16(0, true) / 512;
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SENSOR_DATA.accelerometer[1] = data.getInt16(2, true) / 512;
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SENSOR_DATA.accelerometer[2] = data.getInt16(4, true) / 512;
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// properly scaled
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SENSOR_DATA.gyroscope[0] = data.getInt16(6, true) * (4 / 16.4);
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SENSOR_DATA.gyroscope[1] = data.getInt16(8, true) * (4 / 16.4);
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SENSOR_DATA.gyroscope[2] = data.getInt16(10, true) * (4 / 16.4);
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// no clue about scaling factor
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SENSOR_DATA.magnetometer[0] = data.getInt16(12, true) / 1090;
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SENSOR_DATA.magnetometer[1] = data.getInt16(14, true) / 1090;
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SENSOR_DATA.magnetometer[2] = data.getInt16(16, true) / 1090;
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break;
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case MSPCodes.MSP_SERVO:
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var servoCount = dataHandler.message_length_expected / 2;
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for (i = 0; i < servoCount; i++) {
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SERVO_DATA[i] = data.getUint16(needle, true);
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needle += 2;
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}
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break;
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case MSPCodes.MSP_MOTOR:
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var motorCount = dataHandler.message_length_expected / 2;
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for (i = 0; i < motorCount; i++) {
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MOTOR_DATA[i] = data.getUint16(needle, true);
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needle += 2;
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}
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break;
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case MSPCodes.MSP_RC:
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RC.active_channels = dataHandler.message_length_expected / 2;
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for (i = 0; i < RC.active_channels; i++) {
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RC.channels[i] = data.getUint16((i * 2), true);
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}
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break;
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case MSPCodes.MSP_RAW_GPS:
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GPS_DATA.fix = data.getUint8(0);
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GPS_DATA.numSat = data.getUint8(1);
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GPS_DATA.lat = data.getInt32(2, true);
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GPS_DATA.lon = data.getInt32(6, true);
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GPS_DATA.alt = data.getInt16(10, true);
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GPS_DATA.speed = data.getUint16(12, true);
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GPS_DATA.ground_course = data.getUint16(14, true);
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GPS_DATA.hdop = data.getUint16(16, true);
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break;
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case MSPCodes.MSP_COMP_GPS:
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GPS_DATA.distanceToHome = data.getUint16(0, 1);
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GPS_DATA.directionToHome = data.getUint16(2, 1);
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GPS_DATA.update = data.getUint8(4);
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break;
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case MSPCodes.MSP_GPSSTATISTICS:
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GPS_DATA.messageDt = data.getUint16(0, true);
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GPS_DATA.errors = data.getUint32(2, true);
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GPS_DATA.timeouts = data.getUint32(6, true);
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GPS_DATA.packetCount = data.getUint32(10, true);
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GPS_DATA.hdop = data.getUint16(14, true);
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GPS_DATA.eph = data.getUint16(16, true);
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GPS_DATA.epv = data.getUint16(18, true);
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break;
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case MSPCodes.MSP_ATTITUDE:
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SENSOR_DATA.kinematics[0] = data.getInt16(0, true) / 10.0; // x
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SENSOR_DATA.kinematics[1] = data.getInt16(2, true) / 10.0; // y
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SENSOR_DATA.kinematics[2] = data.getInt16(4, true); // z
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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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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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break;
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case MSPCodes.MSPV2_INAV_AIR_SPEED:
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SENSOR_DATA.air_speed = data.getInt32(0, true);
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break;
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case MSPCodes.MSP_ANALOG:
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ANALOG.voltage = data.getUint8(0) / 10.0;
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ANALOG.mAhdrawn = data.getUint16(1, true);
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ANALOG.rssi = data.getUint16(3, true); // 0-1023
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ANALOG.amperage = data.getInt16(5, true) / 100; // A
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break;
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case MSPCodes.MSPV2_INAV_ANALOG:
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let tmp = data.getUint8(offset++);
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ANALOG.battery_full_when_plugged_in = (tmp & 1 ? true : false);
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ANALOG.use_capacity_thresholds = ((tmp & 2) >> 1 ? true : false);
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ANALOG.battery_state = (tmp & 12) >> 2;
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ANALOG.cell_count = (tmp & 0xF0) >> 4;
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ANALOG.voltage = data.getUint16(offset, true) / 100.0;
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offset += 2;
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ANALOG.amperage = data.getInt16(offset, true) / 100; // A
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offset += 2;
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ANALOG.power = data.getInt32(offset, true) / 100.0;
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offset += 4;
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ANALOG.mAhdrawn = data.getInt32(offset, true);
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offset += 4;
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ANALOG.mWhdrawn = data.getInt32(offset, true);
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offset += 4;
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ANALOG.battery_remaining_capacity = data.getUint32(offset, true);
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offset += 4;
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ANALOG.battery_percentage = data.getUint8(offset++);
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ANALOG.rssi = data.getUint16(offset, true); // 0-1023
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offset += 2;
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//noinspection JSValidateTypes
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dataHandler.analog_last_received_timestamp = Date.now();
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break;
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case MSPCodes.MSP_RC_TUNING:
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RC_tuning.RC_RATE = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.roll_pitch_rate = 0;
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RC_tuning.roll_rate = parseFloat((data.getUint8(offset++) * 10));
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RC_tuning.pitch_rate = parseFloat((data.getUint8(offset++) * 10));
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RC_tuning.yaw_rate = parseFloat((data.getUint8(offset++) * 10));
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RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
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RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
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offset += 2;
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RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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break;
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case MSPCodes.MSPV2_INAV_RATE_PROFILE:
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// compat
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RC_tuning.RC_RATE = 100;
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RC_tuning.roll_pitch_rate = 0;
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// throttle
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RC_tuning.throttle_MID = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.throttle_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.dynamic_THR_PID = parseInt(data.getUint8(offset++));
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RC_tuning.dynamic_THR_breakpoint = data.getUint16(offset, true);
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offset += 2;
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// stabilized
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RC_tuning.RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.roll_rate = data.getUint8(offset++) * 10;
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RC_tuning.pitch_rate = data.getUint8(offset++) * 10;
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RC_tuning.yaw_rate = data.getUint8(offset++) * 10;
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// manual
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RC_tuning.manual_RC_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.manual_RC_YAW_EXPO = parseFloat((data.getUint8(offset++) / 100).toFixed(2));
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RC_tuning.manual_roll_rate = data.getUint8(offset++);
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RC_tuning.manual_pitch_rate = data.getUint8(offset++);
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RC_tuning.manual_yaw_rate = data.getUint8(offset++);
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break;
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case MSPCodes.MSP2_PID:
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// PID data arrived, we need to scale it and save to appropriate bank / array
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for (i = 0, needle = 0; i < (dataHandler.message_length_expected / 4); i++, needle += 4) {
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PIDs[i][0] = data.getUint8(needle);
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PIDs[i][1] = data.getUint8(needle + 1);
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PIDs[i][2] = data.getUint8(needle + 2);
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PIDs[i][3] = data.getUint8(needle + 3);
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}
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break;
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case MSPCodes.MSP_ARMING_CONFIG:
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ARMING_CONFIG.auto_disarm_delay = data.getUint8(0);
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ARMING_CONFIG.disarm_kill_switch = data.getUint8(1);
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break;
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case MSPCodes.MSP_LOOP_TIME:
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FC_CONFIG.loopTime = data.getInt16(0, true);
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break;
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case MSPCodes.MSP_MISC: // 22 bytes
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MISC.midrc = data.getInt16(offset, true);
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offset += 2;
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MISC.minthrottle = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.mincommand = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
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offset += 2;
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MISC.gps_type = data.getUint8(offset++);
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MISC.sensors_baudrate = data.getUint8(offset++);
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MISC.gps_ubx_sbas = data.getInt8(offset++);
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MISC.multiwiicurrentoutput = data.getUint8(offset++);
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MISC.rssi_channel = data.getUint8(offset++);
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MISC.placeholder2 = data.getUint8(offset++);
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MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
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offset += 2;
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MISC.vbatscale = data.getUint8(offset++); // 10-200
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MISC.vbatmincellvoltage = data.getUint8(offset++) / 10; // 10-50
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MISC.vbatmaxcellvoltage = data.getUint8(offset++) / 10; // 10-50
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MISC.vbatwarningcellvoltage = data.getUint8(offset++) / 10; // 10-50
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break;
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case MSPCodes.MSPV2_INAV_MISC:
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MISC.midrc = data.getInt16(offset, true);
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offset += 2;
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MISC.minthrottle = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.maxthrottle = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.mincommand = data.getUint16(offset, true); // 0-2000
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offset += 2;
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MISC.failsafe_throttle = data.getUint16(offset, true); // 1000-2000
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offset += 2;
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MISC.gps_type = data.getUint8(offset++);
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MISC.sensors_baudrate = data.getUint8(offset++);
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MISC.gps_ubx_sbas = data.getInt8(offset++);
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MISC.rssi_channel = data.getUint8(offset++);
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MISC.mag_declination = data.getInt16(offset, 1) / 10; // -18000-18000
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offset += 2;
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MISC.vbatscale = data.getUint16(offset, true);
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offset += 2;
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MISC.voltage_source = data.getUint8(offset++);
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MISC.battery_cells = data.getUint8(offset++);
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MISC.vbatdetectcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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MISC.vbatmincellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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MISC.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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MISC.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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MISC.battery_capacity = data.getUint32(offset, true);
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offset += 4;
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MISC.battery_capacity_warning = data.getUint32(offset, true);
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offset += 4;
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MISC.battery_capacity_critical = data.getUint32(offset, true);
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offset += 4;
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MISC.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
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break;
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case MSPCodes.MSPV2_INAV_SET_MISC:
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console.log('MISC INAV Configuration saved');
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break;
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case MSPCodes.MSPV2_INAV_BATTERY_CONFIG:
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BATTERY_CONFIG.vbatscale = data.getUint16(offset, true);
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offset += 2;
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BATTERY_CONFIG.voltage_source = data.getUint8(offset++);
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BATTERY_CONFIG.battery_cells = data.getUint8(offset++);
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BATTERY_CONFIG.vbatdetectcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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BATTERY_CONFIG.vbatmincellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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BATTERY_CONFIG.vbatmaxcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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BATTERY_CONFIG.vbatwarningcellvoltage = data.getUint16(offset, true) / 100;
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offset += 2;
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BATTERY_CONFIG.current_offset = data.getUint16(offset, true);
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offset += 2;
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BATTERY_CONFIG.current_scale = data.getUint16(offset, true);
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offset += 2;
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BATTERY_CONFIG.capacity = data.getUint32(offset, true);
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offset += 4;
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BATTERY_CONFIG.capacity_warning = data.getUint32(offset, true);
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offset += 4;
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BATTERY_CONFIG.capacity_critical = data.getUint32(offset, true);
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offset += 4;
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BATTERY_CONFIG.battery_capacity_unit = (data.getUint8(offset++) ? 'mWh' : 'mAh');
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break;
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case MSPCodes.MSP_3D:
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REVERSIBLE_MOTORS.deadband_low = data.getUint16(offset, true);
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offset += 2;
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REVERSIBLE_MOTORS.deadband_high = data.getUint16(offset, true);
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offset += 2;
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REVERSIBLE_MOTORS.neutral = data.getUint16(offset, true);
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break;
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case MSPCodes.MSP_MOTOR_PINS:
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console.log(data);
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break;
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case MSPCodes.MSP_BOXNAMES:
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//noinspection JSUndeclaredVariable
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AUX_CONFIG = []; // empty the array as new data is coming in
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buff = [];
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for (i = 0; i < data.byteLength; i++) {
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if (data.getUint8(i) == 0x3B) { // ; (delimeter char)
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AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
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// empty buffer
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buff = [];
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} else {
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buff.push(data.getUint8(i));
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}
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}
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break;
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case MSPCodes.MSP_PIDNAMES:
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//noinspection JSUndeclaredVariable
|
|
PID_names = []; // empty the array as new data is coming in
|
|
|
|
buff = [];
|
|
for (i = 0; i < data.byteLength; i++) {
|
|
if (data.getUint8(i) == 0x3B) { // ; (delimiter char)
|
|
PID_names.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
|
|
|
|
// empty buffer
|
|
buff = [];
|
|
} else {
|
|
buff.push(data.getUint8(i));
|
|
}
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_WP:
|
|
MISSION_PLANNER.put(new Waypoint(
|
|
data.getUint8(0),
|
|
data.getUint8(1),
|
|
data.getInt32(2, true),
|
|
data.getInt32(6, true),
|
|
data.getInt32(10, true),
|
|
data.getInt16(14, true),
|
|
data.getInt16(16, true),
|
|
data.getInt16(18, true),
|
|
data.getUint8(20)
|
|
));
|
|
break;
|
|
case MSPCodes.MSP_BOXIDS:
|
|
//noinspection JSUndeclaredVariable
|
|
AUX_CONFIG_IDS = []; // empty the array as new data is coming in
|
|
|
|
for (i = 0; i < data.byteLength; i++) {
|
|
AUX_CONFIG_IDS.push(data.getUint8(i));
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SERVO_MIX_RULES:
|
|
SERVO_RULES.flush();
|
|
if (data.byteLength % 8 === 0) {
|
|
for (i = 0; i < data.byteLength; i += 8) {
|
|
SERVO_RULES.put(new ServoMixRule(
|
|
data.getInt8(i),
|
|
data.getInt8(i + 1),
|
|
data.getInt16(i + 2, true),
|
|
data.getInt8(i + 4)
|
|
));
|
|
}
|
|
}
|
|
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");
|
|
break;
|
|
case MSPCodes.MSP2_INAV_SET_SERVO_MIXER:
|
|
console.log("Servo mix saved");
|
|
break;
|
|
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS:
|
|
LOGIC_CONDITIONS.flush();
|
|
if (data.byteLength % 14 === 0) {
|
|
for (i = 0; i < data.byteLength; i += 14) {
|
|
LOGIC_CONDITIONS.put(new LogicCondition(
|
|
data.getInt8(i),
|
|
data.getInt8(i + 1),
|
|
data.getUint8(i + 2),
|
|
data.getUint8(i + 3),
|
|
data.getInt32(i + 4, true),
|
|
data.getUint8(i + 8),
|
|
data.getInt32(i + 9, true),
|
|
data.getInt8(i + 13)
|
|
));
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
|
|
LOGIC_CONDITIONS.put(new LogicCondition(
|
|
data.getInt8(0),
|
|
data.getInt8(1),
|
|
data.getUint8(2),
|
|
data.getUint8(3),
|
|
data.getInt32(4, true),
|
|
data.getUint8(8),
|
|
data.getInt32(9, true),
|
|
data.getInt8(13)
|
|
));
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS:
|
|
if (data.byteLength % 4 === 0) {
|
|
let index = 0;
|
|
for (i = 0; i < data.byteLength; i += 4) {
|
|
LOGIC_CONDITIONS_STATUS.set(index, data.getInt32(i, true));
|
|
index++;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_GVAR_STATUS:
|
|
if (data.byteLength % 4 === 0) {
|
|
let index = 0;
|
|
for (i = 0; i < data.byteLength; i += 4) {
|
|
GLOBAL_VARIABLES_STATUS.set(index, data.getInt32(i, true));
|
|
index++;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_SET_LOGIC_CONDITIONS:
|
|
console.log("Logic conditions saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_PROGRAMMING_PID:
|
|
PROGRAMMING_PID.flush();
|
|
if (data.byteLength % 19 === 0) {
|
|
for (i = 0; i < data.byteLength; i += 19) {
|
|
PROGRAMMING_PID.put(new ProgrammingPid(
|
|
data.getInt8(i), // enabled
|
|
data.getInt8(i + 1), // setpointType
|
|
data.getInt32(i + 2, true), // setpointValue
|
|
data.getInt8(i + 6), // measurementType
|
|
data.getInt32(i + 7, true), // measurementValue
|
|
data.getInt16(i + 11, true), // gainP
|
|
data.getInt16(i + 13, true), // gainI
|
|
data.getInt16(i + 15, true), // gainD
|
|
data.getInt16(i + 17, true) // gainFF
|
|
));
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS:
|
|
if (data.byteLength % 4 === 0) {
|
|
let index = 0;
|
|
for (i = 0; i < data.byteLength; i += 4) {
|
|
PROGRAMMING_PID_STATUS.set(index, data.getInt32(i, true));
|
|
index++;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_SET_PROGRAMMING_PID:
|
|
console.log("Programming PID saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP2_COMMON_MOTOR_MIXER:
|
|
MOTOR_RULES.flush();
|
|
|
|
if (data.byteLength % 8 === 0) {
|
|
for (i = 0; i < data.byteLength; i += 8) {
|
|
var rule = new MotorMixRule(0, 0, 0, 0);
|
|
|
|
rule.fromMsp(
|
|
data.getUint16(i, true),
|
|
data.getUint16(i + 2, true),
|
|
data.getUint16(i + 4, true),
|
|
data.getUint16(i + 6, true)
|
|
);
|
|
|
|
MOTOR_RULES.put(rule);
|
|
}
|
|
}
|
|
MOTOR_RULES.cleanup();
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP2_COMMON_SET_MOTOR_MIXER:
|
|
console.log("motor mixer saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_SERVO_CONFIGURATIONS:
|
|
//noinspection JSUndeclaredVariable
|
|
SERVO_CONFIG = []; // empty the array as new data is coming in
|
|
|
|
if (data.byteLength % 14 == 0) {
|
|
for (i = 0; i < data.byteLength; i += 14) {
|
|
var arr = {
|
|
'min': data.getInt16(i + 0, true),
|
|
'max': data.getInt16(i + 2, true),
|
|
'middle': data.getInt16(i + 4, true),
|
|
'rate': data.getInt8(i + 6),
|
|
'indexOfChannelToForward': data.getInt8(i + 9)
|
|
};
|
|
data.getUint32(i + 10); // Skip 4 bytes that used to be reversed Sources
|
|
SERVO_CONFIG.push(arr);
|
|
}
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_RC_DEADBAND:
|
|
RC_deadband.deadband = data.getUint8(offset++);
|
|
RC_deadband.yaw_deadband = data.getUint8(offset++);
|
|
RC_deadband.alt_hold_deadband = data.getUint8(offset++);
|
|
REVERSIBLE_MOTORS.deadband_throttle = data.getUint16(offset, true);
|
|
break;
|
|
case MSPCodes.MSP_SENSOR_ALIGNMENT:
|
|
SENSOR_ALIGNMENT.align_gyro = data.getUint8(offset++);
|
|
SENSOR_ALIGNMENT.align_acc = data.getUint8(offset++);
|
|
SENSOR_ALIGNMENT.align_mag = data.getUint8(offset++);
|
|
SENSOR_ALIGNMENT.align_opflow = data.getUint8(offset++);
|
|
break;
|
|
case MSPCodes.MSP_SET_RAW_RC:
|
|
break;
|
|
case MSPCodes.MSP_SET_RAW_GPS:
|
|
break;
|
|
case MSPCodes.MSP2_SET_PID:
|
|
console.log('PID settings saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_RC_TUNING:
|
|
console.log('RC Tuning saved');
|
|
break;
|
|
case MSPCodes.MSP_ACC_CALIBRATION:
|
|
console.log('Accelerometer calibration executed');
|
|
break;
|
|
case MSPCodes.MSP_MAG_CALIBRATION:
|
|
console.log('Mag calibration executed');
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OPFLOW_CALIBRATION:
|
|
console.log('Optic flow calibration executed');
|
|
break;
|
|
case MSPCodes.MSP_SET_MISC:
|
|
console.log('MISC Configuration saved');
|
|
break;
|
|
case MSPCodes.MSP_RESET_CONF:
|
|
console.log('Settings Reset');
|
|
break;
|
|
case MSPCodes.MSP_SELECT_SETTING:
|
|
console.log('Profile selected');
|
|
break;
|
|
case MSPCodes.MSP_SET_SERVO_CONFIGURATION:
|
|
console.log('Servo Configuration saved');
|
|
break;
|
|
case MSPCodes.MSP_RTC:
|
|
if (data.length >= 6) {
|
|
var seconds = data.getInt32(0, true);
|
|
var millis = data.getUint16(4, true);
|
|
console.log("RTC received: " + new Date(seconds * 1000 + millis));
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_RTC:
|
|
console.log('RTC set');
|
|
break;
|
|
case MSPCodes.MSP_EEPROM_WRITE:
|
|
console.log('Settings Saved in EEPROM');
|
|
break;
|
|
case MSPCodes.MSP_DEBUGMSG:
|
|
for (var ii = 0; ii < data.byteLength; ii++) {
|
|
var c = data.readU8();
|
|
if (c == 0) {
|
|
// End of message
|
|
if (debugMsgBuffer.length > 1) {
|
|
console.log('[DEBUG] ' + debugMsgBuffer);
|
|
DEBUG_TRACE = (DEBUG_TRACE || '') + debugMsgBuffer;
|
|
}
|
|
debugMsgBuffer = '';
|
|
continue;
|
|
}
|
|
debugMsgBuffer += String.fromCharCode(c);
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_DEBUG:
|
|
for (i = 0; i < 4; i++)
|
|
SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
|
|
break;
|
|
case MSPCodes.MSP2_INAV_DEBUG:
|
|
for (i = 0; i < 8; i++)
|
|
SENSOR_DATA.debug[i] = data.getInt32((4 * i), 1);
|
|
break;
|
|
case MSPCodes.MSP_SET_MOTOR:
|
|
console.log('Motor Speeds Updated');
|
|
break;
|
|
// Additional baseflight commands that are not compatible with MultiWii
|
|
case MSPCodes.MSP_UID:
|
|
CONFIG.uid[0] = data.getUint32(0, true);
|
|
CONFIG.uid[1] = data.getUint32(4, true);
|
|
CONFIG.uid[2] = data.getUint32(8, true);
|
|
break;
|
|
case MSPCodes.MSP_ACC_TRIM:
|
|
CONFIG.accelerometerTrims[0] = data.getInt16(0, true); // pitch
|
|
CONFIG.accelerometerTrims[1] = data.getInt16(2, true); // roll
|
|
break;
|
|
case MSPCodes.MSP_SET_ACC_TRIM:
|
|
console.log('Accelerometer trimms saved.');
|
|
break;
|
|
// Additional private MSP for baseflight configurator
|
|
case MSPCodes.MSP_RX_MAP:
|
|
//noinspection JSUndeclaredVariable
|
|
RC_MAP = []; // empty the array as new data is coming in
|
|
|
|
for (i = 0; i < data.byteLength; i++) {
|
|
RC_MAP.push(data.getUint8(i));
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_RX_MAP:
|
|
console.log('RCMAP saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_BOARD_ALIGNMENT:
|
|
BOARD_ALIGNMENT.roll = data.getInt16(0, true); // -180 - 360
|
|
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;
|
|
|
|
case MSPCodes.MSP_CURRENT_METER_CONFIG:
|
|
CURRENT_METER_CONFIG.scale = data.getInt16(0, true);
|
|
CURRENT_METER_CONFIG.offset = data.getInt16(2, true);
|
|
CURRENT_METER_CONFIG.type = data.getUint8(4);
|
|
CURRENT_METER_CONFIG.capacity = data.getInt16(5, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
|
|
console.log('MSP_SET_CURRENT_METER_CONFIG saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_FEATURE:
|
|
FEATURES = data.getUint32(0, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FEATURE:
|
|
console.log('MSP_SET_FEATURE saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_REBOOT:
|
|
console.log('Reboot request accepted');
|
|
break;
|
|
|
|
//
|
|
// Cleanflight specific
|
|
//
|
|
|
|
case MSPCodes.MSP_API_VERSION:
|
|
CONFIG.mspProtocolVersion = data.getUint8(offset++);
|
|
CONFIG.apiVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.0';
|
|
break;
|
|
|
|
case MSPCodes.MSP_FC_VARIANT:
|
|
for (offset = 0; offset < 4; offset++) {
|
|
identifier += String.fromCharCode(data.getUint8(offset));
|
|
}
|
|
CONFIG.flightControllerIdentifier = identifier;
|
|
break;
|
|
|
|
case MSPCodes.MSP_FC_VERSION:
|
|
CONFIG.flightControllerVersion = data.getUint8(offset++) + '.' + data.getUint8(offset++) + '.' + data.getUint8(offset++);
|
|
break;
|
|
|
|
case MSPCodes.MSP_BUILD_INFO:
|
|
var dateLength = 11;
|
|
|
|
buff = [];
|
|
for (i = 0; i < dateLength; i++) {
|
|
buff.push(data.getUint8(offset++));
|
|
}
|
|
buff.push(32); // ascii space
|
|
|
|
var timeLength = 8;
|
|
for (i = 0; i < timeLength; i++) {
|
|
buff.push(data.getUint8(offset++));
|
|
}
|
|
CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
|
|
break;
|
|
|
|
case MSPCodes.MSP_BOARD_INFO:
|
|
for (offset = 0; offset < 4; offset++) {
|
|
identifier += String.fromCharCode(data.getUint8(offset));
|
|
}
|
|
CONFIG.boardIdentifier = identifier;
|
|
CONFIG.boardVersion = data.getUint16(offset, 1);
|
|
offset += 2;
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
|
|
console.log('Channel forwarding saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP2_CF_SERIAL_CONFIG:
|
|
SERIAL_CONFIG.ports = [];
|
|
var bytesPerPort = 1 + 4 + 4;
|
|
var serialPortCount = data.byteLength / bytesPerPort;
|
|
|
|
for (i = 0; i < serialPortCount; i++) {
|
|
var BAUD_RATES = mspHelper.BAUD_RATES_post1_6_3;
|
|
|
|
var serialPort = {
|
|
identifier: data.getUint8(offset),
|
|
functions: mspHelper.serialPortFunctionMaskToFunctions(data.getUint32(offset + 1, true)),
|
|
msp_baudrate: BAUD_RATES[data.getUint8(offset + 5)],
|
|
sensors_baudrate: BAUD_RATES[data.getUint8(offset + 6)],
|
|
telemetry_baudrate: BAUD_RATES[data.getUint8(offset + 7)],
|
|
blackbox_baudrate: BAUD_RATES[data.getUint8(offset + 8)]
|
|
};
|
|
|
|
offset += bytesPerPort;
|
|
SERIAL_CONFIG.ports.push(serialPort);
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_SET_CF_SERIAL_CONFIG:
|
|
console.log('Serial config saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_MODE_RANGES:
|
|
//noinspection JSUndeclaredVariable
|
|
MODE_RANGES = []; // empty the array as new data is coming in
|
|
|
|
var modeRangeCount = data.byteLength / 4; // 4 bytes per item.
|
|
|
|
for (i = 0; offset < data.byteLength && i < modeRangeCount; i++) {
|
|
var modeRange = {
|
|
id: data.getUint8(offset++),
|
|
auxChannelIndex: data.getUint8(offset++),
|
|
range: {
|
|
start: 900 + (data.getUint8(offset++) * 25),
|
|
end: 900 + (data.getUint8(offset++) * 25)
|
|
}
|
|
};
|
|
MODE_RANGES.push(modeRange);
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP_ADJUSTMENT_RANGES:
|
|
//noinspection JSUndeclaredVariable
|
|
ADJUSTMENT_RANGES = []; // empty the array as new data is coming in
|
|
|
|
var adjustmentRangeCount = data.byteLength / 6; // 6 bytes per item.
|
|
|
|
for (i = 0; offset < data.byteLength && i < adjustmentRangeCount; i++) {
|
|
var adjustmentRange = {
|
|
slotIndex: data.getUint8(offset++),
|
|
auxChannelIndex: data.getUint8(offset++),
|
|
range: {
|
|
start: 900 + (data.getUint8(offset++) * 25),
|
|
end: 900 + (data.getUint8(offset++) * 25)
|
|
},
|
|
adjustmentFunction: data.getUint8(offset++),
|
|
auxSwitchChannelIndex: data.getUint8(offset++)
|
|
};
|
|
ADJUSTMENT_RANGES.push(adjustmentRange);
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP_CHANNEL_FORWARDING:
|
|
for (i = 0; i < data.byteLength && i < SERVO_CONFIG.length; i++) {
|
|
var channelIndex = data.getUint8(i);
|
|
if (channelIndex < 255) {
|
|
SERVO_CONFIG[i].indexOfChannelToForward = channelIndex;
|
|
} else {
|
|
SERVO_CONFIG[i].indexOfChannelToForward = undefined;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP_RX_CONFIG:
|
|
RX_CONFIG.serialrx_provider = data.getUint8(offset);
|
|
offset++;
|
|
RX_CONFIG.maxcheck = data.getUint16(offset, true);
|
|
offset += 2;
|
|
RX_CONFIG.midrc = data.getUint16(offset, true);
|
|
offset += 2;
|
|
RX_CONFIG.mincheck = data.getUint16(offset, true);
|
|
offset += 2;
|
|
RX_CONFIG.spektrum_sat_bind = data.getUint8(offset);
|
|
offset++;
|
|
RX_CONFIG.rx_min_usec = data.getUint16(offset, true);
|
|
offset += 2;
|
|
RX_CONFIG.rx_max_usec = data.getUint16(offset, true);
|
|
offset += 2;
|
|
offset += 4; // 4 null bytes for betaflight compatibility
|
|
RX_CONFIG.spirx_protocol = data.getUint8(offset);
|
|
offset++;
|
|
RX_CONFIG.spirx_id = data.getUint32(offset, true);
|
|
offset += 4;
|
|
RX_CONFIG.spirx_channel_count = data.getUint8(offset);
|
|
offset += 1;
|
|
// unused byte for fpvCamAngleDegrees, for compatiblity with betaflight
|
|
offset += 1;
|
|
RX_CONFIG.receiver_type = data.getUint8(offset);
|
|
offset += 1;
|
|
break;
|
|
|
|
case MSPCodes.MSP_FAILSAFE_CONFIG:
|
|
FAILSAFE_CONFIG.failsafe_delay = data.getUint8(offset);
|
|
offset++;
|
|
FAILSAFE_CONFIG.failsafe_off_delay = data.getUint8(offset);
|
|
offset++;
|
|
FAILSAFE_CONFIG.failsafe_throttle = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_kill_switch = data.getUint8(offset);
|
|
offset++;
|
|
FAILSAFE_CONFIG.failsafe_throttle_low_delay = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_procedure = data.getUint8(offset);
|
|
offset++;
|
|
FAILSAFE_CONFIG.failsafe_recovery_delay = data.getUint8(offset);
|
|
offset++;
|
|
FAILSAFE_CONFIG.failsafe_fw_roll_angle = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_fw_pitch_angle = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_fw_yaw_rate = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_stick_motion_threshold = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_min_distance = data.getUint16(offset, true);
|
|
offset += 2;
|
|
FAILSAFE_CONFIG.failsafe_min_distance_procedure = data.getUint8(offset);
|
|
offset++;
|
|
break;
|
|
|
|
case MSPCodes.MSP_RXFAIL_CONFIG:
|
|
//noinspection JSUndeclaredVariable
|
|
RXFAIL_CONFIG = []; // empty the array as new data is coming in
|
|
|
|
var channelCount = data.byteLength / 3;
|
|
|
|
for (i = 0; offset < data.byteLength && i < channelCount; i++, offset++) {
|
|
var rxfailChannel = {
|
|
mode: data.getUint8(offset++),
|
|
value: data.getUint16(offset++, true)
|
|
};
|
|
RXFAIL_CONFIG.push(rxfailChannel);
|
|
}
|
|
break;
|
|
|
|
|
|
case MSPCodes.MSP_LED_STRIP_CONFIG:
|
|
//noinspection JSUndeclaredVariable
|
|
LED_STRIP = [];
|
|
|
|
var ledCount = data.byteLength / 4;
|
|
var directionMask,
|
|
directions,
|
|
directionLetterIndex,
|
|
functions,
|
|
led;
|
|
|
|
for (i = 0; offset < data.byteLength && i < ledCount; i++) {
|
|
|
|
if (semver.lt(CONFIG.apiVersion, "1.20.0")) {
|
|
directionMask = data.getUint16(offset, true);
|
|
offset += 2;
|
|
|
|
directions = [];
|
|
for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
|
|
if (bit_check(directionMask, directionLetterIndex)) {
|
|
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
|
|
}
|
|
}
|
|
|
|
var functionMask = data.getUint16(offset, 1);
|
|
offset += 2;
|
|
|
|
functions = [];
|
|
for (var functionLetterIndex = 0; functionLetterIndex < MSP.ledFunctionLetters.length; functionLetterIndex++) {
|
|
if (bit_check(functionMask, functionLetterIndex)) {
|
|
functions.push(MSP.ledFunctionLetters[functionLetterIndex]);
|
|
}
|
|
}
|
|
|
|
led = {
|
|
directions: directions,
|
|
functions: functions,
|
|
x: data.getUint8(offset++),
|
|
y: data.getUint8(offset++),
|
|
color: data.getUint8(offset++)
|
|
};
|
|
|
|
LED_STRIP.push(led);
|
|
} else {
|
|
var mask = data.getUint32(offset, 1);
|
|
offset += 4;
|
|
|
|
var functionId = (mask >> 8) & 0xF;
|
|
|
|
functions = [];
|
|
for (var baseFunctionLetterIndex = 0; baseFunctionLetterIndex < MSP.ledBaseFunctionLetters.length; baseFunctionLetterIndex++) {
|
|
if (functionId == baseFunctionLetterIndex) {
|
|
functions.push(MSP.ledBaseFunctionLetters[baseFunctionLetterIndex]);
|
|
break;
|
|
}
|
|
}
|
|
|
|
var overlayMask = (mask >> 12) & 0x3F;
|
|
for (var overlayLetterIndex = 0; overlayLetterIndex < MSP.ledOverlayLetters.length; overlayLetterIndex++) {
|
|
if (bit_check(overlayMask, overlayLetterIndex)) {
|
|
functions.push(MSP.ledOverlayLetters[overlayLetterIndex]);
|
|
}
|
|
}
|
|
|
|
directionMask = (mask >> 22) & 0x3F;
|
|
|
|
directions = [];
|
|
for (directionLetterIndex = 0; directionLetterIndex < MSP.ledDirectionLetters.length; directionLetterIndex++) {
|
|
if (bit_check(directionMask, directionLetterIndex)) {
|
|
directions.push(MSP.ledDirectionLetters[directionLetterIndex]);
|
|
}
|
|
}
|
|
led = {
|
|
y: (mask) & 0xF,
|
|
x: (mask >> 4) & 0xF,
|
|
functions: functions,
|
|
color: (mask >> 18) & 0xF,
|
|
directions: directions,
|
|
parameters: (mask >> 28) & 0xF
|
|
};
|
|
|
|
LED_STRIP.push(led);
|
|
}
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_LED_STRIP_CONFIG:
|
|
console.log('Led strip config saved');
|
|
break;
|
|
case MSPCodes.MSP_LED_COLORS:
|
|
|
|
//noinspection JSUndeclaredVariable
|
|
LED_COLORS = [];
|
|
|
|
colorCount = data.byteLength / 4;
|
|
|
|
for (i = 0; offset < data.byteLength && i < colorCount; i++) {
|
|
|
|
var h = data.getUint16(offset, true);
|
|
var s = data.getUint8(offset + 2);
|
|
var v = data.getUint8(offset + 3);
|
|
offset += 4;
|
|
|
|
color = {
|
|
h: h,
|
|
s: s,
|
|
v: v
|
|
};
|
|
|
|
LED_COLORS.push(color);
|
|
}
|
|
|
|
break;
|
|
case MSPCodes.MSP_SET_LED_COLORS:
|
|
console.log('Led strip colors saved');
|
|
break;
|
|
case MSPCodes.MSP_LED_STRIP_MODECOLOR:
|
|
//noinspection JSUndeclaredVariable
|
|
LED_MODE_COLORS = [];
|
|
|
|
colorCount = data.byteLength / 3;
|
|
|
|
for (i = 0; offset < data.byteLength && i < colorCount; i++) {
|
|
|
|
var mode = data.getUint8(offset++);
|
|
var direction = data.getUint8(offset++);
|
|
|
|
color = data.getUint8(offset++);
|
|
|
|
LED_MODE_COLORS.push({
|
|
mode: mode,
|
|
direction: direction,
|
|
color: color
|
|
});
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_LED_STRIP_MODECOLOR:
|
|
console.log('Led strip mode colors saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_DATAFLASH_SUMMARY:
|
|
if (data.byteLength >= 13) {
|
|
flags = data.getUint8(0);
|
|
DATAFLASH.ready = (flags & 1) != 0;
|
|
DATAFLASH.supported = (flags & 2) != 0 || DATAFLASH.ready;
|
|
DATAFLASH.sectors = data.getUint32(1, 1);
|
|
DATAFLASH.totalSize = data.getUint32(5, 1);
|
|
DATAFLASH.usedSize = data.getUint32(9, 1);
|
|
} else {
|
|
// Firmware version too old to support MSP_DATAFLASH_SUMMARY
|
|
DATAFLASH.ready = false;
|
|
DATAFLASH.supported = false;
|
|
DATAFLASH.sectors = 0;
|
|
DATAFLASH.totalSize = 0;
|
|
DATAFLASH.usedSize = 0;
|
|
}
|
|
update_dataflash_global();
|
|
break;
|
|
case MSPCodes.MSP_DATAFLASH_READ:
|
|
// No-op, let callback handle it
|
|
break;
|
|
case MSPCodes.MSP_DATAFLASH_ERASE:
|
|
console.log("Data flash erase begun...");
|
|
break;
|
|
case MSPCodes.MSP_SDCARD_SUMMARY:
|
|
flags = data.getUint8(0);
|
|
|
|
SDCARD.supported = (flags & 0x01) != 0;
|
|
SDCARD.state = data.getUint8(1);
|
|
SDCARD.filesystemLastError = data.getUint8(2);
|
|
SDCARD.freeSizeKB = data.getUint32(3, true);
|
|
SDCARD.totalSizeKB = data.getUint32(7, true);
|
|
break;
|
|
case MSPCodes.MSP_BLACKBOX_CONFIG:
|
|
BLACKBOX.supported = (data.getUint8(0) & 1) != 0;
|
|
BLACKBOX.blackboxDevice = data.getUint8(1);
|
|
BLACKBOX.blackboxRateNum = data.getUint8(2);
|
|
BLACKBOX.blackboxRateDenom = data.getUint8(3);
|
|
break;
|
|
case MSPCodes.MSP_SET_BLACKBOX_CONFIG:
|
|
console.log("Blackbox config saved");
|
|
break;
|
|
case MSPCodes.MSP_VTX_CONFIG:
|
|
VTX_CONFIG.device_type = data.getUint8(offset++);
|
|
if (VTX_CONFIG.device_type != VTX.DEV_UNKNOWN) {
|
|
VTX_CONFIG.band = data.getUint8(offset++);
|
|
VTX_CONFIG.channel = data.getUint8(offset++);
|
|
VTX_CONFIG.power = data.getUint8(offset++);
|
|
VTX_CONFIG.pitmode = data.getUint8(offset++);
|
|
// Ignore wether the VTX is ready for now
|
|
offset++;
|
|
VTX_CONFIG.low_power_disarm = data.getUint8(offset++);
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_ADVANCED_CONFIG:
|
|
ADVANCED_CONFIG.gyroSyncDenominator = data.getUint8(offset);
|
|
offset++;
|
|
ADVANCED_CONFIG.pidProcessDenom = data.getUint8(offset);
|
|
offset++;
|
|
ADVANCED_CONFIG.useUnsyncedPwm = data.getUint8(offset);
|
|
offset++;
|
|
ADVANCED_CONFIG.motorPwmProtocol = data.getUint8(offset);
|
|
offset++;
|
|
ADVANCED_CONFIG.motorPwmRate = data.getUint16(offset, true);
|
|
offset += 2;
|
|
ADVANCED_CONFIG.servoPwmRate = data.getUint16(offset, true);
|
|
offset += 2;
|
|
ADVANCED_CONFIG.gyroSync = data.getUint8(offset);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_VTX_CONFIG:
|
|
console.log("VTX config saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_ADVANCED_CONFIG:
|
|
console.log("Advanced config saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_FILTER_CONFIG:
|
|
FILTER_CONFIG.gyroSoftLpfHz = data.getUint8(0);
|
|
FILTER_CONFIG.dtermLpfHz = data.getUint16(1, true);
|
|
FILTER_CONFIG.yawLpfHz = data.getUint16(3, true);
|
|
|
|
FILTER_CONFIG.gyroNotchHz1 = data.getUint16(5, true);
|
|
FILTER_CONFIG.gyroNotchCutoff1 = data.getUint16(7, true);
|
|
FILTER_CONFIG.dtermNotchHz = data.getUint16(9, true);
|
|
FILTER_CONFIG.dtermNotchCutoff = data.getUint16(11, true);
|
|
FILTER_CONFIG.gyroNotchHz2 = data.getUint16(13, true);
|
|
FILTER_CONFIG.gyroNotchCutoff2 = data.getUint16(15, true);
|
|
|
|
FILTER_CONFIG.accNotchHz = data.getUint16(17, true);
|
|
FILTER_CONFIG.accNotchCutoff = data.getUint16(19, true);
|
|
FILTER_CONFIG.gyroStage2LowpassHz = data.getUint16(21, true);
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FILTER_CONFIG:
|
|
console.log("Filter config saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_PID_ADVANCED:
|
|
PID_ADVANCED.rollPitchItermIgnoreRate = data.getUint16(0, true);
|
|
PID_ADVANCED.yawItermIgnoreRate = data.getUint16(2, true);
|
|
PID_ADVANCED.yawPLimit = data.getUint16(4, true);
|
|
PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
|
|
PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
|
|
PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
|
|
PID_ADVANCED.axisAccelerationLimitYaw = data.getUint16(15, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_PID_ADVANCED:
|
|
console.log("PID advanced saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_SENSOR_CONFIG:
|
|
SENSOR_CONFIG.accelerometer = data.getUint8(0, true);
|
|
SENSOR_CONFIG.barometer = data.getUint8(1, true);
|
|
SENSOR_CONFIG.magnetometer = data.getUint8(2, true);
|
|
SENSOR_CONFIG.pitot = data.getUint8(3, true);
|
|
SENSOR_CONFIG.rangefinder = data.getUint8(4, true);
|
|
SENSOR_CONFIG.opflow = data.getUint8(5, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_SENSOR_CONFIG:
|
|
console.log("Sensor config saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_INAV_PID:
|
|
INAV_PID_CONFIG.asynchronousMode = data.getUint8(0);
|
|
INAV_PID_CONFIG.accelerometerTaskFrequency = data.getUint16(1, true);
|
|
INAV_PID_CONFIG.attitudeTaskFrequency = data.getUint16(3, true);
|
|
INAV_PID_CONFIG.magHoldRateLimit = data.getUint8(5);
|
|
INAV_PID_CONFIG.magHoldErrorLpfFrequency = data.getUint8(6);
|
|
INAV_PID_CONFIG.yawJumpPreventionLimit = data.getUint16(7, true);
|
|
INAV_PID_CONFIG.gyroscopeLpf = data.getUint8(9);
|
|
INAV_PID_CONFIG.accSoftLpfHz = data.getUint8(10);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_INAV_PID:
|
|
console.log("MSP_INAV_PID saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP_NAV_POSHOLD:
|
|
NAV_POSHOLD.userControlMode = data.getUint8(0);
|
|
NAV_POSHOLD.maxSpeed = data.getUint16(1, true);
|
|
NAV_POSHOLD.maxClimbRate = data.getUint16(3, true);
|
|
NAV_POSHOLD.maxManualSpeed = data.getUint16(5, true);
|
|
NAV_POSHOLD.maxManualClimbRate = data.getUint16(7, true);
|
|
NAV_POSHOLD.maxBankAngle = data.getUint8(9);
|
|
NAV_POSHOLD.useThrottleMidForAlthold = data.getUint8(10);
|
|
NAV_POSHOLD.hoverThrottle = data.getUint16(11, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_NAV_POSHOLD:
|
|
console.log('NAV_POSHOLD saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_CALIBRATION_DATA:
|
|
var callibrations = data.getUint8(0);
|
|
CALIBRATION_DATA.acc.Pos0 = (1 & (callibrations >> 0));
|
|
CALIBRATION_DATA.acc.Pos1 = (1 & (callibrations >> 1));
|
|
CALIBRATION_DATA.acc.Pos2 = (1 & (callibrations >> 2));
|
|
CALIBRATION_DATA.acc.Pos3 = (1 & (callibrations >> 3));
|
|
CALIBRATION_DATA.acc.Pos4 = (1 & (callibrations >> 4));
|
|
CALIBRATION_DATA.acc.Pos5 = (1 & (callibrations >> 5));
|
|
|
|
CALIBRATION_DATA.accZero.X = data.getInt16(1, true);
|
|
CALIBRATION_DATA.accZero.Y = data.getInt16(3, true);
|
|
CALIBRATION_DATA.accZero.Z = data.getInt16(5, true);
|
|
CALIBRATION_DATA.accGain.X = data.getInt16(7, true);
|
|
CALIBRATION_DATA.accGain.Y = data.getInt16(9, true);
|
|
CALIBRATION_DATA.accGain.Z = data.getInt16(11, true);
|
|
CALIBRATION_DATA.magZero.X = data.getInt16(13, true);
|
|
CALIBRATION_DATA.magZero.Y = data.getInt16(15, true);
|
|
CALIBRATION_DATA.magZero.Z = data.getInt16(17, true);
|
|
CALIBRATION_DATA.opflow.Scale = (data.getInt16(19, true) / 256.0);
|
|
|
|
CALIBRATION_DATA.magGain.X = data.getInt16(21, true);
|
|
CALIBRATION_DATA.magGain.Y = data.getInt16(23, true);
|
|
CALIBRATION_DATA.magGain.Z = data.getInt16(25, true);
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CALIBRATION_DATA:
|
|
console.log('Calibration data saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_POSITION_ESTIMATION_CONFIG:
|
|
POSITION_ESTIMATOR.w_z_baro_p = data.getUint16(0, true) / 100;
|
|
POSITION_ESTIMATOR.w_z_gps_p = data.getUint16(2, true) / 100;
|
|
POSITION_ESTIMATOR.w_z_gps_v = data.getUint16(4, true) / 100;
|
|
POSITION_ESTIMATOR.w_xy_gps_p = data.getUint16(6, true) / 100;
|
|
POSITION_ESTIMATOR.w_xy_gps_v = data.getUint16(8, true) / 100;
|
|
POSITION_ESTIMATOR.gps_min_sats = data.getUint8(10);
|
|
POSITION_ESTIMATOR.use_gps_velned = data.getUint8(11);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
|
|
console.log('POSITION_ESTIMATOR saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
|
|
RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
|
|
RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
|
|
RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency = data.getUint8(3);
|
|
RTH_AND_LAND_CONFIG.rthTailFirst = data.getUint8(4);
|
|
RTH_AND_LAND_CONFIG.rthAllowLanding = data.getUint8(5);
|
|
RTH_AND_LAND_CONFIG.rthAltControlMode = data.getUint8(6);
|
|
RTH_AND_LAND_CONFIG.rthAbortThreshold = data.getUint16(7, true);
|
|
RTH_AND_LAND_CONFIG.rthAltitude = data.getUint16(9, true);
|
|
RTH_AND_LAND_CONFIG.landMinAltVspd = data.getUint16(11, true);
|
|
RTH_AND_LAND_CONFIG.landMaxAltVspd = data.getUint16(13, true);
|
|
RTH_AND_LAND_CONFIG.landSlowdownMinAlt = data.getUint16(15, true);
|
|
RTH_AND_LAND_CONFIG.landSlowdownMaxAlt = data.getUint16(17, true);
|
|
RTH_AND_LAND_CONFIG.emergencyDescentRate = data.getUint16(19, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
|
|
console.log('RTH_AND_LAND_CONFIG saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_FW_CONFIG:
|
|
FW_CONFIG.cruiseThrottle = data.getUint16(0, true);
|
|
FW_CONFIG.minThrottle = data.getUint16(2, true);
|
|
FW_CONFIG.maxThrottle = data.getUint16(4, true);
|
|
FW_CONFIG.maxBankAngle = data.getUint8(6);
|
|
FW_CONFIG.maxClimbAngle = data.getUint8(7);
|
|
FW_CONFIG.maxDiveAngle = data.getUint8(8);
|
|
FW_CONFIG.pitchToThrottle = data.getUint8(9);
|
|
FW_CONFIG.loiterRadius = data.getUint16(10, true);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FW_CONFIG:
|
|
console.log('FW_CONFIG saved');
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_MODE_RANGE:
|
|
console.log('Mode range saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_ADJUSTMENT_RANGE:
|
|
console.log('Adjustment range saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_LOOP_TIME:
|
|
console.log('Looptime saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_ARMING_CONFIG:
|
|
console.log('Arming config saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_RESET_CURR_PID:
|
|
console.log('Current PID profile reset');
|
|
break;
|
|
case MSPCodes.MSP_SET_3D:
|
|
console.log('3D settings saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_RC_DEADBAND:
|
|
console.log('Rc controls settings saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
|
|
console.log('Sensor alignment saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_RX_CONFIG:
|
|
console.log('Rx config saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_RXFAIL_CONFIG:
|
|
console.log('Rxfail config saved');
|
|
break;
|
|
case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
|
|
console.log('Failsafe config saved');
|
|
break;
|
|
case MSPCodes.MSP_OSD_CONFIG:
|
|
break;
|
|
case MSPCodes.MSP_SET_OSD_CONFIG:
|
|
console.log('OSD config set');
|
|
break;
|
|
case MSPCodes.MSP_OSD_CHAR_READ:
|
|
break;
|
|
case MSPCodes.MSP_OSD_CHAR_WRITE:
|
|
console.log('OSD char uploaded');
|
|
break;
|
|
case MSPCodes.MSP_NAME:
|
|
CONFIG.name = '';
|
|
var char;
|
|
while ((char = data.readU8()) !== null) {
|
|
CONFIG.name += String.fromCharCode(char);
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_NAME:
|
|
console.log("Craft name set");
|
|
break;
|
|
case MSPCodes.MSPV2_SETTING:
|
|
break;
|
|
case MSPCodes.MSP2_COMMON_SETTING_INFO:
|
|
break;
|
|
case MSPCodes.MSPV2_SET_SETTING:
|
|
console.log("Setting set");
|
|
break;
|
|
case MSPCodes.MSP_WP_GETINFO:
|
|
// Reserved for waypoint capabilities data.getUint8(0);
|
|
MISSION_PLANNER.setMaxWaypoints(data.getUint8(1));
|
|
MISSION_PLANNER.setValidMission(data.getUint8(2));
|
|
MISSION_PLANNER.setCountBusyPoints(data.getUint8(3));
|
|
break;
|
|
case MSPCodes.MSP_SET_WP:
|
|
console.log('Point saved');
|
|
break;
|
|
case MSPCodes.MSP_WP_MISSION_SAVE:
|
|
// buffer.push(0);
|
|
console.log(data);
|
|
break;
|
|
case MSPCodes.MSP_WP_MISSION_LOAD:
|
|
console.log('Mission load');
|
|
break;
|
|
case MSPCodes.MSP2_INAV_MIXER:
|
|
MIXER_CONFIG.yawMotorDirection = data.getInt8(0);
|
|
MIXER_CONFIG.yawJumpPreventionLimit = data.getUint16(1, true);
|
|
MIXER_CONFIG.platformType = data.getInt8(3);
|
|
MIXER_CONFIG.hasFlaps = data.getInt8(4);
|
|
MIXER_CONFIG.appliedMixerPreset = data.getInt16(5, true);
|
|
MIXER_CONFIG.numberOfMotors = data.getInt8(7);
|
|
MIXER_CONFIG.numberOfServos = data.getInt8(8);
|
|
MOTOR_RULES.setMotorCount(MIXER_CONFIG.numberOfMotors);
|
|
SERVO_RULES.setServoCount(MIXER_CONFIG.numberOfServos);
|
|
break;
|
|
case MSPCodes.MSP2_INAV_SET_MIXER:
|
|
console.log('Mixer config saved');
|
|
case MSPCodes.MSP2_INAV_OSD_LAYOUTS:
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OSD_SET_LAYOUT_ITEM:
|
|
console.log('OSD layout item saved');
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OSD_ALARMS:
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OSD_SET_ALARMS:
|
|
console.log('OSD alarms saved');
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OSD_PREFERENCES:
|
|
break;
|
|
case MSPCodes.MSP2_INAV_OSD_SET_PREFERENCES:
|
|
console.log('OSD preferences saved');
|
|
break;
|
|
case MSPCodes.MSPV2_INAV_OUTPUT_MAPPING:
|
|
OUTPUT_MAPPING.flush();
|
|
for (i = 0; i < data.byteLength; ++i)
|
|
OUTPUT_MAPPING.put(data.getUint8(i));
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_MC_BRAKING:
|
|
try {
|
|
BRAKING_CONFIG.speedThreshold = data.getUint16(0, true);
|
|
BRAKING_CONFIG.disengageSpeed = data.getUint16(2, true);
|
|
BRAKING_CONFIG.timeout = data.getUint16(4, true);
|
|
BRAKING_CONFIG.boostFactor = data.getInt8(6);
|
|
BRAKING_CONFIG.boostTimeout = data.getUint16(7, true);
|
|
BRAKING_CONFIG.boostSpeedThreshold = data.getUint16(9, true);
|
|
BRAKING_CONFIG.boostDisengageSpeed = data.getUint16(11, true);
|
|
BRAKING_CONFIG.bankAngle = data.getInt8(13);
|
|
} catch (e) {
|
|
console.log("MC_BRAKING MODE is not supported by the hardware");
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
|
|
console.log('Braking config saved');
|
|
break;
|
|
case MSPCodes.MSP2_BLACKBOX_CONFIG:
|
|
BLACKBOX.supported = (data.getUint8(0) & 1) != 0;
|
|
BLACKBOX.blackboxDevice = data.getUint8(1);
|
|
BLACKBOX.blackboxRateNum = data.getUint16(2);
|
|
BLACKBOX.blackboxRateDenom = data.getUint16(4);
|
|
BLACKBOX.blackboxIncludeFlags = data.getUint32(6,true);
|
|
break;
|
|
case MSPCodes.MSP2_SET_BLACKBOX_CONFIG:
|
|
console.log("Blackbox config saved");
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_TEMPERATURES:
|
|
for (i = 0; i < 8; ++i) {
|
|
temp_decidegrees = data.getInt16(i * 2, true);
|
|
SENSOR_DATA.temperature[i] = temp_decidegrees / 10; // °C
|
|
}
|
|
break;
|
|
case MSPCodes.MSP2_INAV_SAFEHOME:
|
|
SAFEHOMES.put(new Safehome(
|
|
data.getUint8(0),
|
|
data.getUint8(1),
|
|
data.getInt32(2, true),
|
|
data.getInt32(6, true)
|
|
));
|
|
break;
|
|
case MSPCodes.MSP2_INAV_SET_SAFEHOME:
|
|
console.log('Safehome points saved');
|
|
break;
|
|
|
|
default:
|
|
console.log('Unknown code detected: ' + dataHandler.code);
|
|
} else {
|
|
console.log('FC reports unsupported message error: ' + dataHandler.code);
|
|
}
|
|
|
|
// trigger callbacks, cleanup/remove callback after trigger
|
|
for (i = dataHandler.callbacks.length - 1; i >= 0; i--) { // iterating in reverse because we use .splice which modifies array length
|
|
if (i < dataHandler.callbacks.length) {
|
|
if (dataHandler.callbacks[i].code == dataHandler.code) {
|
|
// save callback reference
|
|
var callback = dataHandler.callbacks[i].onFinish;
|
|
|
|
// remove timeout
|
|
clearTimeout(dataHandler.callbacks[i].timer);
|
|
|
|
/*
|
|
* Compute roundtrip
|
|
*/
|
|
if (dataHandler.callbacks[i]) {
|
|
helper.mspQueue.putRoundtrip(new Date().getTime() - dataHandler.callbacks[i].createdOn);
|
|
helper.mspQueue.putHardwareRoundtrip(new Date().getTime() - dataHandler.callbacks[i].sentOn);
|
|
}
|
|
|
|
// remove object from array
|
|
dataHandler.callbacks.splice(i, 1);
|
|
|
|
// fire callback
|
|
if (callback) {
|
|
callback({ 'command': dataHandler.code, 'data': data, 'length': dataHandler.message_length_expected });
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
self.crunch = function (code) {
|
|
var buffer = [],
|
|
i;
|
|
|
|
switch (code) {
|
|
|
|
case MSPCodes.MSP_SET_FEATURE:
|
|
buffer.push(specificByte(FEATURES, 0));
|
|
buffer.push(specificByte(FEATURES, 1));
|
|
buffer.push(specificByte(FEATURES, 2));
|
|
buffer.push(specificByte(FEATURES, 3));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_BOARD_ALIGNMENT:
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.roll, 0));
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.roll, 1));
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.pitch, 0));
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.pitch, 1));
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.yaw, 0));
|
|
buffer.push(specificByte(BOARD_ALIGNMENT.yaw, 1));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
|
|
buffer.push(specificByte(CURRENT_METER_CONFIG.scale, 0));
|
|
buffer.push(specificByte(CURRENT_METER_CONFIG.scale, 1));
|
|
buffer.push(specificByte(CURRENT_METER_CONFIG.offset, 0));
|
|
buffer.push(specificByte(CURRENT_METER_CONFIG.offset, 1));
|
|
buffer.push(CURRENT_METER_CONFIG.type);
|
|
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));
|
|
} else {
|
|
// This tells the firmware to ignore this value.
|
|
buffer.push16(VTX.MAX_FREQUENCY_MHZ + 1);
|
|
}
|
|
buffer.push(VTX_CONFIG.power);
|
|
// Don't enable PIT mode
|
|
buffer.push(0);
|
|
buffer.push(VTX_CONFIG.low_power_disarm);
|
|
break;
|
|
case MSPCodes.MSP2_SET_PID:
|
|
for (i = 0; i < PIDs.length; i++) {
|
|
buffer.push(parseInt(PIDs[i][0]));
|
|
buffer.push(parseInt(PIDs[i][1]));
|
|
buffer.push(parseInt(PIDs[i][2]));
|
|
buffer.push(parseInt(PIDs[i][3]));
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_RC_TUNING:
|
|
buffer.push(Math.round(RC_tuning.RC_RATE * 100));
|
|
buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
|
|
buffer.push(Math.round(RC_tuning.roll_rate / 10));
|
|
buffer.push(Math.round(RC_tuning.pitch_rate / 10));
|
|
buffer.push(Math.round(RC_tuning.yaw_rate / 10));
|
|
buffer.push(RC_tuning.dynamic_THR_PID);
|
|
buffer.push(Math.round(RC_tuning.throttle_MID * 100));
|
|
buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
|
|
buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
|
|
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
|
|
buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
|
|
break;
|
|
case MSPCodes.MSPV2_INAV_SET_RATE_PROFILE:
|
|
// throttle
|
|
buffer.push(Math.round(RC_tuning.throttle_MID * 100));
|
|
buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
|
|
buffer.push(RC_tuning.dynamic_THR_PID);
|
|
buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
|
|
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
|
|
|
|
// stabilized
|
|
buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
|
|
buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
|
|
buffer.push(Math.round(RC_tuning.roll_rate / 10));
|
|
buffer.push(Math.round(RC_tuning.pitch_rate / 10));
|
|
buffer.push(Math.round(RC_tuning.yaw_rate / 10));
|
|
|
|
// manual
|
|
buffer.push(Math.round(RC_tuning.manual_RC_EXPO * 100));
|
|
buffer.push(Math.round(RC_tuning.manual_RC_YAW_EXPO * 100));
|
|
buffer.push(RC_tuning.manual_roll_rate);
|
|
buffer.push(RC_tuning.manual_pitch_rate);
|
|
buffer.push(RC_tuning.manual_yaw_rate);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_RX_MAP:
|
|
for (i = 0; i < RC_MAP.length; i++) {
|
|
buffer.push(RC_MAP[i]);
|
|
}
|
|
break;
|
|
case MSPCodes.MSP_SET_ACC_TRIM:
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[0]));
|
|
buffer.push(lowByte(CONFIG.accelerometerTrims[1]));
|
|
buffer.push(highByte(CONFIG.accelerometerTrims[1]));
|
|
break;
|
|
case MSPCodes.MSP_SET_ARMING_CONFIG:
|
|
buffer.push(ARMING_CONFIG.auto_disarm_delay);
|
|
buffer.push(ARMING_CONFIG.disarm_kill_switch);
|
|
break;
|
|
case MSPCodes.MSP_SET_LOOP_TIME:
|
|
buffer.push(lowByte(FC_CONFIG.loopTime));
|
|
buffer.push(highByte(FC_CONFIG.loopTime));
|
|
break;
|
|
case MSPCodes.MSP_SET_MISC:
|
|
buffer.push(lowByte(MISC.midrc));
|
|
buffer.push(highByte(MISC.midrc));
|
|
buffer.push(lowByte(MISC.minthrottle));
|
|
buffer.push(highByte(MISC.minthrottle));
|
|
buffer.push(lowByte(MISC.maxthrottle));
|
|
buffer.push(highByte(MISC.maxthrottle));
|
|
buffer.push(lowByte(MISC.mincommand));
|
|
buffer.push(highByte(MISC.mincommand));
|
|
buffer.push(lowByte(MISC.failsafe_throttle));
|
|
buffer.push(highByte(MISC.failsafe_throttle));
|
|
buffer.push(MISC.gps_type);
|
|
buffer.push(MISC.sensors_baudrate);
|
|
buffer.push(MISC.gps_ubx_sbas);
|
|
buffer.push(MISC.multiwiicurrentoutput);
|
|
buffer.push(MISC.rssi_channel);
|
|
buffer.push(MISC.placeholder2);
|
|
buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
|
|
buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
|
|
buffer.push(MISC.vbatscale);
|
|
buffer.push(Math.round(MISC.vbatmincellvoltage * 10));
|
|
buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
|
|
buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
|
|
break;
|
|
case MSPCodes.MSPV2_INAV_SET_MISC:
|
|
buffer.push(lowByte(MISC.midrc));
|
|
buffer.push(highByte(MISC.midrc));
|
|
buffer.push(lowByte(MISC.minthrottle));
|
|
buffer.push(highByte(MISC.minthrottle));
|
|
buffer.push(lowByte(MISC.maxthrottle));
|
|
buffer.push(highByte(MISC.maxthrottle));
|
|
buffer.push(lowByte(MISC.mincommand));
|
|
buffer.push(highByte(MISC.mincommand));
|
|
buffer.push(lowByte(MISC.failsafe_throttle));
|
|
buffer.push(highByte(MISC.failsafe_throttle));
|
|
buffer.push(MISC.gps_type);
|
|
buffer.push(MISC.sensors_baudrate);
|
|
buffer.push(MISC.gps_ubx_sbas);
|
|
buffer.push(MISC.rssi_channel);
|
|
buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
|
|
buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
|
|
buffer.push(lowByte(MISC.vbatscale));
|
|
buffer.push(highByte(MISC.vbatscale));
|
|
buffer.push(MISC.voltage_source);
|
|
buffer.push(MISC.battery_cells);
|
|
buffer.push(lowByte(Math.round(MISC.vbatdetectcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(MISC.vbatdetectcellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(MISC.vbatmincellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(MISC.vbatmincellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(MISC.vbatmaxcellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(MISC.vbatwarningcellvoltage * 100)));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(MISC.battery_capacity, byte_index));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(MISC.battery_capacity_warning, byte_index));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(MISC.battery_capacity_critical, byte_index));
|
|
buffer.push((MISC.battery_capacity_unit == 'mAh') ? 0 : 1);
|
|
break;
|
|
case MSPCodes.MSPV2_INAV_SET_BATTERY_CONFIG:
|
|
buffer.push(lowByte(BATTERY_CONFIG.vbatscale));
|
|
buffer.push(highByte(BATTERY_CONFIG.vbatscale));
|
|
buffer.push(BATTERY_CONFIG.voltage_source);
|
|
buffer.push(BATTERY_CONFIG.battery_cells);
|
|
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatdetectcellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmincellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatmaxcellvoltage * 100)));
|
|
buffer.push(lowByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
|
|
buffer.push(highByte(Math.round(BATTERY_CONFIG.vbatwarningcellvoltage * 100)));
|
|
buffer.push(lowByte(BATTERY_CONFIG.current_offset));
|
|
buffer.push(highByte(BATTERY_CONFIG.current_offset));
|
|
buffer.push(lowByte(BATTERY_CONFIG.current_scale));
|
|
buffer.push(highByte(BATTERY_CONFIG.current_scale));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(BATTERY_CONFIG.capacity, byte_index));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(BATTERY_CONFIG.capacity_warning, byte_index));
|
|
for (byte_index = 0; byte_index < 4; ++byte_index)
|
|
buffer.push(specificByte(BATTERY_CONFIG.capacity_critical, byte_index));
|
|
buffer.push(BATTERY_CONFIG.capacity_unit);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_RX_CONFIG:
|
|
buffer.push(RX_CONFIG.serialrx_provider);
|
|
buffer.push(lowByte(RX_CONFIG.maxcheck));
|
|
buffer.push(highByte(RX_CONFIG.maxcheck));
|
|
buffer.push(lowByte(RX_CONFIG.midrc));
|
|
buffer.push(highByte(RX_CONFIG.midrc));
|
|
buffer.push(lowByte(RX_CONFIG.mincheck));
|
|
buffer.push(highByte(RX_CONFIG.mincheck));
|
|
buffer.push(RX_CONFIG.spektrum_sat_bind);
|
|
buffer.push(lowByte(RX_CONFIG.rx_min_usec));
|
|
buffer.push(highByte(RX_CONFIG.rx_min_usec));
|
|
buffer.push(lowByte(RX_CONFIG.rx_max_usec));
|
|
buffer.push(highByte(RX_CONFIG.rx_max_usec));
|
|
buffer.push(0); // 4 null bytes for betaflight compatibility
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
buffer.push(RX_CONFIG.spirx_protocol);
|
|
// spirx_id - 4 bytes
|
|
buffer.push32(RX_CONFIG.spirx_id);
|
|
buffer.push(RX_CONFIG.spirx_channel_count);
|
|
// unused byte for fpvCamAngleDegrees, for compatiblity with betaflight
|
|
buffer.push(0);
|
|
// receiver type in RX_CONFIG rather than in BF_CONFIG.features
|
|
buffer.push(RX_CONFIG.receiver_type);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_delay);
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_off_delay);
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_throttle));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_throttle));
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_kill_switch);
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_throttle_low_delay));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_throttle_low_delay));
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_procedure);
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_recovery_delay);
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_fw_roll_angle));
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_fw_pitch_angle));
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_fw_yaw_rate));
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_stick_motion_threshold));
|
|
buffer.push(lowByte(FAILSAFE_CONFIG.failsafe_min_distance));
|
|
buffer.push(highByte(FAILSAFE_CONFIG.failsafe_min_distance));
|
|
buffer.push(FAILSAFE_CONFIG.failsafe_min_distance_procedure);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
|
|
for (i = 0; i < SERVO_CONFIG.length; i++) {
|
|
var out = SERVO_CONFIG[i].indexOfChannelToForward;
|
|
if (out == undefined) {
|
|
out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
|
|
}
|
|
buffer.push(out);
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP2_SET_CF_SERIAL_CONFIG:
|
|
for (i = 0; i < SERIAL_CONFIG.ports.length; i++) {
|
|
var serialPort = SERIAL_CONFIG.ports[i];
|
|
|
|
buffer.push(serialPort.identifier);
|
|
|
|
var functionMask = mspHelper.SERIAL_PORT_FUNCTIONSToMask(serialPort.functions);
|
|
buffer.push(specificByte(functionMask, 0));
|
|
buffer.push(specificByte(functionMask, 1));
|
|
buffer.push(specificByte(functionMask, 2));
|
|
buffer.push(specificByte(functionMask, 3));
|
|
|
|
var BAUD_RATES = mspHelper.BAUD_RATES_post1_6_3;
|
|
buffer.push(BAUD_RATES.indexOf(serialPort.msp_baudrate));
|
|
buffer.push(BAUD_RATES.indexOf(serialPort.sensors_baudrate));
|
|
buffer.push(BAUD_RATES.indexOf(serialPort.telemetry_baudrate));
|
|
buffer.push(BAUD_RATES.indexOf(serialPort.blackbox_baudrate));
|
|
}
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_3D:
|
|
buffer.push(lowByte(REVERSIBLE_MOTORS.deadband_low));
|
|
buffer.push(highByte(REVERSIBLE_MOTORS.deadband_low));
|
|
buffer.push(lowByte(REVERSIBLE_MOTORS.deadband_high));
|
|
buffer.push(highByte(REVERSIBLE_MOTORS.deadband_high));
|
|
buffer.push(lowByte(REVERSIBLE_MOTORS.neutral));
|
|
buffer.push(highByte(REVERSIBLE_MOTORS.neutral));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_RC_DEADBAND:
|
|
buffer.push(RC_deadband.deadband);
|
|
buffer.push(RC_deadband.yaw_deadband);
|
|
buffer.push(RC_deadband.alt_hold_deadband);
|
|
buffer.push(lowByte(REVERSIBLE_MOTORS.deadband_throttle));
|
|
buffer.push(highByte(REVERSIBLE_MOTORS.deadband_throttle));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_SENSOR_ALIGNMENT:
|
|
buffer.push(SENSOR_ALIGNMENT.align_gyro);
|
|
buffer.push(SENSOR_ALIGNMENT.align_acc);
|
|
buffer.push(SENSOR_ALIGNMENT.align_mag);
|
|
buffer.push(SENSOR_ALIGNMENT.align_opflow);
|
|
break;
|
|
|
|
case MSPCodes.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;
|
|
|
|
case MSPCodes.MSP_SET_INAV_PID:
|
|
buffer.push(INAV_PID_CONFIG.asynchronousMode);
|
|
|
|
buffer.push(lowByte(INAV_PID_CONFIG.accelerometerTaskFrequency));
|
|
buffer.push(highByte(INAV_PID_CONFIG.accelerometerTaskFrequency));
|
|
|
|
buffer.push(lowByte(INAV_PID_CONFIG.attitudeTaskFrequency));
|
|
buffer.push(highByte(INAV_PID_CONFIG.attitudeTaskFrequency));
|
|
|
|
buffer.push(INAV_PID_CONFIG.magHoldRateLimit);
|
|
buffer.push(INAV_PID_CONFIG.magHoldErrorLpfFrequency);
|
|
|
|
buffer.push(lowByte(INAV_PID_CONFIG.yawJumpPreventionLimit));
|
|
buffer.push(highByte(INAV_PID_CONFIG.yawJumpPreventionLimit));
|
|
|
|
buffer.push(INAV_PID_CONFIG.gyroscopeLpf);
|
|
buffer.push(INAV_PID_CONFIG.accSoftLpfHz);
|
|
|
|
buffer.push(0); //reserved
|
|
buffer.push(0); //reserved
|
|
buffer.push(0); //reserved
|
|
buffer.push(0); //reserved
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_NAV_POSHOLD:
|
|
buffer.push(NAV_POSHOLD.userControlMode);
|
|
|
|
buffer.push(lowByte(NAV_POSHOLD.maxSpeed));
|
|
buffer.push(highByte(NAV_POSHOLD.maxSpeed));
|
|
|
|
buffer.push(lowByte(NAV_POSHOLD.maxClimbRate));
|
|
buffer.push(highByte(NAV_POSHOLD.maxClimbRate));
|
|
|
|
buffer.push(lowByte(NAV_POSHOLD.maxManualSpeed));
|
|
buffer.push(highByte(NAV_POSHOLD.maxManualSpeed));
|
|
|
|
buffer.push(lowByte(NAV_POSHOLD.maxManualClimbRate));
|
|
buffer.push(highByte(NAV_POSHOLD.maxManualClimbRate));
|
|
|
|
buffer.push(NAV_POSHOLD.maxBankAngle);
|
|
buffer.push(NAV_POSHOLD.useThrottleMidForAlthold);
|
|
|
|
buffer.push(lowByte(NAV_POSHOLD.hoverThrottle));
|
|
buffer.push(highByte(NAV_POSHOLD.hoverThrottle));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_CALIBRATION_DATA:
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accZero.X));
|
|
buffer.push(highByte(CALIBRATION_DATA.accZero.X));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accZero.Y));
|
|
buffer.push(highByte(CALIBRATION_DATA.accZero.Y));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accZero.Z));
|
|
buffer.push(highByte(CALIBRATION_DATA.accZero.Z));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accGain.X));
|
|
buffer.push(highByte(CALIBRATION_DATA.accGain.X));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accGain.Y));
|
|
buffer.push(highByte(CALIBRATION_DATA.accGain.Y));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.accGain.Z));
|
|
buffer.push(highByte(CALIBRATION_DATA.accGain.Z));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.magZero.X));
|
|
buffer.push(highByte(CALIBRATION_DATA.magZero.X));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.magZero.Y));
|
|
buffer.push(highByte(CALIBRATION_DATA.magZero.Y));
|
|
|
|
buffer.push(lowByte(CALIBRATION_DATA.magZero.Z));
|
|
buffer.push(highByte(CALIBRATION_DATA.magZero.Z));
|
|
|
|
buffer.push(lowByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
|
|
buffer.push(highByte(Math.round(CALIBRATION_DATA.opflow.Scale * 256)));
|
|
|
|
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.Z));
|
|
buffer.push(highByte(CALIBRATION_DATA.magGain.Z));
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
|
|
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_baro_p * 100));
|
|
buffer.push(highByte(POSITION_ESTIMATOR.w_z_baro_p * 100));
|
|
|
|
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_p * 100));
|
|
buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_p * 100));
|
|
|
|
buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_v * 100));
|
|
buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_v * 100));
|
|
|
|
buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
|
buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_p * 100));
|
|
|
|
buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
|
buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_v * 100));
|
|
|
|
buffer.push(POSITION_ESTIMATOR.gps_min_sats);
|
|
buffer.push(POSITION_ESTIMATOR.use_gps_velned);
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.minRthDistance));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.minRthDistance));
|
|
|
|
buffer.push(RTH_AND_LAND_CONFIG.rthClimbFirst);
|
|
buffer.push(RTH_AND_LAND_CONFIG.rthClimbIgnoreEmergency);
|
|
buffer.push(RTH_AND_LAND_CONFIG.rthTailFirst);
|
|
buffer.push(RTH_AND_LAND_CONFIG.rthAllowLanding);
|
|
buffer.push(RTH_AND_LAND_CONFIG.rthAltControlMode);
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAbortThreshold));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.rthAltitude));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.rthAltitude));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landMinAltVspd));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landMinAltVspd));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landMaxAltVspd));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMinAlt));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.landSlowdownMaxAlt));
|
|
|
|
buffer.push(lowByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
|
buffer.push(highByte(RTH_AND_LAND_CONFIG.emergencyDescentRate));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FW_CONFIG:
|
|
|
|
buffer.push(lowByte(FW_CONFIG.cruiseThrottle));
|
|
buffer.push(highByte(FW_CONFIG.cruiseThrottle));
|
|
|
|
buffer.push(lowByte(FW_CONFIG.minThrottle));
|
|
buffer.push(highByte(FW_CONFIG.minThrottle));
|
|
|
|
buffer.push(lowByte(FW_CONFIG.maxThrottle));
|
|
buffer.push(highByte(FW_CONFIG.maxThrottle));
|
|
|
|
buffer.push(FW_CONFIG.maxBankAngle);
|
|
buffer.push(FW_CONFIG.maxClimbAngle);
|
|
buffer.push(FW_CONFIG.maxDiveAngle);
|
|
buffer.push(FW_CONFIG.pitchToThrottle);
|
|
|
|
buffer.push(lowByte(FW_CONFIG.loiterRadius));
|
|
buffer.push(highByte(FW_CONFIG.loiterRadius));
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_FILTER_CONFIG:
|
|
buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.dtermLpfHz));
|
|
buffer.push(highByte(FILTER_CONFIG.dtermLpfHz));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.yawLpfHz));
|
|
buffer.push(highByte(FILTER_CONFIG.yawLpfHz));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.gyroNotchHz1));
|
|
buffer.push(highByte(FILTER_CONFIG.gyroNotchHz1));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.gyroNotchCutoff1));
|
|
buffer.push(highByte(FILTER_CONFIG.gyroNotchCutoff1));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.dtermNotchHz));
|
|
buffer.push(highByte(FILTER_CONFIG.dtermNotchHz));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.dtermNotchCutoff));
|
|
buffer.push(highByte(FILTER_CONFIG.dtermNotchCutoff));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.gyroNotchHz2));
|
|
buffer.push(highByte(FILTER_CONFIG.gyroNotchHz2));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.gyroNotchCutoff2));
|
|
buffer.push(highByte(FILTER_CONFIG.gyroNotchCutoff2));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.accNotchHz));
|
|
buffer.push(highByte(FILTER_CONFIG.accNotchHz));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.accNotchCutoff));
|
|
buffer.push(highByte(FILTER_CONFIG.accNotchCutoff));
|
|
|
|
buffer.push(lowByte(FILTER_CONFIG.gyroStage2LowpassHz));
|
|
buffer.push(highByte(FILTER_CONFIG.gyroStage2LowpassHz));
|
|
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_PID_ADVANCED:
|
|
buffer.push(lowByte(PID_ADVANCED.rollPitchItermIgnoreRate));
|
|
buffer.push(highByte(PID_ADVANCED.rollPitchItermIgnoreRate));
|
|
|
|
buffer.push(lowByte(PID_ADVANCED.yawItermIgnoreRate));
|
|
buffer.push(highByte(PID_ADVANCED.yawItermIgnoreRate));
|
|
|
|
buffer.push(lowByte(PID_ADVANCED.yawPLimit));
|
|
buffer.push(highByte(PID_ADVANCED.yawPLimit));
|
|
|
|
buffer.push(0); //BF: currentProfile->pidProfile.deltaMethod
|
|
buffer.push(0); //BF: currentProfile->pidProfile.vbatPidCompensation
|
|
buffer.push(0); //BF: currentProfile->pidProfile.setpointRelaxRatio
|
|
|
|
buffer.push(PID_ADVANCED.dtermSetpointWeight);
|
|
buffer.push(lowByte(PID_ADVANCED.pidSumLimit));
|
|
buffer.push(highByte(PID_ADVANCED.pidSumLimit));
|
|
|
|
buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
|
|
|
|
buffer.push(lowByte(PID_ADVANCED.axisAccelerationLimitRollPitch));
|
|
buffer.push(highByte(PID_ADVANCED.axisAccelerationLimitRollPitch));
|
|
|
|
buffer.push(lowByte(PID_ADVANCED.axisAccelerationLimitYaw));
|
|
buffer.push(highByte(PID_ADVANCED.axisAccelerationLimitYaw));
|
|
break;
|
|
|
|
case MSPCodes.MSP_SET_SENSOR_CONFIG:
|
|
buffer.push(SENSOR_CONFIG.accelerometer);
|
|
buffer.push(SENSOR_CONFIG.barometer);
|
|
buffer.push(SENSOR_CONFIG.magnetometer);
|
|
buffer.push(SENSOR_CONFIG.pitot);
|
|
buffer.push(SENSOR_CONFIG.rangefinder);
|
|
buffer.push(SENSOR_CONFIG.opflow);
|
|
break;
|
|
|
|
|
|
case MSPCodes.MSP_WP_MISSION_SAVE:
|
|
buffer.push(0);
|
|
break;
|
|
|
|
case MSPCodes.MSP_WP_MISSION_LOAD:
|
|
buffer.push(0);
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_SET_MIXER:
|
|
buffer.push(MIXER_CONFIG.yawMotorDirection);
|
|
buffer.push(lowByte(MIXER_CONFIG.yawJumpPreventionLimit));
|
|
buffer.push(highByte(MIXER_CONFIG.yawJumpPreventionLimit));
|
|
buffer.push(MIXER_CONFIG.platformType);
|
|
buffer.push(MIXER_CONFIG.hasFlaps);
|
|
buffer.push(lowByte(MIXER_CONFIG.appliedMixerPreset));
|
|
buffer.push(highByte(MIXER_CONFIG.appliedMixerPreset));
|
|
buffer.push(0); //Filler byte to match expect payload length
|
|
buffer.push(0); //Filler byte to match expect payload length
|
|
break;
|
|
|
|
case MSPCodes.MSP2_INAV_SET_MC_BRAKING:
|
|
buffer.push(lowByte(BRAKING_CONFIG.speedThreshold));
|
|
buffer.push(highByte(BRAKING_CONFIG.speedThreshold));
|
|
buffer.push(lowByte(BRAKING_CONFIG.disengageSpeed));
|
|
buffer.push(highByte(BRAKING_CONFIG.disengageSpeed));
|
|
buffer.push(lowByte(BRAKING_CONFIG.timeout));
|
|
buffer.push(highByte(BRAKING_CONFIG.timeout));
|
|
|
|
buffer.push(BRAKING_CONFIG.boostFactor);
|
|
|
|
buffer.push(lowByte(BRAKING_CONFIG.boostTimeout));
|
|
buffer.push(highByte(BRAKING_CONFIG.boostTimeout));
|
|
buffer.push(lowByte(BRAKING_CONFIG.boostSpeedThreshold));
|
|
buffer.push(highByte(BRAKING_CONFIG.boostSpeedThreshold));
|
|
buffer.push(lowByte(BRAKING_CONFIG.boostDisengageSpeed));
|
|
buffer.push(highByte(BRAKING_CONFIG.boostDisengageSpeed));
|
|
|
|
buffer.push(BRAKING_CONFIG.bankAngle);
|
|
break;
|
|
|
|
default:
|
|
return false;
|
|
}
|
|
|
|
return buffer;
|
|
};
|
|
|
|
/**
|
|
* Set raw Rx values over MSP protocol.
|
|
*
|
|
* Channels is an array of 16-bit unsigned integer channel values to be sent. 8 channels is probably the maximum.
|
|
*/
|
|
self.setRawRx = function (channels) {
|
|
var buffer = [];
|
|
|
|
for (var i = 0; i < channels.length; i++) {
|
|
buffer.push(specificByte(channels[i], 0));
|
|
buffer.push(specificByte(channels[i], 1));
|
|
}
|
|
|
|
MSP.send_message(MSPCodes.MSP_SET_RAW_RC, buffer, false);
|
|
};
|
|
|
|
self.sendBlackboxConfiguration = function (onDataCallback) {
|
|
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));
|
|
buffer.push(lowByte(BLACKBOX.blackboxRateDenom));
|
|
buffer.push(highByte(BLACKBOX.blackboxRateDenom));
|
|
buffer.push32(BLACKBOX.blackboxIncludeFlags);
|
|
//noinspection JSUnusedLocalSymbols
|
|
MSP.send_message(messageId, buffer, false, function (response) {
|
|
onDataCallback();
|
|
});
|
|
};
|
|
|
|
self.sendServoConfigurations = function (onCompleteCallback) {
|
|
var nextFunction = send_next_servo_configuration;
|
|
|
|
var servoIndex = 0;
|
|
|
|
if (SERVO_CONFIG.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
nextFunction();
|
|
}
|
|
|
|
function send_next_servo_configuration() {
|
|
|
|
var buffer = [];
|
|
|
|
// send one at a time, with index
|
|
|
|
var servoConfiguration = SERVO_CONFIG[servoIndex];
|
|
|
|
buffer.push(servoIndex);
|
|
|
|
buffer.push(lowByte(servoConfiguration.min));
|
|
buffer.push(highByte(servoConfiguration.min));
|
|
|
|
buffer.push(lowByte(servoConfiguration.max));
|
|
buffer.push(highByte(servoConfiguration.max));
|
|
|
|
buffer.push(lowByte(servoConfiguration.middle));
|
|
buffer.push(highByte(servoConfiguration.middle));
|
|
|
|
buffer.push(lowByte(servoConfiguration.rate));
|
|
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
|
|
var out = servoConfiguration.indexOfChannelToForward;
|
|
if (out == undefined) {
|
|
out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
|
|
}
|
|
buffer.push(out);
|
|
|
|
//Mock 4 bytes of servoConfiguration.reversedInputSources
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
buffer.push(0);
|
|
|
|
// prepare for next iteration
|
|
servoIndex++;
|
|
if (servoIndex == SERVO_CONFIG.length) {
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.sendServoMixer = function (onCompleteCallback) {
|
|
var nextFunction = sendMixer,
|
|
servoIndex = 0;
|
|
|
|
if (SERVO_RULES.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
nextFunction();
|
|
}
|
|
|
|
function sendMixer() {
|
|
|
|
var buffer = [];
|
|
|
|
// send one at a time, with index
|
|
|
|
var servoRule = SERVO_RULES.get()[servoIndex];
|
|
|
|
//INAV 2.2 uses different MSP frame
|
|
buffer.push(servoIndex);
|
|
buffer.push(servoRule.getTarget());
|
|
buffer.push(servoRule.getInput());
|
|
buffer.push(lowByte(servoRule.getRate()));
|
|
buffer.push(highByte(servoRule.getRate()));
|
|
buffer.push(servoRule.getSpeed());
|
|
buffer.push(servoRule.getConditionId());
|
|
|
|
// prepare for next iteration
|
|
servoIndex++;
|
|
if (servoIndex == SERVO_RULES.getServoRulesCount()) { //This is the last rule. Not pretty, but we have to send all rules
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_SERVO_MIXER, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.sendMotorMixer = function (onCompleteCallback) {
|
|
|
|
var nextFunction = sendMixer,
|
|
servoIndex = 0;
|
|
|
|
if (MOTOR_RULES.length === 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
nextFunction();
|
|
}
|
|
|
|
function sendMixer() {
|
|
|
|
var buffer = [];
|
|
|
|
// send one at a time, with index
|
|
|
|
var rule = MOTOR_RULES.get()[servoIndex];
|
|
|
|
if (rule) {
|
|
|
|
buffer.push(servoIndex);
|
|
|
|
buffer.push(lowByte(rule.getThrottleForMsp()));
|
|
buffer.push(highByte(rule.getThrottleForMsp()));
|
|
|
|
buffer.push(lowByte(rule.getRollForMsp()));
|
|
buffer.push(highByte(rule.getRollForMsp()));
|
|
|
|
buffer.push(lowByte(rule.getPitchForMsp()));
|
|
buffer.push(highByte(rule.getPitchForMsp()));
|
|
|
|
buffer.push(lowByte(rule.getYawForMsp()));
|
|
buffer.push(highByte(rule.getYawForMsp()));
|
|
|
|
// prepare for next iteration
|
|
servoIndex++;
|
|
if (servoIndex == MOTOR_RULES.getMotorCount()) { //This is the last rule. Not pretty, but we have to send all rules
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
MSP.send_message(MSPCodes.MSP2_COMMON_SET_MOTOR_MIXER, buffer, false, nextFunction);
|
|
} else {
|
|
onCompleteCallback();
|
|
}
|
|
}
|
|
};
|
|
|
|
self.loadLogicConditions = function (callback) {
|
|
if (semver.gte(CONFIG.flightControllerVersion, "5.0.0")) {
|
|
LOGIC_CONDITIONS.flush();
|
|
let idx = 0;
|
|
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, nextLogicCondition);
|
|
|
|
function nextLogicCondition() {
|
|
idx++;
|
|
if (idx < LOGIC_CONDITIONS.getMaxLogicConditionCount() - 1) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, nextLogicCondition);
|
|
} else {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_SINGLE, [idx], false, callback);
|
|
}
|
|
}
|
|
} else {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS, false, false, callback);
|
|
}
|
|
}
|
|
|
|
self.sendLogicConditions = function (onCompleteCallback) {
|
|
let nextFunction = sendCondition,
|
|
conditionIndex = 0;
|
|
|
|
if (LOGIC_CONDITIONS.getCount() == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
nextFunction();
|
|
}
|
|
|
|
function sendCondition() {
|
|
|
|
let buffer = [];
|
|
|
|
// send one at a time, with index, 14 bytes per one condition
|
|
|
|
let condition = LOGIC_CONDITIONS.get()[conditionIndex];
|
|
|
|
buffer.push(conditionIndex);
|
|
buffer.push(condition.getEnabled());
|
|
buffer.push(condition.getActivatorId());
|
|
buffer.push(condition.getOperation());
|
|
buffer.push(condition.getOperandAType());
|
|
buffer.push(specificByte(condition.getOperandAValue(), 0));
|
|
buffer.push(specificByte(condition.getOperandAValue(), 1));
|
|
buffer.push(specificByte(condition.getOperandAValue(), 2));
|
|
buffer.push(specificByte(condition.getOperandAValue(), 3));
|
|
buffer.push(condition.getOperandBType());
|
|
buffer.push(specificByte(condition.getOperandBValue(), 0));
|
|
buffer.push(specificByte(condition.getOperandBValue(), 1));
|
|
buffer.push(specificByte(condition.getOperandBValue(), 2));
|
|
buffer.push(specificByte(condition.getOperandBValue(), 3));
|
|
buffer.push(condition.getFlags());
|
|
|
|
// prepare for next iteration
|
|
conditionIndex++;
|
|
if (conditionIndex == LOGIC_CONDITIONS.getCount()) { //This is the last rule. Not pretty, but we have to send all rules
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_LOGIC_CONDITIONS, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.loadProgrammingPid = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID, false, false, callback);
|
|
}
|
|
|
|
self.sendProgrammingPid = function (onCompleteCallback) {
|
|
let nextFunction = sendPid,
|
|
pidIndex = 0;
|
|
|
|
if (PROGRAMMING_PID.getCount() == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
nextFunction();
|
|
}
|
|
|
|
function sendPid() {
|
|
|
|
let buffer = [];
|
|
|
|
// send one at a time, with index, 20 bytes per one condition
|
|
|
|
let pid = PROGRAMMING_PID.get()[pidIndex];
|
|
|
|
buffer.push(pidIndex);
|
|
buffer.push(pid.getEnabled());
|
|
buffer.push(pid.getSetpointType());
|
|
buffer.push(specificByte(pid.getSetpointValue(), 0));
|
|
buffer.push(specificByte(pid.getSetpointValue(), 1));
|
|
buffer.push(specificByte(pid.getSetpointValue(), 2));
|
|
buffer.push(specificByte(pid.getSetpointValue(), 3));
|
|
buffer.push(pid.getMeasurementType());
|
|
buffer.push(specificByte(pid.getMeasurementValue(), 0));
|
|
buffer.push(specificByte(pid.getMeasurementValue(), 1));
|
|
buffer.push(specificByte(pid.getMeasurementValue(), 2));
|
|
buffer.push(specificByte(pid.getMeasurementValue(), 3));
|
|
buffer.push(specificByte(pid.getGainP(), 0));
|
|
buffer.push(specificByte(pid.getGainP(), 1));
|
|
buffer.push(specificByte(pid.getGainI(), 0));
|
|
buffer.push(specificByte(pid.getGainI(), 1));
|
|
buffer.push(specificByte(pid.getGainD(), 0));
|
|
buffer.push(specificByte(pid.getGainD(), 1));
|
|
buffer.push(specificByte(pid.getGainFF(), 0));
|
|
buffer.push(specificByte(pid.getGainFF(), 1));
|
|
|
|
// prepare for next iteration
|
|
pidIndex++;
|
|
if (pidIndex == PROGRAMMING_PID.getCount()) { //This is the last rule. Not pretty, but we have to send all rules
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_PROGRAMMING_PID, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.sendModeRanges = function (onCompleteCallback) {
|
|
var nextFunction = send_next_mode_range;
|
|
|
|
var modeRangeIndex = 0;
|
|
|
|
if (MODE_RANGES.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
send_next_mode_range();
|
|
}
|
|
|
|
function send_next_mode_range() {
|
|
|
|
var modeRange = MODE_RANGES[modeRangeIndex];
|
|
|
|
var buffer = [];
|
|
buffer.push(modeRangeIndex);
|
|
buffer.push(modeRange.id);
|
|
buffer.push(modeRange.auxChannelIndex);
|
|
buffer.push((modeRange.range.start - 900) / 25);
|
|
buffer.push((modeRange.range.end - 900) / 25);
|
|
|
|
// prepare for next iteration
|
|
modeRangeIndex++;
|
|
if (modeRangeIndex == MODE_RANGES.length) {
|
|
nextFunction = onCompleteCallback;
|
|
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_MODE_RANGE, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Send a request to read a block of data from the dataflash at the given address and pass that address and a ArrayBuffer
|
|
* of the returned data to the given callback (or null for the data if an error occured).
|
|
*/
|
|
self.dataflashRead = function (address, onDataCallback) {
|
|
var buffer = [];
|
|
buffer.push(address & 0xFF);
|
|
buffer.push((address >> 8) & 0xFF);
|
|
buffer.push((address >> 16) & 0xFF);
|
|
buffer.push((address >> 24) & 0xFF);
|
|
|
|
// For API > 2.0.0 we support requesting payload size - request 4KiB and let firmware decide what actual size to send
|
|
if (CONFIG.apiVersion && semver.gte(CONFIG.apiVersion, "2.0.0")) {
|
|
buffer.push(lowByte(4096));
|
|
buffer.push(highByte(4096));
|
|
}
|
|
|
|
MSP.send_message(MSPCodes.MSP_DATAFLASH_READ, buffer, false, function (response) {
|
|
var chunkAddress = response.data.getUint32(0, 1);
|
|
|
|
// Verify that the address of the memory returned matches what the caller asked for
|
|
if (chunkAddress == address) {
|
|
/* Strip that address off the front of the reply and deliver it separately so the caller doesn't have to
|
|
* figure out the reply format:
|
|
*/
|
|
onDataCallback(address, response.data.buffer.slice(4));
|
|
} else {
|
|
// Report error
|
|
onDataCallback(address, null);
|
|
}
|
|
});
|
|
};
|
|
|
|
self.sendRxFailConfig = function (onCompleteCallback) {
|
|
var nextFunction = send_next_rxfail_config;
|
|
|
|
var rxFailIndex = 0;
|
|
|
|
if (RXFAIL_CONFIG.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
send_next_rxfail_config();
|
|
}
|
|
|
|
function send_next_rxfail_config() {
|
|
|
|
var rxFail = RXFAIL_CONFIG[rxFailIndex];
|
|
|
|
var buffer = [];
|
|
buffer.push(rxFailIndex);
|
|
buffer.push(rxFail.mode);
|
|
buffer.push(lowByte(rxFail.value));
|
|
buffer.push(highByte(rxFail.value));
|
|
|
|
// prepare for next iteration
|
|
rxFailIndex++;
|
|
if (rxFailIndex == RXFAIL_CONFIG.length) {
|
|
nextFunction = onCompleteCallback;
|
|
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_RXFAIL_CONFIG, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @return {number}
|
|
*/
|
|
self.SERIAL_PORT_FUNCTIONSToMask = function (functions) {
|
|
var mask = 0;
|
|
for (var index = 0; index < functions.length; index++) {
|
|
var key = functions[index];
|
|
var bitIndex = mspHelper.SERIAL_PORT_FUNCTIONS[key];
|
|
if (bitIndex >= 0) {
|
|
mask = bit_set(mask, bitIndex);
|
|
}
|
|
}
|
|
return mask;
|
|
};
|
|
|
|
self.serialPortFunctionMaskToFunctions = function (functionMask) {
|
|
var functions = [];
|
|
|
|
var keys = Object.keys(mspHelper.SERIAL_PORT_FUNCTIONS);
|
|
for (var index = 0; index < keys.length; index++) {
|
|
var key = keys[index];
|
|
var bit = mspHelper.SERIAL_PORT_FUNCTIONS[key];
|
|
if (bit_check(functionMask, bit)) {
|
|
functions.push(key);
|
|
}
|
|
}
|
|
return functions;
|
|
};
|
|
|
|
self.sendServoMixRules = function (onCompleteCallback) {
|
|
// TODO implement
|
|
onCompleteCallback();
|
|
};
|
|
|
|
self.sendAdjustmentRanges = function (onCompleteCallback) {
|
|
var nextFunction = send_next_adjustment_range;
|
|
|
|
var adjustmentRangeIndex = 0;
|
|
|
|
if (ADJUSTMENT_RANGES.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
send_next_adjustment_range();
|
|
}
|
|
|
|
|
|
function send_next_adjustment_range() {
|
|
|
|
var adjustmentRange = ADJUSTMENT_RANGES[adjustmentRangeIndex];
|
|
|
|
var buffer = [];
|
|
buffer.push(adjustmentRangeIndex);
|
|
buffer.push(adjustmentRange.slotIndex);
|
|
buffer.push(adjustmentRange.auxChannelIndex);
|
|
buffer.push((adjustmentRange.range.start - 900) / 25);
|
|
buffer.push((adjustmentRange.range.end - 900) / 25);
|
|
buffer.push(adjustmentRange.adjustmentFunction);
|
|
buffer.push(adjustmentRange.auxSwitchChannelIndex);
|
|
|
|
// prepare for next iteration
|
|
adjustmentRangeIndex++;
|
|
if (adjustmentRangeIndex == ADJUSTMENT_RANGES.length) {
|
|
nextFunction = onCompleteCallback;
|
|
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_ADJUSTMENT_RANGE, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.sendLedStripColors = function (onCompleteCallback) {
|
|
if (LED_COLORS.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
var buffer = [];
|
|
|
|
for (var colorIndex = 0; colorIndex < LED_COLORS.length; colorIndex++) {
|
|
var color = LED_COLORS[colorIndex];
|
|
|
|
buffer.push(specificByte(color.h, 0));
|
|
buffer.push(specificByte(color.h, 1));
|
|
buffer.push(color.s);
|
|
buffer.push(color.v);
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_LED_COLORS, buffer, false, onCompleteCallback);
|
|
}
|
|
};
|
|
|
|
self.sendLedStripConfig = function (onCompleteCallback) {
|
|
|
|
var nextFunction = send_next_led_strip_config;
|
|
|
|
var ledIndex = 0;
|
|
|
|
if (LED_STRIP.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
send_next_led_strip_config();
|
|
}
|
|
|
|
function send_next_led_strip_config() {
|
|
|
|
var led = LED_STRIP[ledIndex];
|
|
/*
|
|
var led = {
|
|
directions: directions,
|
|
functions: functions,
|
|
x: data.getUint8(offset++, 1),
|
|
y: data.getUint8(offset++, 1),
|
|
color: data.getUint8(offset++, 1)
|
|
};
|
|
*/
|
|
var buffer = [],
|
|
directionLetterIndex,
|
|
functionLetterIndex,
|
|
bitIndex;
|
|
|
|
buffer.push(ledIndex);
|
|
|
|
var mask = 0;
|
|
/*
|
|
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', 'h'], // in LSB bit
|
|
ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
|
|
|
|
*/
|
|
mask |= (led.y << 0);
|
|
mask |= (led.x << 4);
|
|
|
|
for (functionLetterIndex = 0; functionLetterIndex < led.functions.length; functionLetterIndex++) {
|
|
var fnIndex = MSP.ledBaseFunctionLetters.indexOf(led.functions[functionLetterIndex]);
|
|
if (fnIndex >= 0) {
|
|
mask |= (fnIndex << 8);
|
|
break;
|
|
}
|
|
}
|
|
|
|
for (var overlayLetterIndex = 0; overlayLetterIndex < led.functions.length; overlayLetterIndex++) {
|
|
|
|
bitIndex = MSP.ledOverlayLetters.indexOf(led.functions[overlayLetterIndex]);
|
|
if (bitIndex >= 0) {
|
|
mask |= bit_set(mask, bitIndex + 12);
|
|
}
|
|
|
|
}
|
|
|
|
mask |= (led.color << 18);
|
|
|
|
for (directionLetterIndex = 0; directionLetterIndex < led.directions.length; directionLetterIndex++) {
|
|
|
|
bitIndex = MSP.ledDirectionLetters.indexOf(led.directions[directionLetterIndex]);
|
|
if (bitIndex >= 0) {
|
|
mask |= bit_set(mask, bitIndex + 22);
|
|
}
|
|
|
|
}
|
|
|
|
mask |= (0 << 28); // parameters
|
|
|
|
|
|
buffer.push(specificByte(mask, 0));
|
|
buffer.push(specificByte(mask, 1));
|
|
buffer.push(specificByte(mask, 2));
|
|
buffer.push(specificByte(mask, 3));
|
|
|
|
// prepare for next iteration
|
|
ledIndex++;
|
|
if (ledIndex == LED_STRIP.length) {
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
|
|
MSP.send_message(MSPCodes.MSP_SET_LED_STRIP_CONFIG, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
self.sendLedStripModeColors = function (onCompleteCallback) {
|
|
|
|
var nextFunction = send_next_led_strip_mode_color;
|
|
var index = 0;
|
|
|
|
if (LED_MODE_COLORS.length == 0) {
|
|
onCompleteCallback();
|
|
} else {
|
|
send_next_led_strip_mode_color();
|
|
}
|
|
|
|
function send_next_led_strip_mode_color() {
|
|
var buffer = [];
|
|
|
|
var mode_color = LED_MODE_COLORS[index];
|
|
|
|
buffer.push(mode_color.mode);
|
|
buffer.push(mode_color.direction);
|
|
buffer.push(mode_color.color);
|
|
|
|
// prepare for next iteration
|
|
index++;
|
|
if (index == LED_MODE_COLORS.length) {
|
|
nextFunction = onCompleteCallback;
|
|
}
|
|
|
|
MSP.send_message(MSPCodes.MSP_SET_LED_STRIP_MODECOLOR, buffer, false, nextFunction);
|
|
}
|
|
};
|
|
|
|
/*
|
|
* Basic sending methods used for chaining purposes
|
|
*/
|
|
|
|
self.loadINAVPidConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_INAV_PID, false, false, callback);
|
|
};
|
|
|
|
self.loadAdvancedConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_ADVANCED_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.loadFilterConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_FILTER_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.loadPidAdvanced = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_PID_ADVANCED, false, false, callback);
|
|
};
|
|
|
|
self.loadRcTuningData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RC_TUNING, false, false, callback);
|
|
};
|
|
|
|
self.loadRateProfileData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_RATE_PROFILE, false, false, callback);
|
|
};
|
|
|
|
self.loadPidData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_PID, false, false, callback);
|
|
};
|
|
|
|
self.loadPidNames = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_PIDNAMES, false, false, callback);
|
|
};
|
|
|
|
self.loadFeatures = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_FEATURE, false, false, callback);
|
|
};
|
|
|
|
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);
|
|
};
|
|
|
|
self.queryFcStatus = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_STATUS, false, false, callback);
|
|
};
|
|
|
|
self.loadMisc = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_MISC, false, false, callback);
|
|
};
|
|
|
|
self.loadMiscV2 = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_MISC, false, false, callback);
|
|
};
|
|
|
|
self.loadOutputMapping = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_OUTPUT_MAPPING, false, false, callback);
|
|
};
|
|
|
|
self.loadBatteryConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.loadArmingConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.loadRxConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RX_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.load3dConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_3D, false, false, callback);
|
|
};
|
|
|
|
self.loadSensorAlignment = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, callback);
|
|
};
|
|
|
|
self.loadSensorConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SENSOR_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.loadSensorStatus = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SENSOR_STATUS, false, false, callback);
|
|
};
|
|
|
|
self.loadRcDeadband = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RC_DEADBAND, false, false, callback);
|
|
};
|
|
|
|
self.loadRcMap = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RX_MAP, false, false, callback);
|
|
};
|
|
|
|
self.loadRcData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RC, false, false, callback);
|
|
};
|
|
|
|
self.loadAccTrim = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_ACC_TRIM, false, false, callback);
|
|
};
|
|
|
|
self.loadAnalog = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_ANALOG, false, false, callback);
|
|
};
|
|
|
|
self.saveToEeprom = function saveToEeprom(callback) {
|
|
MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, callback);
|
|
};
|
|
|
|
self.saveINAVPidConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_INAV_PID, mspHelper.crunch(MSPCodes.MSP_SET_INAV_PID), false, callback);
|
|
};
|
|
|
|
self.saveAdvancedConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_ADVANCED_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ADVANCED_CONFIG), false, callback);
|
|
};
|
|
|
|
self.saveFilterConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_FILTER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FILTER_CONFIG), false, callback);
|
|
};
|
|
|
|
self.savePidData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_SET_PID, mspHelper.crunch(MSPCodes.MSP2_SET_PID), false, callback);
|
|
};
|
|
|
|
self.saveRcTuningData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_RC_TUNING, mspHelper.crunch(MSPCodes.MSP_SET_RC_TUNING), false, callback);
|
|
};
|
|
|
|
self.saveRateProfileData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_RATE_PROFILE), false, callback);
|
|
};
|
|
|
|
self.savePidAdvanced = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED, mspHelper.crunch(MSPCodes.MSP_SET_PID_ADVANCED), false, callback);
|
|
};
|
|
|
|
self.saveFeatures = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_FEATURE, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE), false, callback);
|
|
};
|
|
|
|
self.saveCurrentMeterConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_CURRENT_METER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_CURRENT_METER_CONFIG), false, callback);
|
|
};
|
|
|
|
self.saveBoardAlignment = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_BOARD_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_BOARD_ALIGNMENT), false, callback);
|
|
};
|
|
|
|
self.saveMisc = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_MISC, mspHelper.crunch(MSPCodes.MSP_SET_MISC), false, callback);
|
|
};
|
|
|
|
self.saveMiscV2 = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_INAV_SET_MISC, mspHelper.crunch(MSPCodes.MSPV2_INAV_SET_MISC), false, callback);
|
|
};
|
|
|
|
self.saveBatteryConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSPV2_SET_BATTERY_CONFIG, mspHelper.crunch(MSPCodes.MSPV2_SET_BATTERY_CONFIG), false, callback);
|
|
};
|
|
|
|
self.save3dConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_3D, mspHelper.crunch(MSPCodes.MSP_SET_3D), false, callback);
|
|
};
|
|
|
|
self.saveSensorAlignment = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_SENSOR_ALIGNMENT, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_ALIGNMENT), false, callback);
|
|
};
|
|
|
|
self.saveAccTrim = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_ACC_TRIM, mspHelper.crunch(MSPCodes.MSP_SET_ACC_TRIM), false, callback);
|
|
};
|
|
|
|
self.saveArmingConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_ARMING_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ARMING_CONFIG), false, callback);
|
|
};
|
|
|
|
self.saveRxConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, callback);
|
|
};
|
|
|
|
self.saveSensorConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_SENSOR_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_SENSOR_CONFIG), false, callback);
|
|
};
|
|
|
|
self.loadNavPosholdConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_NAV_POSHOLD, false, false, callback);
|
|
};
|
|
|
|
self.saveNavPosholdConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_NAV_POSHOLD, mspHelper.crunch(MSPCodes.MSP_SET_NAV_POSHOLD), false, callback);
|
|
};
|
|
|
|
self.loadPositionEstimationConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_POSITION_ESTIMATION_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.savePositionEstimationConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG), false, callback);
|
|
};
|
|
|
|
self.loadCalibrationData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_CALIBRATION_DATA, false, false, callback);
|
|
};
|
|
|
|
self.saveCalibrationData = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_CALIBRATION_DATA, mspHelper.crunch(MSPCodes.MSP_SET_CALIBRATION_DATA), false, callback);
|
|
};
|
|
|
|
self.loadRthAndLandConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RTH_AND_LAND_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.saveRthAndLandConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG), false, callback);
|
|
};
|
|
|
|
self.loadFwConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_FW_CONFIG, false, false, callback);
|
|
};
|
|
|
|
self.saveFwConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SET_FW_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FW_CONFIG), false, callback);
|
|
};
|
|
|
|
self.getMissionInfo = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
|
|
};
|
|
|
|
self.loadWaypoints = function (callback) {
|
|
MISSION_PLANNER.reinit();
|
|
let waypointId = 0;
|
|
let startTime = new Date().getTime();
|
|
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, loadWaypoint);
|
|
|
|
function loadWaypoint() {
|
|
waypointId++;
|
|
if (waypointId < MISSION_PLANNER.getCountBusyPoints()) {
|
|
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, loadWaypoint);
|
|
} else {
|
|
GUI.log('Receive time: ' + (new Date().getTime() - startTime) + 'ms');
|
|
MSP.send_message(MSPCodes.MSP_WP, [waypointId], false, callback);
|
|
}
|
|
};
|
|
};
|
|
|
|
self.saveWaypoints = function (callback) {
|
|
let waypointId = 0;
|
|
let startTime = new Date().getTime();
|
|
sendWaypoint();
|
|
|
|
function sendWaypoint() {
|
|
waypointId++;
|
|
if (waypointId < MISSION_PLANNER.get().length) {
|
|
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANNER.extractBuffer(waypointId), false, sendWaypoint);
|
|
}
|
|
else {
|
|
MSP.send_message(MSPCodes.MSP_SET_WP, MISSION_PLANNER.extractBuffer(waypointId), false, endMission);
|
|
}
|
|
};
|
|
|
|
function endMission() {
|
|
GUI.log('Send time: ' + (new Date().getTime() - startTime) + 'ms');
|
|
MSP.send_message(MSPCodes.MSP_WP_GETINFO, false, false, callback);
|
|
}
|
|
};
|
|
|
|
self.loadSafehomes = function (callback) {
|
|
SAFEHOMES.flush();
|
|
let safehomeId = 0;
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
|
|
|
|
function nextSafehome() {
|
|
safehomeId++;
|
|
if (safehomeId < SAFEHOMES.getMaxSafehomeCount() - 1) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, nextSafehome);
|
|
}
|
|
else {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SAFEHOME, [safehomeId], false, callback);
|
|
}
|
|
};
|
|
};
|
|
|
|
self.saveSafehomes = function (callback) {
|
|
let safehomeId = 0;
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
|
|
|
|
function nextSendSafehome() {
|
|
safehomeId++;
|
|
if (safehomeId < SAFEHOMES.getMaxSafehomeCount() - 1) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, nextSendSafehome);
|
|
}
|
|
else {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_SAFEHOME, SAFEHOMES.extractBuffer(safehomeId), false, callback);
|
|
}
|
|
};
|
|
};
|
|
|
|
self._getSetting = function (name) {
|
|
if (SETTINGS[name]) {
|
|
return Promise.resolve(SETTINGS[name]);
|
|
}
|
|
var data = [];
|
|
self._encodeSettingReference(name, null, data);
|
|
return MSP.promise(MSPCodes.MSP2_COMMON_SETTING_INFO, data).then(function (result) {
|
|
const MODE_LOOKUP = 1 << 6;
|
|
var settingTypes = {
|
|
0: "uint8_t",
|
|
1: "int8_t",
|
|
2: "uint16_t",
|
|
3: "int16_t",
|
|
4: "uint32_t",
|
|
5: "float",
|
|
6: "string",
|
|
};
|
|
var setting = {};
|
|
|
|
// Discard setting name
|
|
result.data.readString();
|
|
|
|
// Discard PG ID
|
|
result.data.readU16();
|
|
|
|
var type = result.data.readU8();
|
|
setting.type = settingTypes[type];
|
|
if (!setting.type) {
|
|
console.log("Unknown setting type " + type + " for setting '" + name + "'");
|
|
return null;
|
|
}
|
|
// Discard section
|
|
result.data.readU8();
|
|
setting.mode = result.data.readU8();
|
|
setting.min = result.data.read32();
|
|
setting.max = result.data.readU32();
|
|
|
|
setting.index = result.data.readU16();
|
|
|
|
// Discard profile info
|
|
result.data.readU8();
|
|
result.data.readU8();
|
|
|
|
if (setting.mode == MODE_LOOKUP) {
|
|
var values = [];
|
|
for (var ii = setting.min; ii <= setting.max; ii++) {
|
|
values.push(result.data.readString());
|
|
}
|
|
setting.table = { values: values };
|
|
}
|
|
SETTINGS[name] = setting;
|
|
return setting;
|
|
});
|
|
}
|
|
|
|
self._encodeSettingReference = function (name, index, data) {
|
|
if (Number.isInteger(index)) {
|
|
data.push8(0);
|
|
data.push16(index);
|
|
} else {
|
|
for (var ii = 0; ii < name.length; ii++) {
|
|
data.push(name.charCodeAt(ii));
|
|
}
|
|
data.push(0);
|
|
}
|
|
};
|
|
|
|
self.getSetting = function (name) {
|
|
var $this = this;
|
|
return this._getSetting(name).then(function (setting) {
|
|
if (!setting) {
|
|
// Setting not available in the FC
|
|
return null;
|
|
}
|
|
var data = [];
|
|
$this._encodeSettingReference(name, setting.index, data);
|
|
return MSP.promise(MSPCodes.MSPV2_SETTING, data).then(function (resp) {
|
|
var value;
|
|
switch (setting.type) {
|
|
case "uint8_t":
|
|
value = resp.data.getUint8(0);
|
|
break;
|
|
case "int8_t":
|
|
value = resp.data.getInt8(0);
|
|
break;
|
|
case "uint16_t":
|
|
value = resp.data.getUint16(0, true);
|
|
break;
|
|
case "int16_t":
|
|
value = resp.data.getInt16(0, true);
|
|
break;
|
|
case "uint32_t":
|
|
value = resp.data.getUint32(0, true);
|
|
break;
|
|
case "float":
|
|
var fi32 = resp.data.getUint32(0, true);
|
|
var buf = new ArrayBuffer(4);
|
|
(new Uint32Array(buf))[0] = fi32;
|
|
value = (new Float32Array(buf))[0];
|
|
break;
|
|
case "string":
|
|
value = resp.data.readString();
|
|
break;
|
|
default:
|
|
throw "Unknown setting type " + setting.type;
|
|
}
|
|
return { setting: setting, value: value };
|
|
});
|
|
});
|
|
};
|
|
|
|
self.encodeSetting = function (name, value) {
|
|
return this._getSetting(name).then(function (setting) {
|
|
if (setting.table && !Number.isInteger(value)) {
|
|
var found = false;
|
|
for (var ii = 0; ii < setting.table.values.length; ii++) {
|
|
if (setting.table.values[ii] == value) {
|
|
value = ii;
|
|
found = true;
|
|
break;
|
|
}
|
|
}
|
|
if (!found) {
|
|
throw 'Invalid value "' + value + '" for setting ' + name;
|
|
}
|
|
}
|
|
var data = [];
|
|
self._encodeSettingReference(name, setting.index, data);
|
|
switch (setting.type) {
|
|
case "uint8_t":
|
|
case "int8_t":
|
|
data.push8(value);
|
|
break;
|
|
case "uint16_t":
|
|
case "int16_t":
|
|
data.push16(value);
|
|
break;
|
|
case "uint32_t":
|
|
data.push32(value);
|
|
break;
|
|
case "float":
|
|
var buf = new ArrayBuffer(4);
|
|
(new Float32Array(buf))[0] = value;
|
|
var if32 = (new Uint32Array(buf))[0];
|
|
data.push32(if32);
|
|
break;
|
|
case "string":
|
|
for (var ii = 0; ii < value.length; ii++) {
|
|
data.push(value.charCodeAt(ii));
|
|
}
|
|
break;
|
|
default:
|
|
throw "Unknown setting type " + setting.type;
|
|
}
|
|
return data;
|
|
});
|
|
};
|
|
|
|
self.setSetting = function (name, value, callback) {
|
|
this.encodeSetting(name, value).then(function (data) {
|
|
return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data).then(callback);
|
|
});
|
|
};
|
|
|
|
self.getRTC = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_RTC, false, false, function (resp) {
|
|
var seconds = resp.data.read32();
|
|
var millis = resp.data.readU16();
|
|
if (callback) {
|
|
callback(seconds, millis);
|
|
}
|
|
});
|
|
};
|
|
|
|
self.setRTC = function (callback) {
|
|
var now = Date.now();
|
|
var secs = now / 1000;
|
|
var millis = now % 1000;
|
|
var data = [];
|
|
data.push32(secs);
|
|
data.push16(millis);
|
|
MSP.send_message(MSPCodes.MSP_SET_RTC, data, false, callback);
|
|
};
|
|
|
|
self.loadServoConfiguration = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_SERVO_CONFIGURATIONS, false, false, callback);
|
|
};
|
|
|
|
self.loadServoMixRules = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SERVO_MIXER, false, false, callback);
|
|
};
|
|
|
|
self.loadMotorMixRules = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_COMMON_MOTOR_MIXER, false, false, callback);
|
|
};
|
|
|
|
self.loadMotors = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_MOTOR, false, false, callback);
|
|
};
|
|
|
|
self.getCraftName = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_NAME, false, false, function (resp) {
|
|
var name = resp.data.readString();
|
|
if (callback) {
|
|
callback(name);
|
|
}
|
|
});
|
|
};
|
|
|
|
self.setCraftName = function (name, callback) {
|
|
var data = [];
|
|
name = name || "";
|
|
for (var ii = 0; ii < name.length; ii++) {
|
|
data.push(name.charCodeAt(ii));
|
|
}
|
|
MSP.send_message(MSPCodes.MSP_SET_NAME, data, false, callback);
|
|
};
|
|
|
|
self.loadMixerConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_MIXER, false, false, callback);
|
|
};
|
|
|
|
self.saveMixerConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_SET_MIXER, mspHelper.crunch(MSPCodes.MSP2_INAV_SET_MIXER), false, callback);
|
|
};
|
|
|
|
self.loadVTXConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP_VTX_CONFIG, false, false, 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) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, 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) {
|
|
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 });
|
|
}
|
|
if (callback) {
|
|
callback(groups);
|
|
}
|
|
});
|
|
};
|
|
|
|
self.loadBrakingConfig = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_MC_BRAKING, false, false, callback);
|
|
}
|
|
|
|
self.loadLogicConditionsStatus = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_LOGIC_CONDITIONS_STATUS, false, false, callback);
|
|
};
|
|
|
|
self.loadGlobalVariablesStatus = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_GVAR_STATUS, false, false, callback);
|
|
};
|
|
|
|
self.loadProgrammingPidStatus = function (callback) {
|
|
MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
|
|
};
|
|
|
|
|
|
return self;
|
|
})(GUI);
|