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MSPHelper.js
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MSPHelper.js
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'use strict';
// Used for LED_STRIP
const ledDirectionLetters = ['n', 'e', 's', 'w', 'u', 'd']; // in LSB bit order
const ledFunctionLetters = ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l']; // in LSB bit order
const ledBaseFunctionLetters = ['c', 'f', 'a', 'l', 's', 'g', 'r']; // in LSB bit
let ledOverlayLetters = ['t', 'o', 'b', 'v', 'i', 'w']; // in LSB bit
function MspHelper() {
const self = this;
// 0 based index, must be identical to 'baudRates' in 'src/main/io/serial.c' in betaflight
self.BAUD_RATES = ['AUTO', '9600', '19200', '38400', '57600', '115200',
'230400', '250000', '400000', '460800', '500000', '921600', '1000000',
'1500000', '2000000', '2470000'];
// needs to be identical to 'serialPortFunction_e' in 'src/main/io/serial.h' in betaflight
self.SERIAL_PORT_FUNCTIONS = {
'MSP': 0,
'GPS': 1,
'TELEMETRY_FRSKY': 2,
'TELEMETRY_HOTT': 3,
'TELEMETRY_MSP': 4,
'TELEMETRY_LTM': 4, // LTM replaced MSP
'TELEMETRY_SMARTPORT': 5,
'RX_SERIAL': 6,
'BLACKBOX': 7,
'TELEMETRY_MAVLINK': 9,
'ESC_SENSOR': 10,
'TBS_SMARTAUDIO': 11,
'TELEMETRY_IBUS': 12,
'IRC_TRAMP': 13,
'RUNCAM_DEVICE_CONTROL': 14, // support communitate with RunCam Device
'LIDAR_TF': 15,
'FRSKY_OSD': 16,
};
self.REBOOT_TYPES = {
FIRMWARE: 0,
BOOTLOADER: 1,
MSC: 2,
MSC_UTC: 3,
BOOTLOADER_FLASH: 4,
};
self.RESET_TYPES = {
BASE_DEFAULTS: 0,
CUSTOM_DEFAULTS: 1,
};
self.SIGNATURE_LENGTH = 32;
self.mspMultipleCache = [];
}
MspHelper.readPidSliderSettings = function(data) {
FC.TUNING_SLIDERS.slider_pids_mode = data.readU8();
FC.TUNING_SLIDERS.slider_master_multiplier = data.readU8();
FC.TUNING_SLIDERS.slider_roll_pitch_ratio = data.readU8();
FC.TUNING_SLIDERS.slider_i_gain = data.readU8();
FC.TUNING_SLIDERS.slider_d_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pi_gain = data.readU8();
FC.TUNING_SLIDERS.slider_dmax_gain = data.readU8();
FC.TUNING_SLIDERS.slider_feedforward_gain = data.readU8();
FC.TUNING_SLIDERS.slider_pitch_pi_gain = data.readU8();
data.readU32(); // reserved for future use
data.readU32(); // reserved for future use
};
MspHelper.writePidSliderSettings = function(buffer) {
buffer
.push8(FC.TUNING_SLIDERS.slider_pids_mode)
.push8(FC.TUNING_SLIDERS.slider_master_multiplier)
.push8(FC.TUNING_SLIDERS.slider_roll_pitch_ratio)
.push8(FC.TUNING_SLIDERS.slider_i_gain)
.push8(FC.TUNING_SLIDERS.slider_d_gain)
.push8(FC.TUNING_SLIDERS.slider_pi_gain)
.push8(FC.TUNING_SLIDERS.slider_dmax_gain)
.push8(FC.TUNING_SLIDERS.slider_feedforward_gain)
.push8(FC.TUNING_SLIDERS.slider_pitch_pi_gain)
.push32(0) // reserved for future use
.push32(0); // reserved for future use
};
MspHelper.readDtermFilterSliderSettings = function(data) {
FC.TUNING_SLIDERS.slider_dterm_filter = data.readU8();
FC.TUNING_SLIDERS.slider_dterm_filter_multiplier = data.readU8();
FC.FILTER_CONFIG.dterm_lowpass_hz = data.readU16();
FC.FILTER_CONFIG.dterm_lowpass2_hz = data.readU16();
FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz = data.readU16();
FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz = data.readU16();
data.readU32(); // reserved for future use
data.readU32(); // reserved for future use
};
MspHelper.writeDtermFilterSliderSettings = function(buffer) {
buffer
.push8(FC.TUNING_SLIDERS.slider_dterm_filter)
.push8(FC.TUNING_SLIDERS.slider_dterm_filter_multiplier)
.push16(FC.FILTER_CONFIG.dterm_lowpass_hz)
.push16(FC.FILTER_CONFIG.dterm_lowpass2_hz)
.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_min_hz)
.push16(FC.FILTER_CONFIG.dterm_lowpass_dyn_max_hz)
.push32(0) // reserved for future use
.push32(0); // reserved for future use
};
MspHelper.readGyroFilterSliderSettings = function(data) {
FC.TUNING_SLIDERS.slider_gyro_filter = data.readU8();
FC.TUNING_SLIDERS.slider_gyro_filter_multiplier = data.readU8();
FC.FILTER_CONFIG.gyro_lowpass_hz = data.readU16();
FC.FILTER_CONFIG.gyro_lowpass2_hz = data.readU16();
FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz = data.readU16();
FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz = data.readU16();
data.readU32(); // reserved for future use
data.readU32(); // reserved for future use
};
MspHelper.writeGyroFilterSliderSettings = function(buffer) {
buffer
.push8(FC.TUNING_SLIDERS.slider_gyro_filter)
.push8(FC.TUNING_SLIDERS.slider_gyro_filter_multiplier)
.push16(FC.FILTER_CONFIG.gyro_lowpass_hz)
.push16(FC.FILTER_CONFIG.gyro_lowpass2_hz)
.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_min_hz)
.push16(FC.FILTER_CONFIG.gyro_lowpass_dyn_max_hz)
.push32(0) // reserved for future use
.push32(0); // reserved for future use
};
MspHelper.prototype.process_data = function(dataHandler) {
const self = this;
const data = dataHandler.dataView; // DataView (allowing us to view arrayBuffer as struct/union)
const code = dataHandler.code;
const crcError = dataHandler.crcError;
let buff = [];
let char = '';
let flags = 0;
if (!crcError) {
if (!dataHandler.unsupported) switch (code) {
case MSPCodes.MSP_STATUS:
FC.CONFIG.cycleTime = data.readU16();
FC.CONFIG.i2cError = data.readU16();
FC.CONFIG.activeSensors = data.readU16();
FC.CONFIG.mode = data.readU32();
FC.CONFIG.profile = data.readU8();
TABS.pid_tuning.checkUpdateProfile(false);
sensor_status(FC.CONFIG.activeSensors);
break;
case MSPCodes.MSP_STATUS_EX:
FC.CONFIG.cycleTime = data.readU16();
FC.CONFIG.i2cError = data.readU16();
FC.CONFIG.activeSensors = data.readU16();
FC.CONFIG.mode = data.readU32();
FC.CONFIG.profile = data.readU8();
FC.CONFIG.cpuload = data.readU16();
if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
FC.CONFIG.numProfiles = data.readU8();
FC.CONFIG.rateProfile = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
// Read flight mode flags
const byteCount = data.readU8();
for (let i = 0; i < byteCount; i++) {
data.readU8();
}
// Read arming disable flags
FC.CONFIG.armingDisableCount = data.readU8(); // Flag count
FC.CONFIG.armingDisableFlags = data.readU32();
}
TABS.pid_tuning.checkUpdateProfile(true);
}
sensor_status(FC.CONFIG.activeSensors);
break;
case MSPCodes.MSP_RAW_IMU:
// 512 for mpu6050, 256 for mma
// currently we are unable to differentiate between the sensor types, so we are goign with 512
FC.SENSOR_DATA.accelerometer[0] = data.read16() / 512;
FC.SENSOR_DATA.accelerometer[1] = data.read16() / 512;
FC.SENSOR_DATA.accelerometer[2] = data.read16() / 512;
// properly scaled
FC.SENSOR_DATA.gyroscope[0] = data.read16() * (4 / 16.4);
FC.SENSOR_DATA.gyroscope[1] = data.read16() * (4 / 16.4);
FC.SENSOR_DATA.gyroscope[2] = data.read16() * (4 / 16.4);
// no clue about scaling factor
FC.SENSOR_DATA.magnetometer[0] = data.read16() / 1090;
FC.SENSOR_DATA.magnetometer[1] = data.read16() / 1090;
FC.SENSOR_DATA.magnetometer[2] = data.read16() / 1090;
break;
case MSPCodes.MSP_SERVO:
const servoCount = data.byteLength / 2;
for (let i = 0; i < servoCount; i++) {
FC.SERVO_DATA[i] = data.readU16();
}
break;
case MSPCodes.MSP_MOTOR:
const motorCount = data.byteLength / 2;
for (let i = 0; i < motorCount; i++) {
FC.MOTOR_DATA[i] = data.readU16();
}
break;
case MSPCodes.MSP2_MOTOR_OUTPUT_REORDERING:
FC.MOTOR_OUTPUT_ORDER = [];
const arraySize = data.read8();
for (let i = 0; i < arraySize; i++) {
FC.MOTOR_OUTPUT_ORDER[i] = data.readU8();
}
break;
case MSPCodes.MSP2_GET_VTX_DEVICE_STATUS:
FC.VTX_DEVICE_STATUS = null;
const dataLength = data.byteLength;
if (dataLength > 0) {
const vtxDeviceStatusData = new Uint8Array(dataLength);
for (let i = 0; i < dataLength; i++) {
vtxDeviceStatusData[i] = data.readU8();
}
FC.VTX_DEVICE_STATUS = vtxDeviceStatusFactory.createVtxDeviceStatus(vtxDeviceStatusData);
}
break;
case MSPCodes.MSP_MOTOR_TELEMETRY:
const telemMotorCount = data.readU8();
for (let i = 0; i < telemMotorCount; i++) {
FC.MOTOR_TELEMETRY_DATA.rpm[i] = data.readU32(); // RPM
FC.MOTOR_TELEMETRY_DATA.invalidPercent[i] = data.readU16(); // 10000 = 100.00%
FC.MOTOR_TELEMETRY_DATA.temperature[i] = data.readU8(); // degrees celsius
FC.MOTOR_TELEMETRY_DATA.voltage[i] = data.readU16(); // 0.01V per unit
FC.MOTOR_TELEMETRY_DATA.current[i] = data.readU16(); // 0.01A per unit
FC.MOTOR_TELEMETRY_DATA.consumption[i] = data.readU16(); // mAh
}
break;
case MSPCodes.MSP_RC:
FC.RC.active_channels = data.byteLength / 2;
for (let i = 0; i < FC.RC.active_channels; i++) {
FC.RC.channels[i] = data.readU16();
}
break;
case MSPCodes.MSP_RAW_GPS:
FC.GPS_DATA.fix = data.readU8();
FC.GPS_DATA.numSat = data.readU8();
FC.GPS_DATA.lat = data.read32();
FC.GPS_DATA.lon = data.read32();
FC.GPS_DATA.alt = data.readU16();
FC.GPS_DATA.speed = data.readU16();
FC.GPS_DATA.ground_course = data.readU16();
break;
case MSPCodes.MSP_COMP_GPS:
FC.GPS_DATA.distanceToHome = data.readU16();
FC.GPS_DATA.directionToHome = data.readU16();
FC.GPS_DATA.update = data.readU8();
break;
case MSPCodes.MSP_ATTITUDE:
FC.SENSOR_DATA.kinematics[0] = data.read16() / 10.0; // x
FC.SENSOR_DATA.kinematics[1] = data.read16() / 10.0; // y
FC.SENSOR_DATA.kinematics[2] = data.read16(); // z
break;
case MSPCodes.MSP_ALTITUDE:
FC.SENSOR_DATA.altitude = parseFloat((data.read32() / 100.0).toFixed(2)); // correct scale factor
break;
case MSPCodes.MSP_SONAR:
FC.SENSOR_DATA.sonar = data.read32();
break;
case MSPCodes.MSP_ANALOG:
FC.ANALOG.voltage = data.readU8() / 10.0;
FC.ANALOG.mAhdrawn = data.readU16();
FC.ANALOG.rssi = data.readU16(); // 0-1023
FC.ANALOG.amperage = data.read16() / 100; // A
FC.ANALOG.last_received_timestamp = Date.now();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.ANALOG.voltage = data.readU16() / 100;
}
break;
case MSPCodes.MSP_VOLTAGE_METERS:
FC.VOLTAGE_METERS = [];
const voltageMeterLength = 2;
for (let i = 0; i < (data.byteLength / voltageMeterLength); i++) {
const voltageMeter = {
id: data.readU8(),
voltage: data.readU8() / 10.0,
};
FC.VOLTAGE_METERS.push(voltageMeter);
}
break;
case MSPCodes.MSP_CURRENT_METERS:
FC.CURRENT_METERS = [];
const currentMeterLength = 5;
for (let i = 0; i < (data.byteLength / currentMeterLength); i++) {
const currentMeter = {
id: data.readU8(),
mAhDrawn: data.readU16(), // mAh
amperage: data.readU16() / 1000, // A
};
FC.CURRENT_METERS.push(currentMeter);
}
break;
case MSPCodes.MSP_BATTERY_STATE:
FC.BATTERY_STATE.cellCount = data.readU8();
FC.BATTERY_STATE.capacity = data.readU16(); // mAh
FC.BATTERY_STATE.voltage = data.readU8() / 10.0; // V
FC.BATTERY_STATE.mAhDrawn = data.readU16(); // mAh
FC.BATTERY_STATE.amperage = data.readU16() / 100; // A
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.BATTERY_STATE.batteryState = data.readU8();
FC.BATTERY_STATE.voltage = data.readU16() / 100;
}
break;
case MSPCodes.MSP_VOLTAGE_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.MISC.vbatscale = data.readU8(); // 10-200
FC.MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50
FC.MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50
FC.MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50
if (semver.gte(FC.CONFIG.apiVersion, "1.23.0")) {
FC.MISC.batterymetertype = data.readU8();
}
} else {
FC.VOLTAGE_METER_CONFIGS = [];
const voltageMeterCount = data.readU8();
for (let i = 0; i < voltageMeterCount; i++) {
const subframeLength = data.readU8();
if (subframeLength !== 5) {
for (let j = 0; j < subframeLength; j++) {
data.readU8();
}
} else {
const voltageMeterConfig = {
id: data.readU8(),
sensorType: data.readU8(),
vbatscale: data.readU8(),
vbatresdivval: data.readU8(),
vbatresdivmultiplier: data.readU8(),
};
FC.VOLTAGE_METER_CONFIGS.push(voltageMeterConfig);
}
}
}
break;
case MSPCodes.MSP_CURRENT_METER_CONFIG:
if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.BF_CONFIG.currentscale = data.read16();
FC.BF_CONFIG.currentoffset = data.read16();
FC.BF_CONFIG.currentmetertype = data.readU8();
FC.BF_CONFIG.batterycapacity = data.readU16();
} else {
FC.CURRENT_METER_CONFIGS = [];
const currentMeterCount = data.readU8();
for (let i = 0; i < currentMeterCount; i++) {
const currentMeterConfig = {};
const subframeLength = data.readU8();
if (subframeLength !== 6) {
for (let j = 0; j < subframeLength; j++) {
data.readU8();
}
} else {
currentMeterConfig.id = data.readU8();
currentMeterConfig.sensorType = data.readU8();
currentMeterConfig.scale = data.read16();
currentMeterConfig.offset = data.read16();
FC.CURRENT_METER_CONFIGS.push(currentMeterConfig);
}
}
}
break;
case MSPCodes.MSP_BATTERY_CONFIG:
FC.BATTERY_CONFIG.vbatmincellvoltage = data.readU8() / 10; // 10-50
FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.readU8() / 10; // 10-50
FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.readU8() / 10; // 10-50
FC.BATTERY_CONFIG.capacity = data.readU16();
FC.BATTERY_CONFIG.voltageMeterSource = data.readU8();
FC.BATTERY_CONFIG.currentMeterSource = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.BATTERY_CONFIG.vbatmincellvoltage = data.readU16() / 100;
FC.BATTERY_CONFIG.vbatmaxcellvoltage = data.readU16() / 100;
FC.BATTERY_CONFIG.vbatwarningcellvoltage = data.readU16() / 100;
}
break;
case MSPCodes.MSP_SET_BATTERY_CONFIG:
console.log('Battery configuration saved');
break;
case MSPCodes.MSP_RC_TUNING:
FC.RC_TUNING.RC_RATE = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.RC_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.lt(FC.CONFIG.apiVersion, "1.7.0")) {
FC.RC_TUNING.roll_pitch_rate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.pitch_rate = 0;
FC.RC_TUNING.roll_rate = 0;
} else {
FC.RC_TUNING.roll_pitch_rate = 0;
FC.RC_TUNING.roll_rate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.pitch_rate = parseFloat((data.readU8() / 100).toFixed(2));
}
FC.RC_TUNING.yaw_rate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.dynamic_THR_PID = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.throttle_MID = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.throttle_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, "1.7.0")) {
FC.RC_TUNING.dynamic_THR_breakpoint = data.readU16();
} else {
FC.RC_TUNING.dynamic_THR_breakpoint = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, "1.10.0")) {
FC.RC_TUNING.RC_YAW_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
if (semver.gte(FC.CONFIG.apiVersion, "1.16.0")) {
FC.RC_TUNING.rcYawRate = parseFloat((data.readU8() / 100).toFixed(2));
} else {
FC.RC_TUNING.rcYawRate = 0;
}
} else {
FC.RC_TUNING.RC_YAW_EXPO = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.RC_TUNING.rcPitchRate = parseFloat((data.readU8() / 100).toFixed(2));
FC.RC_TUNING.RC_PITCH_EXPO = parseFloat((data.readU8() / 100).toFixed(2));
} else {
FC.RC_TUNING.rcPitchRate = 0;
FC.RC_TUNING.RC_PITCH_EXPO = 0;
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.RC_TUNING.throttleLimitType = data.readU8();
FC.RC_TUNING.throttleLimitPercent = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.RC_TUNING.roll_rate_limit = data.readU16();
FC.RC_TUNING.pitch_rate_limit = data.readU16();
FC.RC_TUNING.yaw_rate_limit = data.readU16();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.RC_TUNING.rates_type = data.readU8();
}
break;
case MSPCodes.MSP_PID:
// PID data arrived, we need to scale it and save to appropriate bank / array
for (let i = 0, needle = 0; i < (data.byteLength / 3); i++, needle += 3) {
// main for loop selecting the pid section
for (let j = 0; j < 3; j++) {
FC.PIDS_ACTIVE[i][j] = data.readU8();
FC.PIDS[i][j] = FC.PIDS_ACTIVE[i][j];
}
}
break;
case MSPCodes.MSP_ARMING_CONFIG:
if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) {
FC.ARMING_CONFIG.auto_disarm_delay = data.readU8();
FC.ARMING_CONFIG.disarm_kill_switch = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.ARMING_CONFIG.small_angle = data.readU8();
}
break;
case MSPCodes.MSP_LOOP_TIME:
if (semver.gte(FC.CONFIG.apiVersion, "1.8.0")) {
FC.FC_CONFIG.loopTime = data.readU16();
}
break;
case MSPCodes.MSP_MISC: // 22 bytes
FC.RX_CONFIG.midrc = data.readU16();
FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000
FC.MISC.failsafe_throttle = data.readU16(); // 1000-2000
FC.GPS_CONFIG.provider = data.readU8();
FC.MISC.gps_baudrate = data.readU8();
FC.GPS_CONFIG.ublox_sbas = data.readU8();
FC.MISC.multiwiicurrentoutput = data.readU8();
FC.RSSI_CONFIG.channel = data.readU8();
FC.MISC.placeholder2 = data.readU8();
data.read16(); // was mag_declination
FC.MISC.vbatscale = data.readU8(); // was FC.MISC.vbatscale - 10-200
FC.MISC.vbatmincellvoltage = data.readU8() / 10; // 10-50
FC.MISC.vbatmaxcellvoltage = data.readU8() / 10; // 10-50
FC.MISC.vbatwarningcellvoltage = data.readU8() / 10; // 10-50
break;
case MSPCodes.MSP_MOTOR_CONFIG:
FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.MOTOR_CONFIG.motor_count = data.readU8();
FC.MOTOR_CONFIG.motor_poles = data.readU8();
FC.MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0;
FC.MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0;
}
break;
case MSPCodes.MSP_GPS_CONFIG:
FC.GPS_CONFIG.provider = data.readU8();
FC.GPS_CONFIG.ublox_sbas = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_34)) {
FC.GPS_CONFIG.auto_config = data.readU8();
FC.GPS_CONFIG.auto_baud = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.GPS_CONFIG.home_point_once = data.readU8();
FC.GPS_CONFIG.ublox_use_galileo = data.readU8();
}
}
break;
case MSPCodes.MSP_GPS_RESCUE:
FC.GPS_RESCUE.angle = data.readU16();
FC.GPS_RESCUE.initialAltitudeM = data.readU16();
FC.GPS_RESCUE.descentDistanceM = data.readU16();
FC.GPS_RESCUE.rescueGroundspeed = data.readU16();
FC.GPS_RESCUE.throttleMin = data.readU16();
FC.GPS_RESCUE.throttleMax = data.readU16();
FC.GPS_RESCUE.throttleHover = data.readU16();
FC.GPS_RESCUE.sanityChecks = data.readU8();
FC.GPS_RESCUE.minSats = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.GPS_RESCUE.ascendRate = data.readU16();
FC.GPS_RESCUE.descendRate = data.readU16();
FC.GPS_RESCUE.allowArmingWithoutFix = data.readU8();
FC.GPS_RESCUE.altitudeMode = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
FC.GPS_RESCUE.minRescueDth = data.readU16();
}
break;
case MSPCodes.MSP_RSSI_CONFIG:
FC.RSSI_CONFIG.channel = data.readU8();
break;
case MSPCodes.MSP_MOTOR_3D_CONFIG:
FC.MOTOR_3D_CONFIG.deadband3d_low = data.readU16();
FC.MOTOR_3D_CONFIG.deadband3d_high = data.readU16();
FC.MOTOR_3D_CONFIG.neutral = data.readU16();
if (semver.lt(FC.CONFIG.apiVersion, "1.17.0")) {
FC.RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16();
}
break;
case MSPCodes.MSP_BOXNAMES:
FC.AUX_CONFIG = []; // empty the array as new data is coming in
buff = [];
for (let i = 0; i < data.byteLength; i++) {
char = data.readU8();
if (char == 0x3B) { // ; (delimeter char)
FC.AUX_CONFIG.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
// empty buffer
buff = [];
} else {
buff.push(char);
}
}
break;
case MSPCodes.MSP_PIDNAMES:
FC.PID_NAMES = []; // empty the array as new data is coming in
buff = [];
for (let i = 0; i < data.byteLength; i++) {
char = data.readU8();
if (char == 0x3B) { // ; (delimeter char)
FC.PID_NAMES.push(String.fromCharCode.apply(null, buff)); // convert bytes into ASCII and save as strings
// empty buffer
buff = [];
} else {
buff.push(char);
}
}
break;
case MSPCodes.MSP_BOXIDS:
FC.AUX_CONFIG_IDS = []; // empty the array as new data is coming in
for (let i = 0; i < data.byteLength; i++) {
FC.AUX_CONFIG_IDS.push(data.readU8());
}
break;
case MSPCodes.MSP_SERVO_MIX_RULES:
break;
case MSPCodes.MSP_SERVO_CONFIGURATIONS:
FC.SERVO_CONFIG = []; // empty the array as new data is coming in
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_33)) {
if (data.byteLength % 12 == 0) {
for (let i = 0; i < data.byteLength; i += 12) {
const arr = {
'min': data.readU16(),
'max': data.readU16(),
'middle': data.readU16(),
'rate': data.read8(),
'indexOfChannelToForward': data.readU8(),
'reversedInputSources': data.readU32(),
};
FC.SERVO_CONFIG.push(arr);
}
}
} else if (semver.gte(FC.CONFIG.apiVersion, "1.12.0")) {
if (data.byteLength % 14 == 0) {
for (let i = 0; i < data.byteLength; i += 14) {
const arr = {
'min': data.readU16(),
'max': data.readU16(),
'middle': data.readU16(),
'rate': data.read8(),
'angleAtMin': data.readU8(),
'angleAtMax': data.readU8(),
'indexOfChannelToForward': data.readU8(),
'reversedInputSources': data.readU32(),
};
FC.SERVO_CONFIG.push(arr);
}
}
} else {
if (data.byteLength % 7 == 0) {
for (let i = 0; i < data.byteLength; i += 7) {
const arr = {
'min': data.readU16(),
'max': data.readU16(),
'middle': data.readU16(),
'rate': data.read8(),
'angleAtMin': 45,
'angleAtMax': 45,
'indexOfChannelToForward': undefined,
'reversedInputSources': 0,
};
FC.SERVO_CONFIG.push(arr);
}
}
if (semver.eq(FC.CONFIG.apiVersion, '1.10.0')) {
// drop two unused servo configurations due to MSP rx buffer to small)
while (FC.SERVO_CONFIG.length > 8) {
FC.SERVO_CONFIG.pop();
}
}
}
break;
case MSPCodes.MSP_RC_DEADBAND:
FC.RC_DEADBAND_CONFIG.deadband = data.readU8();
FC.RC_DEADBAND_CONFIG.yaw_deadband = data.readU8();
FC.RC_DEADBAND_CONFIG.alt_hold_deadband = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, "1.17.0")) {
FC.RC_DEADBAND_CONFIG.deadband3d_throttle = data.readU16();
}
break;
case MSPCodes.MSP_SENSOR_ALIGNMENT:
FC.SENSOR_ALIGNMENT.align_gyro = data.readU8();
FC.SENSOR_ALIGNMENT.align_acc = data.readU8();
FC.SENSOR_ALIGNMENT.align_mag = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, '1.41.0')) {
FC.SENSOR_ALIGNMENT.gyro_detection_flags = data.readU8();
FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8();
FC.SENSOR_ALIGNMENT.gyro_1_align = data.readU8();
FC.SENSOR_ALIGNMENT.gyro_2_align = data.readU8();
}
break;
case MSPCodes.MSP_DISPLAYPORT:
break;
case MSPCodes.MSP_SET_RAW_RC:
break;
case MSPCodes.MSP_SET_PID:
console.log('PID settings saved');
FC.PIDS_ACTIVE = FC.PIDS.map(array => array.slice());
break;
case MSPCodes.MSP_SET_RC_TUNING:
console.log('RC Tuning saved');
break;
case MSPCodes.MSP_ACC_CALIBRATION:
console.log('Accel calibration executed');
break;
case MSPCodes.MSP_MAG_CALIBRATION:
console.log('Mag calibration executed');
break;
case MSPCodes.MSP_SET_MOTOR_CONFIG:
console.log('Motor Configuration saved');
break;
case MSPCodes.MSP_SET_GPS_CONFIG:
console.log('GPS Configuration saved');
break;
case MSPCodes.MSP_SET_GPS_RESCUE:
console.log('GPS Rescue Configuration saved');
break;
case MSPCodes.MSP_SET_RSSI_CONFIG:
console.log('RSSI Configuration saved');
break;
case MSPCodes.MSP_SET_FEATURE_CONFIG:
console.log('Features saved');
break;
case MSPCodes.MSP_SET_BEEPER_CONFIG:
console.log('Beeper 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_EEPROM_WRITE:
console.log('Settings Saved in EEPROM');
break;
case MSPCodes.MSP_SET_CURRENT_METER_CONFIG:
console.log('Amperage Settings saved');
break;
case MSPCodes.MSP_SET_VOLTAGE_METER_CONFIG:
console.log('Voltage config saved');
break;
case MSPCodes.MSP_DEBUG:
for (let i = 0; i < 4; i++) {
FC.SENSOR_DATA.debug[i] = data.read16();
}
break;
case MSPCodes.MSP_SET_MOTOR:
console.log('Motor Speeds Updated');
break;
case MSPCodes.MSP_UID:
FC.CONFIG.uid[0] = data.readU32();
FC.CONFIG.uid[1] = data.readU32();
FC.CONFIG.uid[2] = data.readU32();
break;
case MSPCodes.MSP_ACC_TRIM:
FC.CONFIG.accelerometerTrims[0] = data.read16(); // pitch
FC.CONFIG.accelerometerTrims[1] = data.read16(); // roll
break;
case MSPCodes.MSP_SET_ACC_TRIM:
console.log('Accelerometer trimms saved.');
break;
case MSPCodes.MSP_GPS_SV_INFO:
if (data.byteLength > 0) {
const numCh = data.readU8();
for (let i = 0; i < numCh; i++) {
FC.GPS_DATA.chn[i] = data.readU8();
FC.GPS_DATA.svid[i] = data.readU8();
FC.GPS_DATA.quality[i] = data.readU8();
FC.GPS_DATA.cno[i] = data.readU8();
}
}
break;
case MSPCodes.MSP_RX_MAP:
FC.RC_MAP = []; // empty the array as new data is coming in
for (let i = 0; i < data.byteLength; i++) {
FC.RC_MAP.push(data.readU8());
}
break;
case MSPCodes.MSP_SET_RX_MAP:
console.log('RCMAP saved');
break;
case MSPCodes.MSP_MIXER_CONFIG:
FC.MIXER_CONFIG.mixer = data.readU8();
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_36)) {
FC.MIXER_CONFIG.reverseMotorDir = data.readU8();
}
break;
case MSPCodes.MSP_FEATURE_CONFIG:
FC.FEATURE_CONFIG.features.setMask(data.readU32());
updateTabList(FC.FEATURE_CONFIG.features);
break;
case MSPCodes.MSP_BEEPER_CONFIG:
FC.BEEPER_CONFIG.beepers.setDisabledMask(data.readU32());
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.BEEPER_CONFIG.dshotBeaconTone = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
FC.BEEPER_CONFIG.dshotBeaconConditions.setDisabledMask(data.readU32());
}
break;
case MSPCodes.MSP_BOARD_ALIGNMENT_CONFIG:
FC.BOARD_ALIGNMENT_CONFIG.roll = data.read16(); // -180 - 360
FC.BOARD_ALIGNMENT_CONFIG.pitch = data.read16(); // -180 - 360
FC.BOARD_ALIGNMENT_CONFIG.yaw = data.read16(); // -180 - 360
break;
case MSPCodes.MSP_SET_REBOOT:
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_40)) {
const rebootType = data.read8();
if ((rebootType === self.REBOOT_TYPES.MSC) || (rebootType === self.REBOOT_TYPES.MSC_UTC)) {
if (data.read8() === 0) {
console.log('Storage device not ready.');
showErrorDialog(i18n.getMessage('storageDeviceNotReady'));
break;
}
}
}
console.log('Reboot request accepted');
break;
case MSPCodes.MSP_API_VERSION:
FC.CONFIG.mspProtocolVersion = data.readU8();
FC.CONFIG.apiVersion = `${data.readU8()}.${data.readU8()}.0`;
break;
case MSPCodes.MSP_FC_VARIANT:
let fcVariantIdentifier = '';
for (let i = 0; i < 4; i++) {
fcVariantIdentifier += String.fromCharCode(data.readU8());
}
FC.CONFIG.flightControllerIdentifier = fcVariantIdentifier;
break;
case MSPCodes.MSP_FC_VERSION:
FC.CONFIG.flightControllerVersion = `${data.readU8()}.${data.readU8()}.${data.readU8()}`;
break;
case MSPCodes.MSP_BUILD_INFO:
const dateLength = 11;
buff = [];
for (let i = 0; i < dateLength; i++) {
buff.push(data.readU8());
}
buff.push(32); // ascii space
const timeLength = 8;
for (let i = 0; i < timeLength; i++) {
buff.push(data.readU8());
}
FC.CONFIG.buildInfo = String.fromCharCode.apply(null, buff);
break;
case MSPCodes.MSP_BOARD_INFO:
FC.CONFIG.boardIdentifier = '';
for (let i = 0; i < 4; i++) {
FC.CONFIG.boardIdentifier += String.fromCharCode(data.readU8());
}
FC.CONFIG.boardVersion = data.readU16();
FC.CONFIG.boardType = 0;
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_35)) {
FC.CONFIG.boardType = data.readU8();
}
FC.CONFIG.targetCapabilities = 0;
FC.CONFIG.targetName = '';
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_37)) {
FC.CONFIG.targetCapabilities = data.readU8();
const length = data.readU8();
for (let i = 0; i < length; i++) {
FC.CONFIG.targetName += String.fromCharCode(data.readU8());
}
}
FC.CONFIG.boardName = '';
FC.CONFIG.manufacturerId = '';
FC.CONFIG.signature = [];
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_39)) {
let length = data.readU8();
for (let i = 0; i < length; i++) {
FC.CONFIG.boardName += String.fromCharCode(data.readU8());
}
length = data.readU8();
for (let i = 0; i < length; i++) {
FC.CONFIG.manufacturerId += String.fromCharCode(data.readU8());
}
for (let i = 0; i < self.SIGNATURE_LENGTH; i++) {
FC.CONFIG.signature.push(data.readU8());
}
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_41)) {
FC.CONFIG.mcuTypeId = data.readU8();
} else {
FC.CONFIG.mcuTypeId = 255;
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
FC.CONFIG.configurationState = data.readU8();
}
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_43)) {
FC.CONFIG.sampleRateHz = data.readU16();
FC.CONFIG.configurationProblems = data.readU32();
} else {
FC.CONFIG.configurationProblems = 0;
}
break;
case MSPCodes.MSP_NAME:
FC.CONFIG.name = '';
while ((char = data.readU8()) !== null) {
FC.CONFIG.name += String.fromCharCode(char);
}
break;
case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
console.log('Channel forwarding saved');
break;
case MSPCodes.MSP_CF_SERIAL_CONFIG:
FC.SERIAL_CONFIG.ports = [];
if (semver.lt(FC.CONFIG.apiVersion, "1.6.0")) {
const serialPortCount = (data.byteLength - (4 * 4)) / 2;
for (let i = 0; i < serialPortCount; i++) {
const serialPort = {
identifier: data.readU8(),
scenario: data.readU8(),
};
FC.SERIAL_CONFIG.ports.push(serialPort);
}
FC.SERIAL_CONFIG.mspBaudRate = data.readU32();
FC.SERIAL_CONFIG.cliBaudRate = data.readU32();
FC.SERIAL_CONFIG.gpsBaudRate = data.readU32();
FC.SERIAL_CONFIG.gpsPassthroughBaudRate = data.readU32();
} else {
const bytesPerPort = 1 + 2 + (1 * 4);
const serialPortCount = data.byteLength / bytesPerPort;
for (let i = 0; i < serialPortCount; i++) {
const serialPort = {
identifier: data.readU8(),
functions: self.serialPortFunctionMaskToFunctions(data.readU16()),
msp_baudrate: self.BAUD_RATES[data.readU8()],
gps_baudrate: self.BAUD_RATES[data.readU8()],
telemetry_baudrate: self.BAUD_RATES[data.readU8()],
blackbox_baudrate: self.BAUD_RATES[data.readU8()],
};
FC.SERIAL_CONFIG.ports.push(serialPort);
}
}
break;
case MSPCodes.MSP2_COMMON_SERIAL_CONFIG:
FC.SERIAL_CONFIG.ports = [];
const count = data.readU8();
const portConfigSize = data.remaining() / count;
for (let ii = 0; ii < count; ii++) {
const start = data.remaining();
const serialPort = {
identifier: data.readU8(),
functions: self.serialPortFunctionMaskToFunctions(data.readU32()),
msp_baudrate: self.BAUD_RATES[data.readU8()],
gps_baudrate: self.BAUD_RATES[data.readU8()],
telemetry_baudrate: self.BAUD_RATES[data.readU8()],
blackbox_baudrate: self.BAUD_RATES[data.readU8()],
};
FC.SERIAL_CONFIG.ports.push(serialPort);
while(start - data.remaining() < portConfigSize && data.remaining() > 0) {
data.readU8();
}
}
break;
case MSPCodes.MSP_SET_CF_SERIAL_CONFIG:
console.log('Serial config saved');
break;
case MSPCodes.MSP2_COMMON_SET_SERIAL_CONFIG:
console.log('Serial config saved (MSPv2)');
break;
case MSPCodes.MSP_MODE_RANGES:
FC.MODE_RANGES = []; // empty the array as new data is coming in
const modeRangeCount = data.byteLength / 4; // 4 bytes per item.
for (let i = 0; i < modeRangeCount; i++) {
const modeRange = {
id: data.readU8(),
auxChannelIndex: data.readU8(),
range: {
start: 900 + (data.readU8() * 25),
end: 900 + (data.readU8() * 25),
},
};
FC.MODE_RANGES.push(modeRange);
}