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fc_msp.c
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ctype.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include "common/log.h" //for MSP_SIMULATOR
#include "platform.h"
#include "blackbox/blackbox.h"
#include "build/debug.h"
#include "build/version.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/streambuf.h"
#include "common/string_light.h"
#include "common/bitarray.h"
#include "common/time.h"
#include "common/utils.h"
#include "programming/global_variables.h"
#include "programming/pid.h"
#include "config/parameter_group_ids.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/compass/compass.h"
#include "drivers/compass/compass_msp.h"
#include "drivers/barometer/barometer_msp.h"
#include "drivers/pitotmeter/pitotmeter_msp.h"
#include "sensors/battery_sensor_fake.h"
#include "drivers/bus_i2c.h"
#include "drivers/display.h"
#include "drivers/flash.h"
#include "drivers/osd.h"
#include "drivers/osd_symbols.h"
#include "drivers/pwm_mapping.h"
#include "drivers/sdcard/sdcard.h"
#include "drivers/serial.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/vtx_common.h"
#include "fc/fc_core.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_msp.h"
#include "fc/fc_msp_box.h"
#include "fc/firmware_update.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "fc/settings.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer_profile.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "flight/ez_tune.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "io/adsb.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/flashfs.h"
#include "io/gps.h"
#include "io/gps_ublox.h"
#include "io/opflow.h"
#include "io/rangefinder.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/serial.h"
#include "io/serial_4way.h"
#include "io/vtx.h"
#include "io/vtx_string.h"
#include "io/gps_private.h" //for MSP_SIMULATOR
#include "io/headtracker_msp.h"
#include "io/osd/custom_elements.h"
#include "msp/msp.h"
#include "msp/msp_protocol.h"
#include "msp/msp_serial.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h" //for MSP_SIMULATOR
#include "navigation/navigation_pos_estimator_private.h" //for MSP_SIMULATOR
#include "rx/rx.h"
#include "rx/msp.h"
#include "rx/srxl2.h"
#include "rx/crsf.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/diagnostics.h"
#include "sensors/battery.h"
#include "sensors/rangefinder.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/pitotmeter.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/opflow.h"
#include "sensors/temperature.h"
#include "sensors/esc_sensor.h"
#include "telemetry/telemetry.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
extern timeDelta_t cycleTime; // FIXME dependency on mw.c
static const char * const flightControllerIdentifier = INAV_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
// from mixer.c
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static const char pidnames[] =
"ROLL;"
"PITCH;"
"YAW;"
"ALT;"
"Pos;"
"PosR;"
"NavR;"
"LEVEL;"
"MAG;"
"VEL;";
typedef enum {
MSP_SDCARD_STATE_NOT_PRESENT = 0,
MSP_SDCARD_STATE_FATAL = 1,
MSP_SDCARD_STATE_CARD_INIT = 2,
MSP_SDCARD_STATE_FS_INIT = 3,
MSP_SDCARD_STATE_READY = 4
} mspSDCardState_e;
typedef enum {
MSP_SDCARD_FLAG_SUPPORTTED = 1
} mspSDCardFlags_e;
typedef enum {
MSP_FLASHFS_BIT_READY = 1,
MSP_FLASHFS_BIT_SUPPORTED = 2
} mspFlashfsFlags_e;
typedef enum {
MSP_PASSTHROUGH_SERIAL_ID = 0xFD,
MSP_PASSTHROUGH_SERIAL_FUNCTION_ID = 0xFE,
MSP_PASSTHROUGH_ESC_4WAY = 0xFF,
} mspPassthroughType_e;
static uint8_t mspPassthroughMode;
static uint8_t mspPassthroughArgument;
static serialPort_t *mspFindPassthroughSerialPort(void)
{
serialPortUsage_t *portUsage = NULL;
switch (mspPassthroughMode) {
case MSP_PASSTHROUGH_SERIAL_ID:
{
portUsage = findSerialPortUsageByIdentifier(mspPassthroughArgument);
break;
}
case MSP_PASSTHROUGH_SERIAL_FUNCTION_ID:
{
const serialPortConfig_t *portConfig = findSerialPortConfig(1 << mspPassthroughArgument);
if (portConfig) {
portUsage = findSerialPortUsageByIdentifier(portConfig->identifier);
}
break;
}
}
return portUsage ? portUsage->serialPort : NULL;
}
static void mspSerialPassthroughFn(serialPort_t *serialPort)
{
serialPort_t *passthroughPort = mspFindPassthroughSerialPort();
if (passthroughPort && serialPort) {
serialPassthrough(passthroughPort, serialPort, NULL, NULL);
}
}
static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr *mspPostProcessFn)
{
const unsigned int dataSize = sbufBytesRemaining(src); /* Payload size in Bytes */
if (dataSize == 0) {
// Legacy format
mspPassthroughMode = MSP_PASSTHROUGH_ESC_4WAY;
} else {
mspPassthroughMode = sbufReadU8(src);
if (!sbufReadU8Safe(&mspPassthroughArgument, src)) {
mspPassthroughArgument = 0;
}
}
switch (mspPassthroughMode) {
case MSP_PASSTHROUGH_SERIAL_ID:
case MSP_PASSTHROUGH_SERIAL_FUNCTION_ID:
if (mspFindPassthroughSerialPort()) {
if (mspPostProcessFn) {
*mspPostProcessFn = mspSerialPassthroughFn;
}
sbufWriteU8(dst, 1);
} else {
sbufWriteU8(dst, 0);
}
break;
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
case MSP_PASSTHROUGH_ESC_4WAY:
// get channel number
// switch all motor lines HI
// reply with the count of ESC found
sbufWriteU8(dst, esc4wayInit());
if (mspPostProcessFn) {
*mspPostProcessFn = esc4wayProcess;
}
break;
#endif
default:
sbufWriteU8(dst, 0);
}
}
static void mspRebootFn(serialPort_t *serialPort)
{
UNUSED(serialPort);
fcReboot(false);
}
static void serializeSDCardSummaryReply(sbuf_t *dst)
{
#ifdef USE_SDCARD
uint8_t flags = MSP_SDCARD_FLAG_SUPPORTTED;
uint8_t state;
sbufWriteU8(dst, flags);
// Merge the card and filesystem states together
if (!sdcard_isInserted()) {
state = MSP_SDCARD_STATE_NOT_PRESENT;
} else if (!sdcard_isFunctional()) {
state = MSP_SDCARD_STATE_FATAL;
} else {
switch (afatfs_getFilesystemState()) {
case AFATFS_FILESYSTEM_STATE_READY:
state = MSP_SDCARD_STATE_READY;
break;
case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
if (sdcard_isInitialized()) {
state = MSP_SDCARD_STATE_FS_INIT;
} else {
state = MSP_SDCARD_STATE_CARD_INIT;
}
break;
case AFATFS_FILESYSTEM_STATE_FATAL:
case AFATFS_FILESYSTEM_STATE_UNKNOWN:
default:
state = MSP_SDCARD_STATE_FATAL;
break;
}
}
sbufWriteU8(dst, state);
sbufWriteU8(dst, afatfs_getLastError());
// Write free space and total space in kilobytes
sbufWriteU32(dst, afatfs_getContiguousFreeSpace() / 1024);
sbufWriteU32(dst, sdcard_getMetadata()->numBlocks / 2); // Block size is half a kilobyte
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
#endif
}
static void serializeDataflashSummaryReply(sbuf_t *dst)
{
#ifdef USE_FLASHFS
const flashGeometry_t *geometry = flashGetGeometry();
sbufWriteU8(dst, flashIsReady() ? 1 : 0);
sbufWriteU32(dst, geometry->sectors);
sbufWriteU32(dst, geometry->totalSize);
sbufWriteU32(dst, flashfsGetOffset()); // Effectively the current number of bytes stored on the volume
#else
sbufWriteU8(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
#endif
}
#ifdef USE_FLASHFS
static void serializeDataflashReadReply(sbuf_t *dst, uint32_t address, uint16_t size)
{
// Check how much bytes we can read
const int bytesRemainingInBuf = sbufBytesRemaining(dst);
uint16_t readLen = (size > bytesRemainingInBuf) ? bytesRemainingInBuf : size;
// size will be lower than that requested if we reach end of volume
const uint32_t flashfsSize = flashfsGetSize();
if (readLen > flashfsSize - address) {
// truncate the request
readLen = flashfsSize - address;
}
// Write address
sbufWriteU32(dst, address);
// Read into streambuf directly
const int bytesRead = flashfsReadAbs(address, sbufPtr(dst), readLen);
sbufAdvance(dst, bytesRead);
}
#endif
/*
* Returns true if the command was processd, false otherwise.
* May set mspPostProcessFunc to a function to be called once the command has been processed
*/
static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
{
switch (cmdMSP) {
case MSP_API_VERSION:
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU8(dst, API_VERSION_MAJOR);
sbufWriteU8(dst, API_VERSION_MINOR);
break;
case MSP_FC_VARIANT:
sbufWriteData(dst, flightControllerIdentifier, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
break;
case MSP_FC_VERSION:
sbufWriteU8(dst, FC_VERSION_MAJOR);
sbufWriteU8(dst, FC_VERSION_MINOR);
sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
break;
case MSP_BOARD_INFO:
{
sbufWriteData(dst, boardIdentifier, BOARD_IDENTIFIER_LENGTH);
#ifdef USE_HARDWARE_REVISION_DETECTION
sbufWriteU16(dst, hardwareRevision);
#else
sbufWriteU16(dst, 0); // No other build targets currently have hardware revision detection.
#endif
// OSD support (for BF compatibility):
// 0 = no OSD
// 1 = OSD slave (not supported in INAV)
// 2 = OSD chip on board
#if defined(USE_OSD)
sbufWriteU8(dst, 2);
#else
sbufWriteU8(dst, 0);
#endif
// Board communication capabilities (uint8)
// Bit 0: 1 iff the board has VCP
// Bit 1: 1 iff the board supports software serial
uint8_t commCapabilities = 0;
#ifdef USE_VCP
commCapabilities |= 1 << 0;
#endif
#if defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)
commCapabilities |= 1 << 1;
#endif
sbufWriteU8(dst, commCapabilities);
sbufWriteU8(dst, strlen(targetName));
sbufWriteData(dst, targetName, strlen(targetName));
break;
}
case MSP_BUILD_INFO:
sbufWriteData(dst, buildDate, BUILD_DATE_LENGTH);
sbufWriteData(dst, buildTime, BUILD_TIME_LENGTH);
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
case MSP_SENSOR_STATUS:
sbufWriteU8(dst, isHardwareHealthy() ? 1 : 0);
sbufWriteU8(dst, getHwGyroStatus());
sbufWriteU8(dst, getHwAccelerometerStatus());
sbufWriteU8(dst, getHwCompassStatus());
sbufWriteU8(dst, getHwBarometerStatus());
sbufWriteU8(dst, getHwGPSStatus());
sbufWriteU8(dst, getHwRangefinderStatus());
sbufWriteU8(dst, getHwPitotmeterStatus());
sbufWriteU8(dst, getHwOpticalFlowStatus());
break;
case MSP_ACTIVEBOXES:
{
boxBitmask_t mspBoxModeFlags;
packBoxModeFlags(&mspBoxModeFlags);
sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
}
break;
case MSP_STATUS_EX:
case MSP_STATUS:
{
boxBitmask_t mspBoxModeFlags;
packBoxModeFlags(&mspBoxModeFlags);
sbufWriteU16(dst, (uint16_t)cycleTime);
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, packSensorStatus());
sbufWriteData(dst, &mspBoxModeFlags, 4);
sbufWriteU8(dst, getConfigProfile());
if (cmdMSP == MSP_STATUS_EX) {
sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU16(dst, armingFlags);
sbufWriteU8(dst, accGetCalibrationAxisFlags());
}
}
break;
case MSP2_INAV_STATUS:
{
// Preserves full arming flags and box modes
boxBitmask_t mspBoxModeFlags;
packBoxModeFlags(&mspBoxModeFlags);
sbufWriteU16(dst, (uint16_t)cycleTime);
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, packSensorStatus());
sbufWriteU16(dst, averageSystemLoadPercent);
sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
sbufWriteU32(dst, armingFlags);
sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
sbufWriteU8(dst, getConfigMixerProfile());
}
break;
case MSP_RAW_IMU:
{
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, (int16_t)lrintf(acc.accADCf[i] * 512));
}
for (int i = 0; i < 3; i++) {
sbufWriteU16(dst, gyroRateDps(i));
}
for (int i = 0; i < 3; i++) {
#ifdef USE_MAG
sbufWriteU16(dst, lrintf(mag.magADC[i]));
#else
sbufWriteU16(dst, 0);
#endif
}
}
break;
case MSP_SERVO:
sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP_SERVO_CONFIGURATIONS:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 255); // used to be forwardFromChannel, not used anymore, send 0xff for compatibility reasons
sbufWriteU32(dst, 0); //Input reversing is not required since it can be done on mixer level
}
break;
case MSP2_INAV_SERVO_CONFIG:
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
sbufWriteU16(dst, servoParams(i)->min);
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 100);
sbufWriteU8(dst, 0);
}
break;
case MSP2_INAV_SERVO_MIXER:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
#ifdef USE_PROGRAMMING_FRAMEWORK
sbufWriteU8(dst, customServoMixers(i)->conditionId);
#else
sbufWriteU8(dst, -1);
#endif
}
if(MAX_MIXER_PROFILE_COUNT==1) break;
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].targetChannel);
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].inputSource);
sbufWriteU16(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].rate);
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].speed);
#ifdef USE_PROGRAMMING_FRAMEWORK
sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].conditionId);
#else
sbufWriteU8(dst, -1);
#endif
}
break;
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU8(dst, logicConditions(i)->enabled);
sbufWriteU8(dst, logicConditions(i)->activatorId);
sbufWriteU8(dst, logicConditions(i)->operation);
sbufWriteU8(dst, logicConditions(i)->operandA.type);
sbufWriteU32(dst, logicConditions(i)->operandA.value);
sbufWriteU8(dst, logicConditions(i)->operandB.type);
sbufWriteU32(dst, logicConditions(i)->operandB.value);
sbufWriteU8(dst, logicConditions(i)->flags);
}
break;
case MSP2_INAV_LOGIC_CONDITIONS_STATUS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU32(dst, logicConditionGetValue(i));
}
break;
case MSP2_INAV_GVAR_STATUS:
for (int i = 0; i < MAX_GLOBAL_VARIABLES; i++) {
sbufWriteU32(dst, gvGet(i));
}
break;
case MSP2_INAV_PROGRAMMING_PID:
for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) {
sbufWriteU8(dst, programmingPids(i)->enabled);
sbufWriteU8(dst, programmingPids(i)->setpoint.type);
sbufWriteU32(dst, programmingPids(i)->setpoint.value);
sbufWriteU8(dst, programmingPids(i)->measurement.type);
sbufWriteU32(dst, programmingPids(i)->measurement.value);
sbufWriteU16(dst, programmingPids(i)->gains.P);
sbufWriteU16(dst, programmingPids(i)->gains.I);
sbufWriteU16(dst, programmingPids(i)->gains.D);
sbufWriteU16(dst, programmingPids(i)->gains.FF);
}
break;
case MSP2_INAV_PROGRAMMING_PID_STATUS:
for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) {
sbufWriteU32(dst, programmingPidGetOutput(i));
}
break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->throttle + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
}
if (MAX_MIXER_PROFILE_COUNT==1) break;
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].throttle + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].roll + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].pitch + 2.0f, 0.0f, 4.0f) * 1000);
sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].yaw + 2.0f, 0.0f, 4.0f) * 1000);
}
break;
case MSP_MOTOR:
for (unsigned i = 0; i < 8; i++) {
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
}
break;
case MSP_RC:
for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
sbufWriteU16(dst, rxGetChannelValue(i));
}
break;
case MSP_ATTITUDE:
sbufWriteU16(dst, attitude.values.roll);
sbufWriteU16(dst, attitude.values.pitch);
sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
break;
case MSP_ALTITUDE:
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
#if defined(USE_BARO)
sbufWriteU32(dst, baroGetLatestAltitude());
#else
sbufWriteU32(dst, 0);
#endif
break;
case MSP_SONAR_ALTITUDE:
#ifdef USE_RANGEFINDER
sbufWriteU32(dst, rangefinderGetLatestAltitude());
#else
sbufWriteU32(dst, 0);
#endif
break;
case MSP2_INAV_OPTICAL_FLOW:
#ifdef USE_OPFLOW
sbufWriteU8(dst, opflow.rawQuality);
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.flowRate[Y]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[X]));
sbufWriteU16(dst, RADIANS_TO_DEGREES(opflow.bodyRate[Y]));
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
break;
case MSP_ANALOG:
sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage() / 10, 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, getRSSI());
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
break;
case MSP2_INAV_ANALOG:
// Bit 1: battery full, Bit 2: use capacity threshold, Bit 3-4: battery state, Bit 5-8: battery cell count
sbufWriteU8(dst, batteryWasFullWhenPluggedIn() | (batteryUsesCapacityThresholds() << 1) | (getBatteryState() << 2) | (getBatteryCellCount() << 4));
sbufWriteU16(dst, getBatteryVoltage());
sbufWriteU16(dst, getAmperage()); // send amperage in 0.01 A steps
sbufWriteU32(dst, getPower()); // power draw
sbufWriteU32(dst, getMAhDrawn()); // milliamp hours drawn from battery
sbufWriteU32(dst, getMWhDrawn()); // milliWatt hours drawn from battery
sbufWriteU32(dst, getBatteryRemainingCapacity());
sbufWriteU8(dst, calculateBatteryPercentage());
sbufWriteU16(dst, getRSSI());
break;
case MSP_LOOP_TIME:
sbufWriteU16(dst, gyroConfig()->looptime);
break;
case MSP_RC_TUNING:
sbufWriteU8(dst, 100); //rcRate8 kept for compatibity reasons, this setting is no longer used
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
}
sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
break;
case MSP2_INAV_RATE_PROFILE:
// throttle
sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID);
sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
// stabilized
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
}
// manual
sbufWriteU8(dst, currentControlRateProfile->manual.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->manual.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->manual.rates[i]); // R,P,Y see flight_dynamics_index_t
}
break;
case MSP2_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, constrain(pidBank()->pid[i].P, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].I, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].FF, 0, 255));
}
#ifdef USE_EZ_TUNE
ezTuneUpdate();
#endif
break;
case MSP_PIDNAMES:
for (const char *c = pidnames; *c; c++) {
sbufWriteU8(dst, *c);
}
break;
case MSP_MODE_RANGES:
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
const box_t *box = findBoxByActiveBoxId(mac->modeId);
sbufWriteU8(dst, box ? box->permanentId : 0);
sbufWriteU8(dst, mac->auxChannelIndex);
sbufWriteU8(dst, mac->range.startStep);
sbufWriteU8(dst, mac->range.endStep);
}
break;
case MSP_ADJUSTMENT_RANGES:
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
const adjustmentRange_t *adjRange = adjustmentRanges(i);
sbufWriteU8(dst, adjRange->adjustmentIndex);
sbufWriteU8(dst, adjRange->auxChannelIndex);
sbufWriteU8(dst, adjRange->range.startStep);
sbufWriteU8(dst, adjRange->range.endStep);
sbufWriteU8(dst, adjRange->adjustmentFunction);
sbufWriteU8(dst, adjRange->auxSwitchChannelIndex);
}
break;
case MSP_BOXNAMES:
if (!serializeBoxNamesReply(dst)) {
return false;
}
break;
case MSP_BOXIDS:
serializeBoxReply(dst);
break;
case MSP_MISC:
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); // Was min_throttle
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
#ifdef USE_GPS
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
#else
sbufWriteU8(dst, 0); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, 0); // gps_ubx_sbas
#endif
sbufWriteU8(dst, 0); // multiwiiCurrentMeterOutput
sbufWriteU8(dst, rxConfig()->rssi_channel);
sbufWriteU8(dst, 0);
#ifdef USE_MAG
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
#else
sbufWriteU16(dst, 0);
#endif
#ifdef USE_ADC
sbufWriteU8(dst, batteryMetersConfig()->voltage.scale / 10);
sbufWriteU8(dst, currentBatteryProfile->voltage.cellMin / 10);
sbufWriteU8(dst, currentBatteryProfile->voltage.cellMax / 10);
sbufWriteU8(dst, currentBatteryProfile->voltage.cellWarning / 10);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP2_INAV_MISC:
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); //Was min_throttle
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
#ifdef USE_GPS
sbufWriteU8(dst, gpsConfig()->provider); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, gpsConfig()->sbasMode); // gps_ubx_sbas
#else
sbufWriteU8(dst, 0); // gps_type
sbufWriteU8(dst, 0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
sbufWriteU8(dst, 0); // gps_ubx_sbas
#endif
sbufWriteU8(dst, rxConfig()->rssi_channel);
#ifdef USE_MAG
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
#else
sbufWriteU16(dst, 0);
#endif
#ifdef USE_ADC
sbufWriteU16(dst, batteryMetersConfig()->voltage.scale);
sbufWriteU8(dst, batteryMetersConfig()->voltageSource);
sbufWriteU8(dst, currentBatteryProfile->cells);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellDetect);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellMin);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellMax);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellWarning);
#else
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
sbufWriteU32(dst, currentBatteryProfile->capacity.value);
sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
break;
case MSP2_INAV_MISC2:
// Timers
sbufWriteU32(dst, micros() / 1000000); // On time (seconds)
sbufWriteU32(dst, getFlightTime()); // Flight time (seconds)
// Throttle
sbufWriteU8(dst, getThrottlePercent(true)); // Throttle Percent
sbufWriteU8(dst, navigationIsControllingThrottle() ? 1 : 0); // Auto Throttle Flag (0 or 1)
break;
case MSP2_INAV_BATTERY_CONFIG:
#ifdef USE_ADC
sbufWriteU16(dst, batteryMetersConfig()->voltage.scale);
sbufWriteU8(dst, batteryMetersConfig()->voltageSource);
sbufWriteU8(dst, currentBatteryProfile->cells);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellDetect);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellMin);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellMax);
sbufWriteU16(dst, currentBatteryProfile->voltage.cellWarning);
#else
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, batteryMetersConfig()->current.offset);
sbufWriteU16(dst, batteryMetersConfig()->current.scale);
sbufWriteU32(dst, currentBatteryProfile->capacity.value);
sbufWriteU32(dst, currentBatteryProfile->capacity.warning);
sbufWriteU32(dst, currentBatteryProfile->capacity.critical);
sbufWriteU8(dst, batteryMetersConfig()->capacity_unit);
break;
#ifdef USE_GPS
case MSP_RAW_GPS:
sbufWriteU8(dst, gpsSol.fixType);
sbufWriteU8(dst, gpsSol.numSat);
sbufWriteU32(dst, gpsSol.llh.lat);
sbufWriteU32(dst, gpsSol.llh.lon);
sbufWriteU16(dst, gpsSol.llh.alt/100); // meters
sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse);
sbufWriteU16(dst, gpsSol.hdop);
break;
case MSP_COMP_GPS:
sbufWriteU16(dst, GPS_distanceToHome);
sbufWriteU16(dst, GPS_directionToHome);
sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0);
break;
case MSP_NAV_STATUS:
sbufWriteU8(dst, NAV_Status.mode);
sbufWriteU8(dst, NAV_Status.state);
sbufWriteU8(dst, NAV_Status.activeWpAction);
sbufWriteU8(dst, NAV_Status.activeWpNumber);
sbufWriteU8(dst, NAV_Status.error);
//sbufWriteU16(dst, (int16_t)(target_bearing/100));
sbufWriteU16(dst, getHeadingHoldTarget());
break;
case MSP_GPSSVINFO:
/* Compatibility stub - return zero SVs */
sbufWriteU8(dst, 1);
// HDOP
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, gpsSol.hdop / 100);
sbufWriteU8(dst, gpsSol.hdop / 100);
break;
case MSP_GPSSTATISTICS:
sbufWriteU16(dst, gpsStats.lastMessageDt);
sbufWriteU32(dst, gpsStats.errors);
sbufWriteU32(dst, gpsStats.timeouts);
sbufWriteU32(dst, gpsStats.packetCount);
sbufWriteU16(dst, gpsSol.hdop);
sbufWriteU16(dst, gpsSol.eph);
sbufWriteU16(dst, gpsSol.epv);
break;
#endif
case MSP2_ADSB_VEHICLE_LIST:
#ifdef USE_ADSB
sbufWriteU8(dst, MAX_ADSB_VEHICLES);
sbufWriteU8(dst, ADSB_CALL_SIGN_MAX_LENGTH);
sbufWriteU32(dst, getAdsbStatus()->vehiclesMessagesTotal);
sbufWriteU32(dst, getAdsbStatus()->heartbeatMessagesTotal);
for(uint8_t i = 0; i < MAX_ADSB_VEHICLES; i++){
adsbVehicle_t *adsbVehicle = findVehicle(i);
for(uint8_t ii = 0; ii < ADSB_CALL_SIGN_MAX_LENGTH; ii++){
sbufWriteU8(dst, adsbVehicle->vehicleValues.callsign[ii]);
}
sbufWriteU32(dst, adsbVehicle->vehicleValues.icao);
sbufWriteU32(dst, adsbVehicle->vehicleValues.lat);
sbufWriteU32(dst, adsbVehicle->vehicleValues.lon);
sbufWriteU32(dst, adsbVehicle->vehicleValues.alt);
sbufWriteU16(dst, (uint16_t)CENTIDEGREES_TO_DEGREES(adsbVehicle->vehicleValues.heading));
sbufWriteU8(dst, adsbVehicle->vehicleValues.tslc);
sbufWriteU8(dst, adsbVehicle->vehicleValues.emitterType);
sbufWriteU8(dst, adsbVehicle->ttl);
}
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU32(dst, 0);
sbufWriteU32(dst, 0);
#endif
break;
case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < 4; i++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
}
break;
case MSP2_INAV_DEBUG:
for (int i = 0; i < DEBUG32_VALUE_COUNT; i++) {
sbufWriteU32(dst, debug[i]); // 8 variables are here for general monitoring purpose
}
break;