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rates in dps for iNav > 1.1.0, see iNavFlight#204 #3

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merged 1 commit into from
May 15, 2016
Merged

rates in dps for iNav > 1.1.0, see iNavFlight#204 #3

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69 changes: 38 additions & 31 deletions js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,13 @@ var FAILSAFE_CONFIG;
var RXFAIL_CONFIG;

var FC = {
isRatesInDps: function () {
if (typeof CONFIG != "undefined" && CONFIG.flightControllerIdentifier == "INAV" && semver.gt(CONFIG.flightControllerVersion, "1.1.0")) {
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No need to check for INAV really, Configurator won't connect to anything but INAV so we can safely remove most of compatibility stuff from Cleanflight.

return true;
} else {
return false;
}
},
resetState: function() {
CONFIG = {
apiVersion: "0.0.0",
Expand All @@ -55,7 +62,7 @@ var FC = {
uid: [0, 0, 0],
accelerometerTrims: [0, 0]
};

BF_CONFIG = {
mixerConfiguration: 0,
features: 0,
Expand All @@ -66,33 +73,33 @@ var FC = {
currentscale: 0,
currentoffset: 0
};

LED_STRIP = [];

PID = {
controller: 0
};

PID_names = [];
PIDs = new Array(10);
for (var i = 0; i < 10; i++) {
PIDs[i] = new Array(3);
}

RC_MAP = [];

// defaults
// roll, pitch, yaw, throttle, aux 1, ... aux n
RC = {
active_channels: 0,
channels: new Array(32)
};

RC_tuning = {
RC_RATE: 0,
RC_EXPO: 0,
roll_pitch_rate: 0, // pre 1.7 api only
roll_rate: 0,
roll_rate: 0,
pitch_rate: 0,
yaw_rate: 0,
dynamic_THR_PID: 0,
Expand All @@ -101,26 +108,26 @@ var FC = {
dynamic_THR_breakpoint: 0,
RC_YAW_EXPO: 0
};

AUX_CONFIG = [];
AUX_CONFIG_IDS = [];

MODE_RANGES = [];
ADJUSTMENT_RANGES = [];

SERVO_CONFIG = [];
SERVO_RULES = [];

SERIAL_CONFIG = {
ports: [],

// pre 1.6 settings
mspBaudRate: 0,
gpsBaudRate: 0,
gpsPassthroughBaudRate: 0,
cliBaudRate: 0,
};

SENSOR_DATA = {
gyroscope: [0, 0, 0],
accelerometer: [0, 0, 0],
Expand All @@ -130,10 +137,10 @@ var FC = {
kinematics: [0.0, 0.0, 0.0],
debug: [0, 0, 0, 0]
};

MOTOR_DATA = new Array(8);
SERVO_DATA = new Array(8);

GPS_DATA = {
fix: 0,
numSat: 0,
Expand All @@ -153,23 +160,23 @@ var FC = {
timeouts: 0,
packetCount: 0
};

ANALOG = {
voltage: 0,
mAhdrawn: 0,
rssi: 0,
amperage: 0
};

ARMING_CONFIG = {
auto_disarm_delay: 0,
disarm_kill_switch: 0
};

FC_CONFIG = {
loopTime: 0
};

MISC = {
midrc: 0,
minthrottle: 0,
Expand All @@ -188,54 +195,54 @@ var FC = {
vbatmaxcellvoltage: 0,
vbatwarningcellvoltage: 0
};

_3D = {
deadband3d_low: 0,
deadband3d_high: 0,
neutral3d: 0,
deadband3d_throttle: 0
};

DATAFLASH = {
ready: false,
supported: false,
sectors: 0,
totalSize: 0,
usedSize: 0
};

SDCARD = {
supported: false,
state: 0,
filesystemLastError: 0,
freeSizeKB: 0,
totalSizeKB: 0,
};

BLACKBOX = {
supported: false,
blackboxDevice: 0,
blackboxRateNum: 1,
blackboxRateDenom: 1
};

TRANSPONDER = {
supported: false,
data: []
};

RC_deadband = {
deadband: 0,
yaw_deadband: 0,
alt_hold_deadband: 0
};

SENSOR_ALIGNMENT = {
align_gyro: 0,
align_acc: 0,
align_mag: 0
};

RX_CONFIG = {
serialrx_provider: 0,
maxcheck: 0,
Expand All @@ -245,7 +252,7 @@ var FC = {
rx_min_usec: 0,
rx_max_usec: 0
};

FAILSAFE_CONFIG = {
failsafe_delay: 0,
failsafe_off_delay: 0,
Expand All @@ -254,7 +261,7 @@ var FC = {
failsafe_throttle_low_delay: 0,
failsafe_procedure: 0
};

RXFAIL_CONFIG = [];
}
};
};
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