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Fix PR also for COLIBRI_RACE target

This commit is contained in:
KiteAnton 2016-01-27 19:44:54 +01:00
parent b4b0669b78
commit 41a2a3767f
1 changed files with 31 additions and 31 deletions
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62
src/main/io/i2c_bst.c
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@ -616,14 +616,14 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_SERVO_CONFIGURATIONS:
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
bstWrite16(currentProfile->servoConf[i].min);
bstWrite16(currentProfile->servoConf[i].max);
bstWrite16(currentProfile->servoConf[i].middle);
bstWrite8(currentProfile->servoConf[i].rate);
bstWrite8(currentProfile->servoConf[i].angleAtMin);
bstWrite8(currentProfile->servoConf[i].angleAtMax);
bstWrite8(currentProfile->servoConf[i].forwardFromChannel);
bstWrite32(currentProfile->servoConf[i].reversedSources);
bstWrite16(masterConfig.servoConf[i].min);
bstWrite16(masterConfig.servoConf[i].max);
bstWrite16(masterConfig.servoConf[i].middle);
bstWrite8(masterConfig.servoConf[i].rate);
bstWrite8(masterConfig.servoConf[i].angleAtMin);
bstWrite8(masterConfig.servoConf[i].angleAtMax);
bstWrite8(masterConfig.servoConf[i].forwardFromChannel);
bstWrite32(masterConfig.servoConf[i].reversedSources);
}
break;
case BST_SERVO_MIX_RULES:
@ -781,7 +781,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(masterConfig.rxConfig.rssi_channel);
bstWrite8(0);
bstWrite16(currentProfile->mag_declination / 10);
bstWrite16(masterConfig.mag_declination / 10);
bstWrite8(masterConfig.batteryConfig.vbatscale);
bstWrite8(masterConfig.batteryConfig.vbatmincellvoltage);
@ -845,8 +845,8 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
// Additional commands that are not compatible with MultiWii
case BST_ACC_TRIM:
bstWrite16(currentProfile->accelerometerTrims.values.pitch);
bstWrite16(currentProfile->accelerometerTrims.values.roll);
bstWrite16(masterConfig.accelerometerTrims.values.pitch);
bstWrite16(masterConfig.accelerometerTrims.values.roll);
break;
case BST_UID:
@ -987,10 +987,10 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite32(0); // future exp
break;
case BST_DEADBAND:
bstWrite8(currentProfile->rcControlsConfig.alt_hold_deadband);
bstWrite8(currentProfile->rcControlsConfig.alt_hold_fast_change);
bstWrite8(currentProfile->rcControlsConfig.deadband);
bstWrite8(currentProfile->rcControlsConfig.yaw_deadband);
bstWrite8(masterConfig.rcControlsConfig.alt_hold_deadband);
bstWrite8(masterConfig.rcControlsConfig.alt_hold_fast_change);
bstWrite8(masterConfig.rcControlsConfig.deadband);
bstWrite8(masterConfig.rcControlsConfig.yaw_deadband);
break;
case BST_FC_FILTERS:
bstWrite16(constrain(masterConfig.gyro_lpf, 0, 1)); // Extra safety to prevent OSD setting corrupt values
@ -1045,8 +1045,8 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
}
}
case BST_SET_ACC_TRIM:
currentProfile->accelerometerTrims.values.pitch = bstRead16();
currentProfile->accelerometerTrims.values.roll = bstRead16();
masterConfig.accelerometerTrims.values.pitch = bstRead16();
masterConfig.accelerometerTrims.values.roll = bstRead16();
break;
case BST_SET_ARMING_CONFIG:
masterConfig.auto_disarm_delay = bstRead8();
@ -1098,7 +1098,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
mac->range.startStep = bstRead8();
mac->range.endStep = bstRead8();
useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
} else {
ret = BST_FAILED;
}
@ -1169,7 +1169,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.rxConfig.rssi_channel = bstRead8();
bstRead8();
currentProfile->mag_declination = bstRead16() * 10;
masterConfig.mag_declination = bstRead16() * 10;
masterConfig.batteryConfig.vbatscale = bstRead8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
@ -1190,14 +1190,14 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (i >= MAX_SUPPORTED_SERVOS) {
ret = BST_FAILED;
} else {
currentProfile->servoConf[i].min = bstRead16();
currentProfile->servoConf[i].max = bstRead16();
currentProfile->servoConf[i].middle = bstRead16();
currentProfile->servoConf[i].rate = bstRead8();
currentProfile->servoConf[i].angleAtMin = bstRead8();
currentProfile->servoConf[i].angleAtMax = bstRead8();
currentProfile->servoConf[i].forwardFromChannel = bstRead8();
currentProfile->servoConf[i].reversedSources = bstRead32();
masterConfig.servoConf[i].min = bstRead16();
masterConfig.servoConf[i].max = bstRead16();
masterConfig.servoConf[i].middle = bstRead16();
masterConfig.servoConf[i].rate = bstRead8();
masterConfig.servoConf[i].angleAtMin = bstRead8();
masterConfig.servoConf[i].angleAtMax = bstRead8();
masterConfig.servoConf[i].forwardFromChannel = bstRead8();
masterConfig.servoConf[i].reversedSources = bstRead32();
}
#endif
break;
@ -1451,10 +1451,10 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
DISABLE_ARMING_FLAG(PREVENT_ARMING);
break;
case BST_SET_DEADBAND:
currentProfile->rcControlsConfig.alt_hold_deadband = bstRead8();
currentProfile->rcControlsConfig.alt_hold_fast_change = bstRead8();
currentProfile->rcControlsConfig.deadband = bstRead8();
currentProfile->rcControlsConfig.yaw_deadband = bstRead8();
masterConfig.rcControlsConfig.alt_hold_deadband = bstRead8();
masterConfig.rcControlsConfig.alt_hold_fast_change = bstRead8();
masterConfig.rcControlsConfig.deadband = bstRead8();
masterConfig.rcControlsConfig.yaw_deadband = bstRead8();
break;
case BST_SET_FC_FILTERS:
masterConfig.gyro_lpf = bstRead16();