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Merge pull request #2737 from betaflight/remove-msp-cruft 

CF/BF - Remove more MSP cruft
This commit is contained in:
Michael Keller 2017-04-21 12:24:57 +12:00 committed by GitHub
parent 7a453bf4d1 6b82b803cc
commit 63552348c0
5 changed files with 10 additions and 27 deletions
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27
src/main/fc/cli.c
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@ -2351,7 +2351,7 @@ static void cliModeColor(char *cmdline)
static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const servoParam_t *defaultServoParams)
{
// print out servo settings
const char *format = "servo %u %d %d %d %d %d %d %d\r\n";
const char *format = "servo %u %d %d %d %d %d\r\n";
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const servoParam_t *servoConf = &servoParams[i];
bool equalsDefault = false;
@ -2360,7 +2360,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
equalsDefault = servoConf->min == defaultServoConf->min
&& servoConf->max == defaultServoConf->max
&& servoConf->middle == defaultServoConf->middle
&& servoConf->angleAtMin == defaultServoConf->angleAtMax
&& servoConf->rate == defaultServoConf->rate
&& servoConf->forwardFromChannel == defaultServoConf->forwardFromChannel;
cliDefaultPrintf(dumpMask, equalsDefault, format,
@ -2368,8 +2367,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
defaultServoConf->min,
defaultServoConf->max,
defaultServoConf->middle,
defaultServoConf->angleAtMin,
defaultServoConf->angleAtMax,
defaultServoConf->rate,
defaultServoConf->forwardFromChannel
);
@ -2379,8 +2376,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
servoConf->min,
servoConf->max,
servoConf->middle,
servoConf->angleAtMin,
servoConf->angleAtMax,
servoConf->rate,
servoConf->forwardFromChannel
);
@ -2413,7 +2408,7 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
static void cliServo(char *cmdline)
{
enum { SERVO_ARGUMENT_COUNT = 8 };
enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
@ -2451,7 +2446,7 @@ static void cliServo(char *cmdline)
}
}
enum {INDEX = 0, MIN, MAX, MIDDLE, ANGLE_AT_MIN, ANGLE_AT_MAX, RATE, FORWARD};
enum {INDEX = 0, MIN, MAX, MIDDLE, RATE, FORWARD};
i = arguments[INDEX];
@ -2469,21 +2464,17 @@ static void cliServo(char *cmdline)
arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
arguments[RATE] < -100 || arguments[RATE] > 100 ||
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT ||
arguments[ANGLE_AT_MIN] < 0 || arguments[ANGLE_AT_MIN] > 180 ||
arguments[ANGLE_AT_MAX] < 0 || arguments[ANGLE_AT_MAX] > 180
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT
) {
cliShowParseError();
return;
}
servo->min = arguments[1];
servo->max = arguments[2];
servo->middle = arguments[3];
servo->angleAtMin = arguments[4];
servo->angleAtMax = arguments[5];
servo->rate = arguments[6];
servo->forwardFromChannel = arguments[7];
servo->min = arguments[MIN];
servo->max = arguments[MAX];
servo->middle = arguments[MIDDLE];
servo->rate = arguments[RATE];
servo->forwardFromChannel = arguments[FORWARD];
}
}
#endif

4
src/main/fc/fc_msp.c
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@ -1548,7 +1548,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS
if (dataSize != 1 + sizeof(servoParam_t)) {
if (dataSize != 1 + 14) {
return MSP_RESULT_ERROR;
}
i = sbufReadU8(src);
@ -1559,8 +1559,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
servoParamsMutable(i)->max = sbufReadU16(src);
servoParamsMutable(i)->middle = sbufReadU16(src);
servoParamsMutable(i)->rate = sbufReadU8(src);
servoParamsMutable(i)->angleAtMin = sbufReadU8(src);
servoParamsMutable(i)->angleAtMax = sbufReadU8(src);
servoParamsMutable(i)->forwardFromChannel = sbufReadU8(src);
servoParamsMutable(i)->reversedSources = sbufReadU32(src);
}

2
src/main/flight/servos.c
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@ -84,8 +84,6 @@ void pgResetFn_servoParams(servoParam_t *instance)
.max = DEFAULT_SERVO_MAX,
.middle = DEFAULT_SERVO_MIDDLE,
.rate = 100,
.angleAtMin = DEFAULT_SERVO_MIN_ANGLE,
.angleAtMax = DEFAULT_SERVO_MAX_ANGLE,
.forwardFromChannel = CHANNEL_FORWARDING_DISABLED
);
}

2
src/main/flight/servos.h
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@ -97,8 +97,6 @@ typedef struct servoParam_s {
int16_t max; // servo max
int16_t middle; // servo middle
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint8_t angleAtMin; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
uint8_t angleAtMax; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
int8_t forwardFromChannel; // RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED
} servoParam_t;

2
src/main/rx/rx.h
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@ -37,8 +37,6 @@
#define DEFAULT_SERVO_MIN 1000
#define DEFAULT_SERVO_MIDDLE 1500
#define DEFAULT_SERVO_MAX 2000
#define DEFAULT_SERVO_MIN_ANGLE 90
#define DEFAULT_SERVO_MAX_ANGLE 90
typedef enum {
RX_FRAME_PENDING = 0,