Merge branch 'multiwii-master'
Conflicts: src/board.h src/buzzer.c src/config.c src/drivers/serial_common.h src/drivers/system_common.c src/drv_gpio.h src/drv_pwm.c src/drv_timer.c src/drv_uart.c src/flight_imu.c src/mw.c src/rx_sbus.c src/sensors.c src/serial_cli.c
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obj/baseflight.hex
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@ -94,8 +94,14 @@ static void sbusDataReceive(uint16_t c)
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bool sbusFrameComplete(void)
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bool sbusFrameComplete(void)
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{
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{
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if (sbusFrameDone) {
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if (!sbusFrameDone) {
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if (!((sbus.in[22] >> 3) & 0x0001)) { // failsave flag
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return false;
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}
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sbusFrameDone = false;
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if ((sbus.in[22] >> 3) & 0x0001) {
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// internal failsafe enabled and rx failsafe flag set
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return false;
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}
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sbusChannelData[0] = sbus.msg.chan0;
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sbusChannelData[0] = sbus.msg.chan0;
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sbusChannelData[1] = sbus.msg.chan1;
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sbusChannelData[1] = sbus.msg.chan1;
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sbusChannelData[2] = sbus.msg.chan2;
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sbusChannelData[2] = sbus.msg.chan2;
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@ -105,12 +111,7 @@ bool sbusFrameComplete(void)
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sbusChannelData[6] = sbus.msg.chan6;
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sbusChannelData[6] = sbus.msg.chan6;
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sbusChannelData[7] = sbus.msg.chan7;
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sbusChannelData[7] = sbus.msg.chan7;
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// need more channels? No problem. Add them.
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// need more channels? No problem. Add them.
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sbusFrameDone = false;
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return true;
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return true;
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}
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sbusFrameDone = false;
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}
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return false;
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}
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}
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static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
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@ -303,7 +303,6 @@ static void cliSetVar(const clivalue_t *var, const int_float_value_t value);
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static void cliPrintVar(const clivalue_t *var, uint32_t full);
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static void cliPrintVar(const clivalue_t *var, uint32_t full);
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static void cliPrint(const char *str);
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static void cliPrint(const char *str);
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static void cliWrite(uint8_t ch);
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static void cliWrite(uint8_t ch);
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static void cliPrompt(void)
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static void cliPrompt(void)
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{
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{
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cliPrint("\r\n# ");
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cliPrint("\r\n# ");
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