Adding new MSP command to GET/SET Flying Wing and Airplane specific parameters

[Nandox7]

Adding a new serial MSP command to get/set parameters related to airplane and flying wing modes. Most of those parameters are currently only available over the cli and identified with the keyword "fw_"

The new MSP exposes them in the following order:

fw_althold_dir fw_roll_throw fw_pitch_throw fw_vector_trust fw_gps_maxcorr fw_gps_rudder fw_gps_maxclimb fw_gps_maxdive fw_climb_throttle fw_cruise_throttle fw_idle_throttle fw_scaler_throttle fw_roll_comp fw_rth_alt (+ 4x extra 32bits spaces added to accommodate future params added)

TODO:

Currently fw_rth_alt uses the P value of POSR (D8[PIDPOSR]) so that it would be easier to set it using a UI. Next step is to move it into it's own parameter in EEPROM and config.

[ghost]

Can one of the admins verify this patch?

[trollcop]

ok to test

[cTn-dev]

When you get a moment, could you beep me on IRC to explain where should be the UI implemented and how should the UI look like for specific options, so i can do it properly? Thanks

[trollcop]

I noticed a couple of things here. First of all, FW_NAV used PID.POSR on multiwii because they abused one of the sliders in old java GUI for it. There's absolutely no reason for us to keep doing such, so I think PID.POSR should be removed and renamed to a separate variable that the rest of the fw_nav code should be fixed to use. Since it seems to be used for rth altitude, perhaps fw_rth_altitude or something would make sense in mcfg or in cfg.

Second, the size of MSP packet should include the 4 reserved uint32s as well.

Perhaps a new PR should be open with these two things.

[Nandox7]

@cTn-dev sure, I'll do that.

@trollcop yes I noticed that and added it as a TODO item. Didn't want to get too much changes into one single CL specially because it will mess with other parts of the code like the eeprom save/restore.

Btw, is there any guidelines in regards to either use mcfg or a cfg value?

[readerror67]

Generally, if something is used globally, like a channel map for example, it would belong to mcfg, if its profile specific such as PIDs it would belong to cfg.

When changing profiles only the cfg values are updated.

[trollcop]

ya maybe a separate pr to stop using pidposr and add fw_rth_altitude or something is a good idea. On Jul 1, 2015 12:56 AM, "Nandox7" notifications@github.com wrote:

@cTn-dev https://github.com/cTn-dev sure, I'll do that.

@trollcop https://github.com/trollcop yes I noticed that and added it as a TODO item. Didn't want to get too much changes into one single CL specially because it will mess with other parts of the code like the eeprom save/restore.

Btw, is there any guidelines in regards to either use mcfg or a cfg value?

— Reply to this email directly or view it on GitHub https://github.com/multiwii/baseflight/pull/280#issuecomment-117237429.

[Nandox7]

Working on it now. I'll use fw_rth_alt as it is what is currently in use by the cli.

[cTn-dev]

Any word on that last MSP cleanup? I would like to release it soon-ish.

[Nandox7]

Few free time lately I'll see if I can do it today.
There is some stuff to remove.

[Nandox7]

PR created: https://github.com/multiwii/baseflight/pull/286