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fix ardupuilot bug by ligenxxxx · Pull Request #248 · hd-zero/hdzero-vtx · GitHub

/ hdzero-vtx Public

fix ardupuilot bug #248

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fix ardupuilot bug #248

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17 changes: 17 additions & 0 deletions src/msp_displayport.c
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Original file line number Diff line number Diff line change
Expand Up @@ -817,6 +817,10 @@ void msp_cmd_tx() {
msp_send_cmd_tx(MSP_FC_VARIANT);
} else if ((fc_lock & FC_VTX_CONFIG_LOCK) == 0) {
msp_send_cmd_tx(MSP_GET_VTX_CONFIG);
msp_send_cmd_tx(MSP_STATUS);
if (!g_IS_ARMED) {
msp_send_cmd_tx(MSP_RC);
}
} else {
fc_lock |= FC_STARTUP_LOCK;

Expand Down Expand Up @@ -1052,6 +1056,8 @@ void parse_status() {
camera_switch(1);
}

g_IS_ARMED = (msp_rx_buf[6] & 0x01);

#if (0)
g_IS_PARALYZE = (msp_rx_buf[9] & 0x80);

Expand Down Expand Up @@ -1113,6 +1119,9 @@ void parse_rc() {
yaw = (msp_rx_buf[5] << 8) | msp_rx_buf[4];
throttle = (msp_rx_buf[7] << 8) | msp_rx_buf[6];

if (msp_cmp_fc_variant("ARDU"))
pitch = 3000 - pitch;

update_cms_menu(roll, pitch, yaw, throttle);
}

Expand Down Expand Up @@ -1314,11 +1323,19 @@ void parse_vtx_params(uint8_t isMSP_V2) {
}

void parse_vtx_config(void) {
if (!msp_cmp_fc_variant("BTFL") && !msp_cmp_fc_variant("EMUF") && !msp_cmp_fc_variant("QUIC") && !msp_cmp_fc_variant("INAV")) {
return;
}

fc_lock |= FC_VTX_CONFIG_LOCK;
parse_vtx_params(0);
}

void parseMspVtx_V2(void) {
if (!msp_cmp_fc_variant("BTFL") && !msp_cmp_fc_variant("EMUF") && !msp_cmp_fc_variant("QUIC") && !msp_cmp_fc_variant("INAV")) {
return;
}

if (fc_lock & FC_VTX_CONFIG_LOCK) {
parse_vtx_params(1);
}
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