Add support for gyro_cal_on_first_arm (#3938)

* Add support for gyro_cal_on_first_arm * Add semver magic * cleanup * cleanup html * Update added parameter * Another update * Remove auto imported vite import * Change API and hide better
betaflight · May 22, 2024 · dfc04a2 · dfc04a2
1 parent 2bd7f2b
commit dfc04a2
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Showing 6 changed files with 50 additions and 22 deletions.
diff --git a/locales/en/messages.json b/locales/en/messages.json
@@ -1395,13 +1395,13 @@
         "message": "This option configures the mixer to expect the motor direction to be reversed and the propellers to be on accordingly. <strong>Warning:</strong> This does not reverse the motor direction. Use the configuration tool for your ESCs or switch the ESC - motor wiring order to achieve this. Also, make sure to check with propellers off that your motors are rotating in the directions shown in the diagram above before attempting to arm."
     },
     "configurationAutoDisarmDelay": {
-        "message": "Disarm motors after set delay [seconds] (Requires MOTOR_STOP feature)"
+        "message": "Disarm motors after delay [seconds]"
     },
-    "configurationDisarmKillSwitch": {
-        "message": "Disarm motors regardless of throttle value (When ARM is configured in Modes tab via AUX channel)"
+    "configurationAutoDisarmDelayHelp": {
+        "message": "Disarm motors after set delay [seconds] (Requires MOTOR_STOP feature)"
     },
-    "configurationDisarmKillSwitchHelp": {
-        "message": "Arming is always disabled when the throttle is not low. Be careful as you could disarm accidentally with a switch while flying with this option active."
+    "configurationGyroCalOnFirstArm": {
+        "message": "Calibrate Gyro on first arm"
     },
     "configurationDigitalIdlePercent": {
         "message": "Motor Idle ( %, static)"

diff --git a/src/css/tabs/configuration.less b/src/css/tabs/configuration.less
@@ -301,11 +301,6 @@
 		margin-right: 10px;
 		font-weight: bold;
 	}
-	._smallAngle {
-		margin-top: 10px;
-		float: left;
-		width: 100%;
-	}
 }
 @media only screen and (max-width: 1055px) {
 	.tab-configuration {

diff --git a/src/js/fc.js b/src/js/fc.js
@@ -392,6 +392,7 @@ const FC = {
             auto_disarm_delay:          0,
             disarm_kill_switch:         0,
             small_angle:                0,
+            gyro_cal_on_first_arm:      0,
         };
 
         this.FC_CONFIG = {

diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
@@ -466,8 +466,11 @@ MspHelper.prototype.process_data = function(dataHandler) {
 
             case MSPCodes.MSP_ARMING_CONFIG:
                 FC.ARMING_CONFIG.auto_disarm_delay = data.readU8();
-                FC.ARMING_CONFIG.disarm_kill_switch = data.readU8();
+                data.readU8(); // was FC.ARMING_CONFIG.auto_disarm_kill_switch
                 FC.ARMING_CONFIG.small_angle = data.readU8();
+                if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
+                    FC.ARMING_CONFIG.gyro_cal_on_first_arm = data.readU8();
+                }
                 break;
             case MSPCodes.MSP_LOOP_TIME:
                 FC.FC_CONFIG.loopTime = data.readU16();
@@ -1792,8 +1795,11 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
             break;
         case MSPCodes.MSP_SET_ARMING_CONFIG:
             buffer.push8(FC.ARMING_CONFIG.auto_disarm_delay)
-                .push8(FC.ARMING_CONFIG.disarm_kill_switch)
+                .push8(0) // was disarm_kill_switch
                 .push8(FC.ARMING_CONFIG.small_angle);
+                if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
+                    buffer.push8(FC.ARMING_CONFIG.gyro_cal_on_first_arm);
+                }
             break;
         case MSPCodes.MSP_SET_LOOP_TIME:
             buffer.push16(FC.FC_CONFIG.loopTime);

diff --git a/src/js/tabs/configuration.js b/src/js/tabs/configuration.js
@@ -6,7 +6,7 @@ import { mspHelper } from '../msp/MSPHelper';
 import FC from '../fc';
 import MSP from '../msp';
 import MSPCodes from '../msp/MSPCodes';
-import { API_VERSION_1_42, API_VERSION_1_43, API_VERSION_1_45 } from '../data_storage';
+import { API_VERSION_1_42, API_VERSION_1_43, API_VERSION_1_45, API_VERSION_1_46 } from '../data_storage';
 import { updateTabList } from '../utils/updateTabList';
 import $ from 'jquery';
 
@@ -343,9 +343,21 @@ configuration.initialize = function (callback) {
         $('input[name="roll"]').val(FC.CONFIG.accelerometerTrims[1]);
         $('input[name="pitch"]').val(FC.CONFIG.accelerometerTrims[0]);
 
-        $('._smallAngle').show();
         $('input[id="configurationSmallAngle"]').val(FC.ARMING_CONFIG.small_angle);
 
+        if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
+            $('input[id="configurationGyroCalOnFirstArm"]').prop('checked', FC.ARMING_CONFIG.gyro_cal_on_first_arm === 1);
+
+            if (FC.FEATURE_CONFIG.features.isEnabled('MOTOR_STOP')) {
+                $('input[id="configurationAutoDisarmDelay"]').val(FC.ARMING_CONFIG.auto_disarm_delay);
+            } else {
+                $('input[id="configurationAutoDisarmDelay"]').parent().hide();
+            }
+        } else {
+            $('input[id="configurationGyroCalOnFirstArm"]').parent().parent().hide();
+            $('input[id="configurationAutoDisarmDelay"]').parent().parent().hide();
+        }
+
         // UI hooks
 
         function checkUpdateGpsControls() {
@@ -395,7 +407,10 @@ configuration.initialize = function (callback) {
             FC.CONFIG.accelerometerTrims[1] = parseInt($('input[name="roll"]').val());
             FC.CONFIG.accelerometerTrims[0] = parseInt($('input[name="pitch"]').val());
 
-            // small angle configuration
+            if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
+                FC.ARMING_CONFIG.gyro_cal_on_first_arm = $('input[id="configurationGyroCalOnFirstArm"]').is(':checked') ? 1 : 0;
+                FC.ARMING_CONFIG.auto_disarm_delay = parseInt($('input[id="configurationAutoDisarmDelay"]').val());
+            }
             FC.ARMING_CONFIG.small_angle = parseInt($('input[id="configurationSmallAngle"]').val());
 
             FC.SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val());

diff --git a/src/tabs/configuration.html b/src/tabs/configuration.html
@@ -104,14 +104,25 @@
                         <div class="helpicon cf_tip" i18n_title="configurationArmingHelp"></div>
                     </div>
                     <div class="spacer_box">
-                        <div class="_smallAngle">
-                            <div class="number">
-                                <label>
-                                    <input type="number" id="configurationSmallAngle" step="1" min="1" max="180" />
-                                    <span i18n="configurationSmallAngle"></span>
-                                    <div class="helpicon cf_tip" i18n_title="configurationSmallAngleHelp"></div>
-                                </label>
+                        <div class="number">
+                            <label>
+                                <input type="number" id="configurationSmallAngle" step="1" min="1" max="180" />
+                                <span i18n="configurationSmallAngle"></span>
+                                <div class="helpicon cf_tip" i18n_title="configurationSmallAngleHelp"></div>
+                            </label>
+                        </div>
+                        <div class="number">
+                            <label>
+                                <input type="number" id="configurationAutoDisarmDelay" step="1" min="0" max="60" />
+                                <span i18n="configurationAutoDisarmDelay"></span>
+                                <div class="helpicon cf_tip" i18n_title="configurationAutoDisarmDelayHelp"></div>
+                            </label>
+                        </div>
+                        <div class="select">
+                            <div style="float: left; height: 20px; margin-right: 15px; margin-left: 3px;">
+                                <input type="checkbox" id="configurationGyroCalOnFirstArm" class="toggle" />
                             </div>
+                            <span class="freelabel" i18n="configurationGyroCalOnFirstArm"></span>
                         </div>
                     </div>
                 </div>