Update gyro sensor info (#4626)

Author: haslinghuis

locales/en/messages.json

@@ -1552,10 +1552,6 @@
     "configurationSensorGyroToUseBoth": {
         "message": "Both"
     },
-    "configurationSensorGyroEnable": {
-        "message": "$t(sensorStatusGyroShort.message)",
-        "description": "Don't translate!!!"
-    },
     "configurationSensorAlignment": {
         "message": "Sensor Alignment"
     },

src/js/fc.js

@@ -160,6 +160,7 @@ const FC = {
     FC_CONFIG: null,
     FEATURE_CONFIG: null,
     FILTER_CONFIG: null,
+    GYRO_SENSOR: null,
     GPS_CONFIG: null,
     COMPASS_CONFIG: null,
     GPS_DATA: null,
@@ -603,6 +604,11 @@ const FC = {
             name: 0,
         };
 
+        this.GYRO_SENSOR = {
+            gyro_count: 0,
+            gyro_hardware: [],
+        };
+
         this.RX_CONFIG = {
             serialrx_provider: 0,
             stick_max: 0,

src/js/msp/MSPCodes.js

@@ -200,6 +200,7 @@ const MSPCodes = {
     MSP2_SET_LED_STRIP_CONFIG_VALUES: 0x3009,
     MSP2_SENSOR_CONFIG_ACTIVE: 0x300a,
     MSP2_MCU_INFO: 0x300c,
+    MSP2_GYRO_SENSOR: 0x300d,
 
     // MSP2_GET_TEXT and MSP2_SET_TEXT variable types
     PILOT_NAME: 1,

src/js/msp/MSPHelper.js

@@ -1253,6 +1253,14 @@ MspHelper.prototype.process_data = function (dataHandler) {
                         };
                     }
                     break;
+                case MSPCodes.MSP2_GYRO_SENSOR:
+                    if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
+                        FC.GYRO_SENSOR.gyro_count = data.readU8();
+                        for (let i = 0; i < FC.GYRO_SENSOR.gyro_count; i++) {
+                            FC.GYRO_SENSOR.gyro_hardware[i] = data.readU8();
+                        }
+                    }
+                    break;
 
                 case MSPCodes.MSP_LED_STRIP_CONFIG:
                     FC.LED_STRIP = [];

src/js/tabs/configuration.js

@@ -75,6 +75,11 @@ configuration.initialize = function (callback) {
                     ? MSP.promise(MSPCodes.MSP_COMPASS_CONFIG)
                     : Promise.resolve(true),
             )
+            .then(() =>
+                semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)
+                    ? MSP.promise(MSPCodes.MSP2_GYRO_SENSOR)
+                    : Promise.resolve(true),
+            )
             .then(() => load_html());
     }
 
@@ -270,12 +275,12 @@ configuration.initialize = function (callback) {
                     // Create a new gyro alignment div
                     const gyroBox = $(`<div id="gyro_box_${gyroIndex + 1}"></div>`);
                     const gyroRow = $(`<div class="gyro_row"></div>`);
+                    const gyroDetected = sensorTypes().gyro.elements[FC.GYRO_SENSOR.gyro_hardware[gyroIndex]];
 
-                    // Create enable/disable checkbox
                     const enableCheck = $(`<div class="checkbox enable-checkbox">
                         <label>
                             <input type="checkbox" class="toggle" id="gyro_${gyroIndex + 1}_enable">
-                            <span>${i18n.getMessage("configurationSensorGyroEnable")} ${gyroIndex + 1}</span>
+                            <span> ${gyroDetected}</span>
                         </label>
                     </div>`);
 

src/js/tabs/setup.js

@@ -35,7 +35,11 @@ setup.initialize = function (callback) {
     }
 
     function load_mixer_config() {
-        MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_html);
+        MSP.send_message(MSPCodes.MSP_MIXER_CONFIG, false, false, load_gyro_sensor);
+    }
+
+    function load_gyro_sensor() {
+        MSP.send_message(MSPCodes.MSP_SENSOR_ALIGNMENT, false, false, load_html);
     }
 
     function load_html() {
@@ -305,12 +309,25 @@ setup.initialize = function (callback) {
             }
 
             MSP.send_message(MSPCodes.MSP2_SENSOR_CONFIG_ACTIVE, false, false, function () {
-                addSensorInfo(
-                    FC.SENSOR_CONFIG_ACTIVE.gyro_hardware,
-                    sensor_gyro_e,
-                    "gyro",
-                    sensorTypes().gyro.elements,
-                );
+                if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
+                    MSP.send_message(MSPCodes.MSP2_GYRO_SENSOR, false, false, function () {
+                        let gyroInfoList = [];
+                        for (let i = 0; i < FC.GYRO_SENSOR.gyro_count; i++) {
+                            if ((FC.SENSOR_ALIGNMENT.gyro_enable_mask & (1 << i)) !== 0) {
+                                gyroInfoList.push(sensorTypes().gyro.elements[FC.GYRO_SENSOR.gyro_hardware[i]]);
+                            }
+                        }
+                        sensor_gyro_e.html(gyroInfoList.join(" "));
+                    });
+                } else {
+                    addSensorInfo(
+                        FC.SENSOR_CONFIG_ACTIVE.gyro_hardware,
+                        sensor_gyro_e,
+                        "gyro",
+                        sensorTypes().gyro.elements,
+                    );
+                }
+
                 addSensorInfo(FC.SENSOR_CONFIG_ACTIVE.acc_hardware, sensor_acc_e, "acc", sensorTypes().acc.elements);
                 addSensorInfo(
                     FC.SENSOR_CONFIG_ACTIVE.baro_hardware,