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Add integrated yaw to MSP
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1 changed files with 17 additions and 0 deletions
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@ -1484,6 +1484,14 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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#endif
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#if defined(USE_INTEGRATED_YAW_CONTROL)
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sbufWriteU8(dst, currentPidProfile->use_integrated_yaw);
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sbufWriteU8(dst, currentPidProfile->integrated_yaw_relax);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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#endif
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break;
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case MSP_SENSOR_CONFIG:
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#if defined(USE_ACC)
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@ -2149,6 +2157,15 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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sbufReadU8(src);
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sbufReadU8(src);
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sbufReadU8(src);
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#endif
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}
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if (sbufBytesRemaining(src) >= 2) {
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#if defined(USE_INTEGRATED_YAW_CONTROL)
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currentPidProfile->use_integrated_yaw = sbufReadU8(src);
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currentPidProfile->integrated_yaw_relax = sbufReadU8(src);
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#else
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sbufReadU8(src);
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sbufReadU8(src);
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#endif
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}
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pidInitConfig(currentPidProfile);
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