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Add integrated yaw to MSP

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This commit is contained in:
Miguel Angel Mulero Martinez 2019-03-06 10:07:29 +01:00
parent 80b3a116d3
commit 05e5417f10
1 changed files with 17 additions and 0 deletions
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17
src/main/msp/msp.c
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@ -1484,6 +1484,14 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
#endif #endif
#if defined(USE_INTEGRATED_YAW_CONTROL)
sbufWriteU8(dst, currentPidProfile->use_integrated_yaw);
sbufWriteU8(dst, currentPidProfile->integrated_yaw_relax);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
#if defined(USE_ACC) #if defined(USE_ACC)
@ -2149,6 +2157,15 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 2) {
#if defined(USE_INTEGRATED_YAW_CONTROL)
currentPidProfile->use_integrated_yaw = sbufReadU8(src);
currentPidProfile->integrated_yaw_relax = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
#endif #endif
} }
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);