From 087e3ae0f424e195c8a813a9a3541d46f993faab Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Sun, 20 Mar 2016 20:13:36 +0100 Subject: [PATCH] Better configuration range for luxfloat in configurator --- src/main/io/serial_msp.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index a2a09fabf9..37460af95a 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -878,9 +878,9 @@ static bool processOutCommand(uint8_t cmdMSP) headSerialReply(3 * PID_ITEM_COUNT); if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid for (i = 0; i < 3; i++) { - serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 255)); + serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 40.0f), 0, 255)); serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255)); - serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 255)); + serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 4000.0f), 0, 255)); } for (i = 3; i < PID_ITEM_COUNT; i++) { if (i == PIDLEVEL) { @@ -1334,9 +1334,9 @@ static bool processInCommand(void) case MSP_SET_PID: if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { for (i = 0; i < 3; i++) { - currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f; + currentProfile->pidProfile.P_f[i] = (float)read8() / 40.0f; currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f; - currentProfile->pidProfile.D_f[i] = (float)read8() / 1000.0f; + currentProfile->pidProfile.D_f[i] = (float)read8() / 4000.0f; } for (i = 3; i < PID_ITEM_COUNT; i++) { if (i == PIDLEVEL) {