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Code Issues Wiki Activity

PID code cleanup // refactoring

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borisbstyle 2016-12-30 12:04:44 +01:00
parent 4e3704374a
commit 1030df294d
8 changed files with 110 additions and 86 deletions
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8
src/main/fc/fc_msp.c
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@ -1164,8 +1164,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit);
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit);
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
break;
case MSP_SENSOR_CONFIG:
@ -1512,8 +1512,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src);
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src);
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
pidInitConfig(&currentProfile->pidProfile);
break;