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Fix TPA (#11969)

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haslinghuis 2022-11-09 11:18:14 +01:00 • committed by GitHub
parent b44129f38d
commit 139210e403
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6 changed files with 18 additions and 15 deletions
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7
src/main/msp/msp.c
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@ -2020,6 +2020,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->tpa_mode);
sbufWriteU8(dst, currentPidProfile->tpa_rate);
sbufWriteU16(dst, currentPidProfile->tpa_breakpoint); // was currentControlRateProfile->tpa_breakpoint
break;
@ -3168,10 +3169,10 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 3) {
if (sbufBytesRemaining(src) >= 4) {
// Added in API 1.45
value = sbufReadU8(src);
currentPidProfile->tpa_rate = MIN(value, TPA_MAX);
currentPidProfile->tpa_mode = sbufReadU8(src);
currentPidProfile->tpa_rate = MIN(sbufReadU8(src), TPA_MAX);
currentPidProfile->tpa_breakpoint = sbufReadU16(src);
}