Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-18 05:45:31 +03:00
Code Issues Wiki Activity

use Throttle Setpoint, not rcDATA(throttle), for TPA

Browse source
This commit is contained in:
ctzsnooze 2022-01-24 15:25:16 +11:00
parent f2559fbfd8
commit 2262dfc60e
16 changed files with 37 additions and 43 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/msp/msp.c
View file

@ -1284,7 +1284,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
}
sbufWriteU8(dst, currentControlRateProfile->dynThrPID);
sbufWriteU8(dst, currentControlRateProfile->tpa_rate);
sbufWriteU8(dst, currentControlRateProfile->thrMid8);
sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
@ -2566,7 +2566,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
}
value = sbufReadU8(src);
currentControlRateProfile->dynThrPID = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->tpa_rate = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);