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Code Issues Wiki Activity

Luxfloat more precision in Configurator tuning

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borisbstyle 2015-07-23 00:07:01 +02:00
parent b02a884c0c
commit 259630840a
1 changed files with 41 additions and 0 deletions
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41
src/main/io/serial_msp.c
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@ -277,6 +277,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
#define MSP_PID_FLOAT 123 //out message P I D Used for Luxfloat
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -293,6 +294,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
#define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
#define MSP_SET_PID_FLOAT 216 //in message P I D used for luxfloat
// #define MSP_BIND 240 //in message no param
@ -961,6 +963,26 @@ static bool processOutCommand(uint8_t cmdMSP)
}
}
break;
case MSP_PID_FLOAT:
headSerialReply(3 * PID_ITEM_COUNT * 2);
for (i = 0; i < 3; i++) {
serialize16(lrintf(currentProfile->pidProfile.P_f[i] * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.I_f[i] * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize16(lrintf(currentProfile->pidProfile.A_level * 1000.0f));
serialize16(lrintf(currentProfile->pidProfile.H_level * 1000.0f));
serialize16(currentProfile->pidProfile.H_sensitivity);
}
else {
serialize16(currentProfile->pidProfile.P8[i]);
serialize16(currentProfile->pidProfile.I8[i]);
serialize16(currentProfile->pidProfile.D8[i]);
}
}
break;
case MSP_PIDNAMES:
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
@ -1351,6 +1373,25 @@ static bool processInCommand(void)
}
}
break;
case MSP_SET_PID_FLOAT:
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read16() / 1000.0f;
currentProfile->pidProfile.I_f[i] = (float)read16() / 1000.0f;
currentProfile->pidProfile.D_f[i] = (float)read16() / 1000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
currentProfile->pidProfile.A_level = (float)read16() / 1000.0f;
currentProfile->pidProfile.H_level = (float)read16() / 1000.0f;
currentProfile->pidProfile.H_sensitivity = read16();
}
else {
currentProfile->pidProfile.P8[i] = read16();
currentProfile->pidProfile.I8[i] = read16();
currentProfile->pidProfile.D8[i] = read16();
}
}
break;
case MSP_SET_MODE_RANGE:
i = read8();
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {