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This commit is contained in:
mikeller 2018-07-17 00:33:30 +12:00
parent b4b88a5972
commit 2735a626e0
1 changed files with 24 additions and 11 deletions
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35
src/main/interface/msp.c
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@ -1307,8 +1307,12 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#endif #endif
#if defined(USE_ITERM_RELAX) #if defined(USE_ITERM_RELAX)
sbufWriteU8(dst, currentPidProfile->iterm_relax); sbufWriteU8(dst, currentPidProfile->iterm_relax);
sbufWriteU8(dst, currentPidProfile->iterm_relax_type);
sbufWriteU8(dst, currentPidProfile->iterm_relax_cutoff);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif #endif
#if defined(USE_ABSOLUTE_CONTROL) #if defined(USE_ABSOLUTE_CONTROL)
sbufWriteU8(dst, currentPidProfile->abs_control_gain); sbufWriteU8(dst, currentPidProfile->abs_control_gain);
@ -1319,14 +1323,16 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
#endif #endif
#if defined(USE_ACRO_TRAINER) #if defined(USE_THROTTLE_BOOST)
sbufWriteU8(dst, currentPidProfile->acro_trainer_angle_limit); sbufWriteU8(dst, currentPidProfile->throttle_boost);
sbufWriteU16(dst, currentPidProfile->acro_trainer_lookahead_ms); sbufWriteU8(dst, currentPidProfile->throttle_boost_cutoff);
sbufWriteU8(dst, currentPidProfile->acro_trainer_gain);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
#endif
#if defined(USE_ACRO_TRAINER)
sbufWriteU8(dst, currentPidProfile->acro_trainer_angle_limit);
#else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
#endif #endif
@ -1849,7 +1855,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) { if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src); currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
} }
if (sbufBytesRemaining(src) >= 10) { if (sbufBytesRemaining(src) >= 11) {
// Added in MSP API 1.40 // Added in MSP API 1.40
currentPidProfile->iterm_rotation = sbufReadU8(src); currentPidProfile->iterm_rotation = sbufReadU8(src);
#if defined(USE_SMART_FEEDFORWARD) #if defined(USE_SMART_FEEDFORWARD)
@ -1859,8 +1865,12 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif #endif
#if defined(USE_ITERM_RELAX) #if defined(USE_ITERM_RELAX)
currentPidProfile->iterm_relax = sbufReadU8(src); currentPidProfile->iterm_relax = sbufReadU8(src);
currentPidProfile->iterm_relax_type = sbufReadU8(src);
currentPidProfile->iterm_relax_cutoff = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif #endif
#if defined(USE_ABSOLUTE_CONTROL) #if defined(USE_ABSOLUTE_CONTROL)
currentPidProfile->abs_control_gain = sbufReadU8(src); currentPidProfile->abs_control_gain = sbufReadU8(src);
@ -1871,13 +1881,16 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
#endif #endif
#if defined(USE_ACRO_TRAINER) #if defined(USE_THROTTLE_BOOST)
currentPidProfile->acro_trainer_angle_limit = sbufReadU8(src); currentPidProfile->throttle_boost = sbufReadU8(src);
currentPidProfile->acro_trainer_lookahead_ms = sbufReadU16(src); currentPidProfile->throttle_boost_cutoff = sbufReadU8(src);
currentPidProfile->acro_trainer_gain = sbufReadU8(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
sbufReadU16(src); sbufReadU8(src);
#endif
#if defined(USE_ACRO_TRAINER)
currentPidProfile->acro_trainer_angle_limit = sbufReadU8(src);
#else
sbufReadU8(src); sbufReadU8(src);
#endif #endif
} }