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Code Issues Wiki Activity

Cleanup MSP

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This commit is contained in:
borisbstyle 2016-08-01 16:45:03 +02:00
parent 188cd26492
commit 2e0433c78f
2 changed files with 13 additions and 25 deletions
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27
src/main/io/serial_msp.c
View file

@ -859,7 +859,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16((uint16_t)targetLooptime); serialize16((uint16_t)targetLooptime);
break; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
headSerialReply(11); headSerialReply(12);
serialize8(currentControlRateProfile->rcRate8); serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8); serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) { for (i = 0 ; i < 3; i++) {
@ -870,6 +870,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentControlRateProfile->thrExpo8); serialize8(currentControlRateProfile->thrExpo8);
serialize16(currentControlRateProfile->tpa_breakpoint); serialize16(currentControlRateProfile->tpa_breakpoint);
serialize8(currentControlRateProfile->rcYawExpo8); serialize8(currentControlRateProfile->rcYawExpo8);
serialize8(currentControlRateProfile->rcYawRate8);
break; break;
case MSP_PID: case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT); headSerialReply(3 * PID_ITEM_COUNT);
@ -1244,7 +1245,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.sensorAlignmentConfig.acc_align); serialize8(masterConfig.sensorAlignmentConfig.acc_align);
serialize8(masterConfig.sensorAlignmentConfig.mag_align); serialize8(masterConfig.sensorAlignmentConfig.mag_align);
break; break;
case MSP_PID_ADVANCED_CONFIG : case MSP_ADVANCED_CONFIG :
headSerialReply(6); headSerialReply(6);
serialize8(masterConfig.gyro_sync_denom); serialize8(masterConfig.gyro_sync_denom);
serialize8(masterConfig.pid_process_denom); serialize8(masterConfig.pid_process_denom);
@ -1258,7 +1259,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->pidProfile.dterm_lpf_hz); serialize16(currentProfile->pidProfile.dterm_lpf_hz);
serialize16(currentProfile->pidProfile.yaw_lpf_hz); serialize16(currentProfile->pidProfile.yaw_lpf_hz);
break; break;
case MSP_ADVANCED_TUNING: case MSP_PID_ADVANCED:
headSerialReply(3 * 2 + 2); headSerialReply(3 * 2 + 2);
serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate); serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
serialize16(currentProfile->pidProfile.yawItermIgnoreRate); serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
@ -1266,13 +1267,6 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->pidProfile.deltaMethod); serialize8(currentProfile->pidProfile.deltaMethod);
serialize8(masterConfig.batteryConfig.vbatPidCompensation); serialize8(masterConfig.batteryConfig.vbatPidCompensation);
break; break;
case MSP_SPECIAL_PARAMETERS:
headSerialReply(1 + 2 + 1 + 2);
serialize8(currentControlRateProfile->rcYawRate8);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
serialize8(masterConfig.rxConfig.rcSmoothInterval);
serialize16(masterConfig.escAndServoConfig.escDesyncProtection);
break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
headSerialReply(3); headSerialReply(3);
serialize8(masterConfig.acc_hardware); serialize8(masterConfig.acc_hardware);
@ -1407,6 +1401,9 @@ static bool processInCommand(void)
if (currentPort->dataSize >= 11) { if (currentPort->dataSize >= 11) {
currentControlRateProfile->rcYawExpo8 = read8(); currentControlRateProfile->rcYawExpo8 = read8();
} }
if (currentPort->dataSize >= 12) {
currentControlRateProfile->rcYawRate8 = read8();
}
} else { } else {
headSerialError(0); headSerialError(0);
} }
@ -1792,7 +1789,7 @@ static bool processInCommand(void)
break; break;
#endif #endif
case MSP_SET_PID_ADVANCED_CONFIG : case MSP_SET_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8(); masterConfig.gyro_sync_denom = read8();
masterConfig.pid_process_denom = read8(); masterConfig.pid_process_denom = read8();
masterConfig.use_unsyncedPwm = read8(); masterConfig.use_unsyncedPwm = read8();
@ -1804,19 +1801,13 @@ static bool processInCommand(void)
currentProfile->pidProfile.dterm_lpf_hz = read16(); currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16(); currentProfile->pidProfile.yaw_lpf_hz = read16();
break; break;
case MSP_SET_ADVANCED_TUNING: case MSP_SET_PID_ADVANCED:
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16(); currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16(); currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16(); currentProfile->pidProfile.yaw_p_limit = read16();
currentProfile->pidProfile.deltaMethod = read8(); currentProfile->pidProfile.deltaMethod = read8();
masterConfig.batteryConfig.vbatPidCompensation = read8(); masterConfig.batteryConfig.vbatPidCompensation = read8();
break; break;
case MSP_SET_SPECIAL_PARAMETERS:
currentControlRateProfile->rcYawRate8 = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16();
masterConfig.rxConfig.rcSmoothInterval = read8();
masterConfig.escAndServoConfig.escDesyncProtection = read16();
break;
case MSP_SET_SENSOR_CONFIG: case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8(); masterConfig.acc_hardware = read8();
masterConfig.baro_hardware = read8(); masterConfig.baro_hardware = read8();

11
src/main/io/serial_msp.h
View file

@ -185,22 +185,19 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion #define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
// Betaflight Additional Commands // Betaflight Additional Commands
#define MSP_PID_ADVANCED_CONFIG 90 #define MSP_ADVANCED_CONFIG 90
#define MSP_SET_PID_ADVANCED_CONFIG 91 #define MSP_SET_ADVANCED_CONFIG 91
#define MSP_FILTER_CONFIG 92 #define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93 #define MSP_SET_FILTER_CONFIG 93
#define MSP_ADVANCED_TUNING 94 #define MSP_PID_ADVANCED 94
#define MSP_SET_ADVANCED_TUNING 95 #define MSP_SET_PID_ADVANCED 95
#define MSP_SENSOR_CONFIG 96 #define MSP_SENSOR_CONFIG 96
#define MSP_SET_SENSOR_CONFIG 97 #define MSP_SET_SENSOR_CONFIG 97
#define MSP_SPECIAL_PARAMETERS 98 // Temporary betaflight parameters before cleanup and keep CF compatibility
#define MSP_SET_SPECIAL_PARAMETERS 99 // Temporary betaflight parameters before cleanup and keep CF compatibility
//
// Multwii original MSP commands // Multwii original MSP commands
// //