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Initial PID controller separation // Betaflight pidc for future development

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This commit is contained in:
borisbstyle 2016-07-17 23:35:56 +02:00
parent 16c9ca75d6
commit 37fd2e5adc
13 changed files with 113 additions and 61 deletions
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10
src/main/io/serial_msp.c
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@ -1219,14 +1219,14 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
serialize16(currentProfile->pidProfile.yaw_p_limit);
serialize8(currentProfile->pidProfile.deltaMethod);
serialize8(masterConfig.batteryConfig.vbatPidCompensation);
serialize8(currentProfile->pidProfile.vbatPidCompensation);
break;
case MSP_SPECIAL_PARAMETERS:
headSerialReply(1 + 2 + 1 + 2);
serialize8(currentControlRateProfile->rcYawRate8);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
serialize8(masterConfig.rxConfig.rcSmoothInterval);
serialize16(masterConfig.escAndServoConfig.accelerationLimitPercent);
serialize16(currentProfile->pidProfile.accelerationLimitPercent);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
@ -1295,7 +1295,7 @@ static bool processInCommand(void)
read16();
break;
case MSP_SET_PID_CONTROLLER:
currentProfile->pidProfile.pidController = constrain(read8(), 1, 2);
currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
pidSetController(currentProfile->pidProfile.pidController);
break;
case MSP_SET_PID:
@ -1795,13 +1795,13 @@ static bool processInCommand(void)
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
currentProfile->pidProfile.deltaMethod = read8();
masterConfig.batteryConfig.vbatPidCompensation = read8();
currentProfile->pidProfile.vbatPidCompensation = read8();
break;
case MSP_SET_SPECIAL_PARAMETERS:
currentControlRateProfile->rcYawRate8 = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16();
masterConfig.rxConfig.rcSmoothInterval = read8();
masterConfig.escAndServoConfig.accelerationLimitPercent = read16();
currentProfile->pidProfile.accelerationLimitPercent = read16();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();