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Add more configurable Dterm approaches (for testing purposes)

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borisbstyle 2016-01-05 11:48:24 +01:00
parent 91de6fd4c2
commit 42dfba8218
5 changed files with 46 additions and 34 deletions
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4
src/main/io/i2c_bst.c
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@ -996,7 +996,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite16(masterConfig.gyro_lpf);
bstWrite8(0);//masterConfig.profile[0].pidProfile.gyro_cut_hz);
bstWrite8(masterConfig.profile[0].pidProfile.dterm_cut_hz);
bstWrite8(masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz);
bstWrite8(masterConfig.profile[0].pidProfile.delta_from_gyro_error);
break;
default:
// we do not know how to handle the (valid) message, indicate error BST
@ -1461,7 +1461,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
masterConfig.gyro_lpf = bstRead16();
bstRead8();//masterConfig.profile[0].pidProfile.gyro_cut_hz = bstRead8();
masterConfig.profile[0].pidProfile.dterm_cut_hz = bstRead8();
masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz = bstRead8();
masterConfig.profile[0].pidProfile.delta_from_gyro_error = bstRead8();
break;
default: