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MSP changed

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Changed MSP, all new data are at the end
This commit is contained in:
supiiik 2018-05-23 13:33:43 +02:00
parent 76e3e7aded
commit 4312513a77
3 changed files with 10 additions and 6 deletions
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12
src/main/interface/msp.c
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@ -1224,8 +1224,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
// sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
@ -1234,6 +1234,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
break;
case MSP_SENSOR_CONFIG:
@ -1680,8 +1681,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
currentPidProfile->vbatPidCompensation = sbufReadU8(src);
currentPidProfile->setpointRelaxRatio = sbufReadU8(src);
currentPidProfile->dtermSetpointWeight = sbufReadU16(src); // not sure, if this is OK. Low bit is written 1st, so it should be compatible
// sbufReadU8(src); // reserved
currentPidProfile->dtermSetpointWeight = sbufReadU8(src);
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src);
@ -1694,6 +1695,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
}
pidInitConfig(currentPidProfile);
break;