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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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2
src/main/cms/cms_menu_imu.c
View file

@ -285,7 +285,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
static OSD_Entry cmsx_menuProfileOtherEntries[] = { static OSD_Entry cmsx_menuProfileOtherEntries[] = {
{ "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 }, { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
{ "D SETPT WT", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_dtermSetpointWeight, 0, 2000, 1, 10 }, 0 }, { "D SETPT WT", OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_dtermSetpointWeight, 0, 2000, 1, 10 }, 0 },
{ "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 }, { "SETPT TRS", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &cmsx_setpointRelaxRatio, 0, 100, 1, 10 }, 0 },
{ "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 }, { "ANGLE STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_angleStrength, 0, 200, 1 } , 0 },
{ "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 }, { "HORZN STR", OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_horizonStrength, 0, 200, 1 } , 0 },

2
src/main/flight/pid.c
View file

@ -88,7 +88,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
); );
#endif #endif
PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2); PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
void resetPidProfile(pidProfile_t *pidProfile) void resetPidProfile(pidProfile_t *pidProfile)
{ {

12
src/main/interface/msp.c
View file

@ -1224,8 +1224,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation); sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio); sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight); sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
// sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentPidProfile->rateAccelLimit); sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
@ -1234,6 +1234,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold); sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain); sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
@ -1680,8 +1681,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->vbatPidCompensation = sbufReadU8(src); currentPidProfile->vbatPidCompensation = sbufReadU8(src);
currentPidProfile->setpointRelaxRatio = 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 currentPidProfile->dtermSetpointWeight = sbufReadU8(src);
// sbufReadU8(src); // reserved sbufReadU8(src); // reserved
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src); currentPidProfile->rateAccelLimit = sbufReadU16(src);
@ -1694,6 +1695,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->itermThrottleThreshold = sbufReadU16(src); currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src); currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
} }
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
}
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
break; break;