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Merge pull request #2 from betaflight/master

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merge
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supiiik 2018-06-04 12:35:46 +02:00 • committed by GitHub
commit 4369605caf
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15 changed files with 317 additions and 46 deletions
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40
src/main/interface/msp.c
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@ -1230,8 +1230,14 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
break;
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
sbufWriteU8(dst, gyroConfig()->gyro_high_fsr);
sbufWriteU8(dst, gyroConfig()->gyroMovementCalibrationThreshold);
sbufWriteU16(dst, gyroConfig()->gyroCalibrationDuration);
sbufWriteU16(dst, gyroConfig()->gyro_offset_yaw);
sbufWriteU8(dst, gyroConfig()->checkOverflow);
break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lowpass_hz);
@ -1243,8 +1249,14 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
sbufWriteU8(dst, currentPidProfile->dterm_filter_type);
break;
sbufWriteU8(dst, gyroConfig()->gyro_hardware_lpf);
sbufWriteU8(dst, gyroConfig()->gyro_32khz_hardware_lpf);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz);
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
sbufWriteU16(dst, currentPidProfile->dterm_lowpass2_hz);
break;
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
@ -1674,13 +1686,21 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
}
validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) {
motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
}
break;
if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_to_use = sbufReadU8(src);
gyroConfigMutable()->gyro_high_fsr = sbufReadU8(src);
gyroConfigMutable()->gyroMovementCalibrationThreshold = sbufReadU8(src);
gyroConfigMutable()->gyroCalibrationDuration = sbufReadU16(src);
gyroConfigMutable()->gyro_offset_yaw = sbufReadU16(src);
gyroConfigMutable()->checkOverflow = sbufReadU8(src);
}
validateAndFixGyroConfig();
break;
case MSP_SET_FILTER_CONFIG:
gyroConfigMutable()->gyro_lowpass_hz = sbufReadU8(src);
currentPidProfile->dterm_lowpass_hz = sbufReadU16(src);
@ -1698,13 +1718,21 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 1) {
currentPidProfile->dterm_filter_type = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_hardware_lpf = sbufReadU8(src);
gyroConfigMutable()->gyro_32khz_hardware_lpf = sbufReadU8(src);
gyroConfigMutable()->gyro_lowpass2_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src);
gyroConfigMutable()->gyro_lowpass2_type = sbufReadU8(src);
currentPidProfile->dterm_lowpass2_hz = sbufReadU16(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
gyroInitFilters();
// reinitialize the PID filters with the new values
pidInitFilters(currentPidProfile);
break;
break;
case MSP_SET_PID_ADVANCED:
sbufReadU16(src);
sbufReadU16(src);