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Code Issues Wiki Activity

MSP hack when gyro_lpf != 0

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This commit is contained in:
KiteAnton 2016-08-02 23:07:59 +02:00
parent 05512f6ec3
commit 47c7409ec4
1 changed files with 8 additions and 3 deletions
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5
src/main/io/serial_msp.c
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@ -1239,8 +1239,13 @@ static bool processOutCommand(uint8_t cmdMSP)
break; break;
case MSP_ADVANCED_CONFIG : case MSP_ADVANCED_CONFIG :
headSerialReply(6); headSerialReply(6);
if (masterConfig.gyro_lpf == 0) {
serialize8(masterConfig.gyro_sync_denom); serialize8(masterConfig.gyro_sync_denom);
serialize8(masterConfig.pid_process_denom); serialize8(masterConfig.pid_process_denom);
} else {
serialize8(8); // If gyro_lpf != OFF then looptime is set to 1000
serialize8(1);
}
serialize8(masterConfig.use_unsyncedPwm); serialize8(masterConfig.use_unsyncedPwm);
serialize8(masterConfig.motor_pwm_protocol); serialize8(masterConfig.motor_pwm_protocol);
serialize16(masterConfig.motor_pwm_rate); serialize16(masterConfig.motor_pwm_rate);