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msp add feedforward max_rate_limit and jitter_factor

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move params to one block, remove whitespace
This commit is contained in:
ctzsnooze 2021-10-11 12:54:00 +11:00
parent 6ecd0d232f
commit 4a485b4f12
1 changed files with 9 additions and 1 deletions
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10
src/main/msp/msp.c
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@ -1907,10 +1907,14 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, currentPidProfile->feedforward_averaging);
sbufWriteU8(dst, currentPidProfile->feedforward_smooth_factor);
sbufWriteU8(dst, currentPidProfile->feedforward_boost);
sbufWriteU8(dst, currentPidProfile->feedforward_max_rate_limit);
sbufWriteU8(dst, currentPidProfile->feedforward_jitter_factor);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
@ -2814,16 +2818,20 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 5) {
if (sbufBytesRemaining(src) >= 7) {
// Added in MSP API 1.44
#if defined(USE_FEEDFORWARD)
currentPidProfile->feedforward_averaging = sbufReadU8(src);
currentPidProfile->feedforward_smooth_factor = sbufReadU8(src);
currentPidProfile->feedforward_boost = sbufReadU8(src);
currentPidProfile->feedforward_max_rate_limit = sbufReadU8(src);
currentPidProfile->feedforward_jitter_factor = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)