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Add delta from measurement // rc smooth interval // More MSP

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This commit is contained in:
borisbstyle 2016-06-22 01:20:15 +02:00
parent 9160a2adbc
commit 4c59769b02
9 changed files with 79 additions and 45 deletions
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18
src/main/io/serial_msp.c
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@ -1259,14 +1259,20 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(currentProfile->pidProfile.yaw_lpf_hz);
break;
case MSP_ADVANCED_TUNING:
headSerialReply(3 * 2);
headSerialReply(4 * 2 + 2);
serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
serialize16(currentProfile->pidProfile.yaw_p_limit);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
serialize8(currentProfile->pidProfile.deltaMethod);
serialize8(masterConfig.batteryConfig.vbatPidCompensation);
break;
case MSP_TEMPORARY_COMMANDS:
headSerialReply(1);
case MSP_SPECIAL_PARAMETERS:
headSerialReply(1 + 2 + 1 + 2);
serialize8(currentControlRateProfile->rcYawRate8);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
serialize8(masterConfig.rxConfig.rcSmoothInterval);
serialize16(masterConfig.escAndServoConfig.escDesyncProtection);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
@ -1803,9 +1809,13 @@ static bool processInCommand(void)
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
currentProfile->pidProfile.deltaMethod = read8();
break;
case MSP_SET_TEMPORARY_COMMANDS:
case MSP_SET_SPECIAL_PARAMETERS:
currentControlRateProfile->rcYawRate8 = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16();
masterConfig.rxConfig.rcSmoothInterval = read8();
masterConfig.escAndServoConfig.escDesyncProtection = read16();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();