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Code Issues Wiki Activity

FF Interpolate to MSP

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This commit is contained in:
Asizon 2020-02-09 18:49:10 +01:00
parent df88e36c39
commit 5058fba97d
1 changed files with 19 additions and 0 deletions
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19
src/main/msp/msp.c
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@ -1816,6 +1816,15 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, currentPidProfile->motor_output_limit); sbufWriteU8(dst, currentPidProfile->motor_output_limit);
sbufWriteU8(dst, currentPidProfile->auto_profile_cell_count); sbufWriteU8(dst, currentPidProfile->auto_profile_cell_count);
sbufWriteU8(dst, currentPidProfile->idle_min_rpm); sbufWriteU8(dst, currentPidProfile->idle_min_rpm);
// Added in MSP API 1.44
#if defined(USE_INTERPOLATED_SP)
sbufWriteU8(dst, currentPidProfile->ff_interpolate_sp);
sbufWriteU8(dst, currentPidProfile->ff_smooth_factor);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->ff_boost);
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
@ -2663,6 +2672,16 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentPidProfile->motor_output_limit = sbufReadU8(src); currentPidProfile->motor_output_limit = sbufReadU8(src);
currentPidProfile->auto_profile_cell_count = sbufReadU8(src); currentPidProfile->auto_profile_cell_count = sbufReadU8(src);
currentPidProfile->idle_min_rpm = sbufReadU8(src); currentPidProfile->idle_min_rpm = sbufReadU8(src);
if (sbufBytesRemaining(src) >= 3) {
// Added in MSP API 1.44
#if defined(USE_INTERPOLATED_SP)
currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
currentPidProfile->ff_smooth_factor = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
#endif
currentPidProfile->ff_boost = sbufReadU8(src);
} }
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);