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Merge pull request #7516 from mikeller/add_automatic_pid_profile_switching

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Added battery cell count based automatic PID profile switching.
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Michael Keller 2019-02-08 09:28:07 +13:00 • committed by GitHub
commit 59ea4becb3
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23 changed files with 124 additions and 73 deletions
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4
src/main/msp/msp.c
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@ -833,7 +833,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, getCurrentPidProfileIndex());
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
if (cmdMSP == MSP_STATUS_EX) {
sbufWriteU8(dst, MAX_PROFILE_COUNT);
sbufWriteU8(dst, PID_PROFILE_COUNT);
sbufWriteU8(dst, getCurrentControlRateProfileIndex());
} else { // MSP_STATUS
sbufWriteU16(dst, 0); // gyro cycle time
@ -1625,7 +1625,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
value = sbufReadU8(src);
if ((value & RATEPROFILE_MASK) == 0) {
if (!ARMING_FLAG(ARMED)) {
if (value >= MAX_PROFILE_COUNT) {
if (value >= PID_PROFILE_COUNT) {
value = 0;
}
changePidProfile(value);