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Add vbat sag to msp 1.44, revise dyn_idle

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This commit is contained in:
Asizon 2020-06-19 10:03:03 +02:00
parent 7c50a3f364
commit 5e59c9e980
1 changed files with 20 additions and 3 deletions
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23
src/main/msp/msp.c
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@ -1821,7 +1821,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
// Added in MSP API 1.43
sbufWriteU8(dst, currentPidProfile->motor_output_limit);
sbufWriteU8(dst, currentPidProfile->auto_profile_cell_count);
#if defined(USE_DYN_IDLE)
sbufWriteU8(dst, currentPidProfile->idle_min_rpm);
#else
sbufWriteU8(dst, 0);
#endif
// Added in MSP API 1.44
#if defined(USE_INTERPOLATED_SP)
sbufWriteU8(dst, currentPidProfile->ff_interpolate_sp);
@ -1831,7 +1835,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->ff_boost);
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
#else
sbufWriteU8(dst, 0);
#endif
break;
case MSP_SENSOR_CONFIG:
#if defined(USE_ACC)
@ -2680,13 +2688,17 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if(sbufBytesRemaining(src) >= 3) {
if (sbufBytesRemaining(src) >= 3) {
// Added in MSP API 1.43
currentPidProfile->motor_output_limit = sbufReadU8(src);
currentPidProfile->auto_profile_cell_count = sbufReadU8(src);
#if defined(USE_DYN_IDLE)
currentPidProfile->idle_min_rpm = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 3) {
if (sbufBytesRemaining(src) >= 4) {
// Added in MSP API 1.44
#if defined(USE_INTERPOLATED_SP)
currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
@ -2696,6 +2708,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
currentPidProfile->ff_boost = sbufReadU8(src);
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
pidInitConfig(currentPidProfile);