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Fix rounding of float parameters when sent over MSP.

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This commit is contained in:
Michael Keller 2017-01-30 08:47:53 +13:00 • committed by borisbstyle
parent 3c20108a99
commit 605066ecf5
1 changed files with 3 additions and 3 deletions
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6
src/main/fc/fc_msp.c
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@ -1140,7 +1140,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
sbufWriteU16(dst, (uint16_t)lrintf(motorConfig()->digitalIdleOffsetPercent * 100));
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
@ -1169,8 +1169,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
sbufWriteU16(dst, (uint16_t)lrintf(currentProfile->pidProfile.rateAccelLimit * 10));
sbufWriteU16(dst, (uint16_t)lrintf(currentProfile->pidProfile.yawRateAccelLimit * 10));
sbufWriteU8(dst, currentProfile->pidProfile.levelAngleLimit);
sbufWriteU8(dst, currentProfile->pidProfile.levelSensitivity);
break;