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major rc changes ctzsnooze 2021
This commit is contained in:
ctzsnooze
parent
2a5e457603
commit
636d563abe
26 changed files with 377 additions and 546 deletions
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@ -1487,8 +1487,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
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sbufWriteU16(dst, rxConfig()->rx_min_usec);
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sbufWriteU16(dst, rxConfig()->rx_max_usec);
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sbufWriteU8(dst, rxConfig()->rcInterpolation);
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sbufWriteU8(dst, rxConfig()->rcInterpolationInterval);
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sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation)
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sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval)
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sbufWriteU16(dst, rxConfig()->airModeActivateThreshold * 10 + 1000);
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#ifdef USE_RX_SPI
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sbufWriteU8(dst, rxSpiConfig()->rx_spi_protocol);
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@ -1500,13 +1500,13 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, 0);
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#endif
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sbufWriteU8(dst, rxConfig()->fpvCamAngleDegrees);
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sbufWriteU8(dst, rxConfig()->rcInterpolationChannels);
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sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcSmoothingChannels
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#if defined(USE_RC_SMOOTHING_FILTER)
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sbufWriteU8(dst, rxConfig()->rc_smoothing_type);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_input_cutoff);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_derivative_cutoff);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_input_type);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_derivative_type);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_setpoint_cutoff);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_feedforward_cutoff);
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sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_input_type
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sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_derivative_type
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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@ -1521,7 +1521,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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#endif
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// Added in MSP API 1.42
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#if defined(USE_RC_SMOOTHING_FILTER)
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sbufWriteU8(dst, rxConfig()->rc_smoothing_auto_factor);
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sbufWriteU8(dst, rxConfig()->rc_smoothing_auto_factor_rpy);
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#else
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sbufWriteU8(dst, 0);
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#endif
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@ -1816,7 +1816,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
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sbufWriteU8(dst, 0); // reserved
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sbufWriteU8(dst, 0); // was vbatPidCompensation
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sbufWriteU8(dst, currentPidProfile->feedForwardTransition);
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sbufWriteU8(dst, currentPidProfile->feedforwardTransition);
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sbufWriteU8(dst, 0); // was low byte of currentPidProfile->dtermSetpointWeight
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sbufWriteU8(dst, 0); // reserved
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sbufWriteU8(dst, 0); // reserved
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@ -1892,14 +1892,14 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, 0);
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#endif
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// Added in MSP API 1.44
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#if defined(USE_INTERPOLATED_SP)
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sbufWriteU8(dst, currentPidProfile->ff_interpolate_sp);
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sbufWriteU8(dst, currentPidProfile->ff_smooth_factor);
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#if defined(USE_FEEDFORWARD)
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sbufWriteU8(dst, currentPidProfile->feedforward_averaging);
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sbufWriteU8(dst, currentPidProfile->feedforward_smooth_factor);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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#endif
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sbufWriteU8(dst, currentPidProfile->ff_boost);
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sbufWriteU8(dst, currentPidProfile->feedforward_boost);
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#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
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sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
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#else
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@ -2140,7 +2140,7 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
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sbufWriteU8(dst, currentPidProfile->simplified_pd_ratio);
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sbufWriteU8(dst, currentPidProfile->simplified_pd_gain);
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sbufWriteU8(dst, currentPidProfile->simplified_dmin_ratio);
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sbufWriteU8(dst, currentPidProfile->simplified_ff_gain);
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sbufWriteU8(dst, currentPidProfile->simplified_feedforward_gain);
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sbufWriteU8(dst, currentPidProfile->simplified_dterm_filter);
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sbufWriteU8(dst, currentPidProfile->simplified_dterm_filter_multiplier);
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@ -2703,7 +2703,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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sbufReadU16(src); // was pidProfile.yaw_p_limit
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sbufReadU8(src); // reserved
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sbufReadU8(src); // was vbatPidCompensation
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currentPidProfile->feedForwardTransition = sbufReadU8(src);
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currentPidProfile->feedforwardTransition = sbufReadU8(src);
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sbufReadU8(src); // was low byte of currentPidProfile->dtermSetpointWeight
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sbufReadU8(src); // reserved
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sbufReadU8(src); // reserved
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@ -2797,14 +2797,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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}
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if (sbufBytesRemaining(src) >= 5) {
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// Added in MSP API 1.44
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#if defined(USE_INTERPOLATED_SP)
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currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
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currentPidProfile->ff_smooth_factor = sbufReadU8(src);
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#if defined(USE_FEEDFORWARD)
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currentPidProfile->feedforward_averaging = sbufReadU8(src);
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currentPidProfile->feedforward_smooth_factor = sbufReadU8(src);
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#else
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sbufReadU8(src);
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sbufReadU8(src);
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#endif
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currentPidProfile->ff_boost = sbufReadU8(src);
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currentPidProfile->feedforward_boost = sbufReadU8(src);
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#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
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currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
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#else
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@ -3115,7 +3115,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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currentPidProfile->simplified_pd_ratio = sbufReadU8(src);
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currentPidProfile->simplified_pd_gain = sbufReadU8(src);
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currentPidProfile->simplified_dmin_ratio = sbufReadU8(src);
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currentPidProfile->simplified_ff_gain = sbufReadU8(src);
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currentPidProfile->simplified_feedforward_gain = sbufReadU8(src);
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currentPidProfile->simplified_dterm_filter = sbufReadU8(src);
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currentPidProfile->simplified_dterm_filter_multiplier = sbufReadU8(src);
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@ -3234,8 +3234,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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rxConfigMutable()->rx_max_usec = sbufReadU16(src);
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}
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if (sbufBytesRemaining(src) >= 4) {
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rxConfigMutable()->rcInterpolation = sbufReadU8(src);
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rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
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sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcInterpolation
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sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcInterpolationInterval
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rxConfigMutable()->airModeActivateThreshold = (sbufReadU16(src) - 1000) / 10;
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}
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if (sbufBytesRemaining(src) >= 6) {
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@ -3254,13 +3254,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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}
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if (sbufBytesRemaining(src) >= 6) {
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// Added in MSP API 1.40
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rxConfigMutable()->rcInterpolationChannels = sbufReadU8(src);
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sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcSmoothingChannels
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#if defined(USE_RC_SMOOTHING_FILTER)
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_type, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_cutoff, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_cutoff, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_type, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_type, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_setpoint_cutoff, sbufReadU8(src));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_feedforward_cutoff, sbufReadU8(src));
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sbufReadU8(src); // not required in API 1.44, was rc_smoothing_input_type
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sbufReadU8(src); // not required in API 1.44, was rc_smoothing_derivative_type
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#else
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sbufReadU8(src);
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sbufReadU8(src);
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@ -3285,7 +3285,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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// the 10.6 configurator where it was possible to submit an invalid out-of-range value. We might be
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// able to remove the constraint at some point in the future once the affected versions are deprecated
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// enough that the risk is low.
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_auto_factor, constrain(sbufReadU8(src), RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX));
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configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_auto_factor_rpy, constrain(sbufReadU8(src), RC_SMOOTHING_AUTO_FACTOR_MIN, RC_SMOOTHING_AUTO_FACTOR_MAX));
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#else
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sbufReadU8(src);
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#endif
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