From 69494ce6d4e623c3eeb0261a7ae85b0932b7ca8e Mon Sep 17 00:00:00 2001
From: Bas Delfos <b.delfos@gmail.com>
Date: Wed, 12 Jul 2017 13:50:32 +0200
Subject: [PATCH] Added anti-gravity settings to MSP_PID_ADVANCED and
 MSP_SET_PID_ADVANCED

---
 src/main/fc/fc_msp.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index d94bc8eca8..908f1db2eb 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1363,6 +1363,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
         sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
         sbufWriteU8(dst, currentPidProfile->levelSensitivity);
+        sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
+        sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
         break;
 
     case MSP_SENSOR_CONFIG:
@@ -1773,6 +1775,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             currentPidProfile->levelAngleLimit = sbufReadU8(src);
             currentPidProfile->levelSensitivity = sbufReadU8(src);
         }
+        if (dataSize > 19) {
+            currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
+            currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
+        }
         pidInitConfig(currentPidProfile);
         break;