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Added anti-gravity settings to MSP_PID_ADVANCED and MSP_SET_PID_ADVANCED

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This commit is contained in:
Bas Delfos 2017-07-12 13:50:32 +02:00
parent 25b10f50f6
commit 69494ce6d4
1 changed files with 6 additions and 0 deletions
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6
src/main/fc/fc_msp.c
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@ -1363,6 +1363,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit); sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
sbufWriteU8(dst, currentPidProfile->levelAngleLimit); sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->levelSensitivity); sbufWriteU8(dst, currentPidProfile->levelSensitivity);
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
@ -1773,6 +1775,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->levelAngleLimit = sbufReadU8(src); currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src); currentPidProfile->levelSensitivity = sbufReadU8(src);
} }
if (dataSize > 19) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
}
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
break; break;