From 6dcefedde66a21f55907a98b38b858f51505dc3e Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 28 Jul 2016 01:15:11 +0200
Subject: [PATCH] Add new MSP parameters

---
 src/main/io/msp_protocol.h |  6 ++++++
 src/main/io/serial_msp.c   | 28 ++++++++++++++++++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/src/main/io/msp_protocol.h b/src/main/io/msp_protocol.h
index 66ab4b9c58..1244186ffe 100644
--- a/src/main/io/msp_protocol.h
+++ b/src/main/io/msp_protocol.h
@@ -213,6 +213,12 @@
 #define MSP_SPECIAL_PARAMETERS          98 // Temporary betaflight parameters before cleanup and keep CF compatibility
 #define MSP_SET_SPECIAL_PARAMETERS      99 // Temporary betaflight parameters before cleanup and keep CF compatibility
 
+#define MSP_PIDC_BETAFLIGHT             246
+#define MSP_SET_PIDC_BETAFLIGHT         247
+
+#define MSP_RC_SMOOTHING                248
+#define MSP_SET_RC_SMOOTHING            249
+
 //
 // OSD specific
 //
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index df47e70359..3e897532e0 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1250,6 +1250,21 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(masterConfig.rxConfig.rcSmoothInterval);
         serialize16(currentProfile->pidProfile.pidMaxVelocity);
         break;
+    case MSP_PIDC_BETAFLIGHT:
+        headSerialReply(9);
+        serialize8(currentProfile->pidProfile.ptermSetpointWeight);
+        serialize8(currentProfile->pidProfile.dtermSetpointWeight);
+        serialize8(currentProfile->pidProfile.toleranceBand);
+        serialize8(currentProfile->pidProfile.toleranceBandReduction);
+        serialize8(currentProfile->pidProfile.itermThrottleGain);
+        serialize16(currentProfile->pidProfile.pidMaxVelocity);
+        serialize16(currentProfile->pidProfile.pidMaxVelocityYaw);
+        break;
+    case MSP_RC_SMOOTHING:
+        headSerialReply(2);
+        serialize8(masterConfig.rxConfig.rcSmoothing);
+        serialize8(masterConfig.rxConfig.rcSmoothInterval);
+        break;
     case MSP_SENSOR_CONFIG:
         headSerialReply(3);
         serialize8(masterConfig.acc_hardware);
@@ -1831,6 +1846,19 @@ static bool processInCommand(void)
         masterConfig.rxConfig.rcSmoothInterval = read8();
         read16();
         break;
+    case MSP_SET_PIDC_BETAFLIGHT:
+        currentProfile->pidProfile.ptermSetpointWeight = read8();
+        currentProfile->pidProfile.dtermSetpointWeight = read8();
+        currentProfile->pidProfile.toleranceBand = read8();
+        currentProfile->pidProfile.toleranceBandReduction = read8();
+        currentProfile->pidProfile.itermThrottleGain = read8();
+        currentProfile->pidProfile.pidMaxVelocity = read16();
+        currentProfile->pidProfile.pidMaxVelocityYaw = read16();
+        break;
+    case MSP_SET_RC_SMOOTHING:
+        masterConfig.rxConfig.rcSmoothing = read8();
+        masterConfig.rxConfig.rcSmoothInterval = read8();
+        break;
     case MSP_SET_SENSOR_CONFIG:
         masterConfig.acc_hardware = read8();
         masterConfig.baro_hardware = read8();