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Merge pull request #10777 from ctzsnooze/move-feedforward-transtion-calculation

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Michael Keller 2021-09-04 16:56:37 +12:00 • committed by GitHub
commit 7a8b40a670
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12 changed files with 72 additions and 45 deletions
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19
src/main/msp/msp.c
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@ -1823,7 +1823,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // was vbatPidCompensation
sbufWriteU8(dst, currentPidProfile->feedforwardTransition);
#if defined(USE_FEEDFORWARD)
sbufWriteU8(dst, currentPidProfile->feedforward_transition);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, 0); // was low byte of currentPidProfile->dtermSetpointWeight
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
@ -1902,11 +1906,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#if defined(USE_FEEDFORWARD)
sbufWriteU8(dst, currentPidProfile->feedforward_averaging);
sbufWriteU8(dst, currentPidProfile->feedforward_smooth_factor);
sbufWriteU8(dst, currentPidProfile->feedforward_boost);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->feedforward_boost);
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
#else
@ -2708,7 +2713,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU16(src); // was pidProfile.yaw_p_limit
sbufReadU8(src); // reserved
sbufReadU8(src); // was vbatPidCompensation
currentPidProfile->feedforwardTransition = sbufReadU8(src);
#if defined(USE_FEEDFORWARD)
currentPidProfile->feedforward_transition = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
sbufReadU8(src); // was low byte of currentPidProfile->dtermSetpointWeight
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
@ -2805,11 +2814,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#if defined(USE_FEEDFORWARD)
currentPidProfile->feedforward_averaging = sbufReadU8(src);
currentPidProfile->feedforward_smooth_factor = sbufReadU8(src);
currentPidProfile->feedforward_boost = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif
currentPidProfile->feedforward_boost = sbufReadU8(src);
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
#else