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Merge pull request #7986 from ianrmurphy/add-rate-limits-to-msp

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Added rate limit settings to MSP API 1.42 for configurator.
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Michael Keller 2019-04-14 21:52:05 +12:00 • committed by GitHub
commit 7d86cd6523
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1 changed files with 13 additions and 1 deletions
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14
src/main/msp/msp.c
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@ -1007,7 +1007,12 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
// added in 1.41 // added in 1.41
sbufWriteU8(dst, currentControlRateProfile->throttle_limit_type); sbufWriteU8(dst, currentControlRateProfile->throttle_limit_type);
sbufWriteU8(dst, currentControlRateProfile->throttle_limit_percent); sbufWriteU8(dst, currentControlRateProfile->throttle_limit_percent);
// added in 1.42
sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_ROLL]);
sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_PITCH]);
sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_YAW]);
break; break;
case MSP_PID: case MSP_PID:
@ -1854,6 +1859,13 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentControlRateProfile->throttle_limit_percent = sbufReadU8(src); currentControlRateProfile->throttle_limit_percent = sbufReadU8(src);
} }
// version 1.42
if (sbufBytesRemaining(src) >= 6) {
currentControlRateProfile->rate_limit[FD_ROLL] = sbufReadU16(src);
currentControlRateProfile->rate_limit[FD_PITCH] = sbufReadU16(src);
currentControlRateProfile->rate_limit[FD_YAW] = sbufReadU16(src);
}
initRcProcessing(); initRcProcessing();
} else { } else {
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;