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First Betaflight MSP commands (draft)

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This commit is contained in:
borisbstyle 2016-06-19 00:54:40 +02:00
parent 987cede279
commit 8353659c73
2 changed files with 58 additions and 0 deletions
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45
src/main/io/serial_msp.c
View file

@ -1244,6 +1244,30 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.sensorAlignmentConfig.acc_align);
serialize8(masterConfig.sensorAlignmentConfig.mag_align);
break;
case MSP_PID_ADVANCED_CONFIG :
headSerialReply(6);
serialize8(masterConfig.gyro_sync_denom);
serialize8(masterConfig.pid_process_denom);
serialize8(masterConfig.use_unsyncedPwm);
serialize8(masterConfig.fast_pwm_protocol);
serialize16(masterConfig.motor_pwm_rate);
break;
case MSP_FILTER_CONFIG :
headSerialReply(5);
serialize8(masterConfig.gyro_soft_lpf_hz);
serialize16(currentProfile->pidProfile.dterm_lpf_hz);
serialize16(currentProfile->pidProfile.yaw_lpf_hz);
break;
case MSP_ADVANCED_TUNING:
headSerialReply(3 * 3);
serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
serialize16(currentProfile->pidProfile.yaw_p_limit);
break;
case MSP_TEMPORARY_COMMANDS:
headSerialReply(1);
serialize8(currentControlRateProfile->rcYawRate8);
break;
default:
return false;
@ -1642,6 +1666,27 @@ static bool processInCommand(void)
case MSP_SET_BF_CONFIG:
case MSP_SET_PID_ADVANCED_CONFIG :
masterConfig.gyro_sync_denom = read8();
masterConfig.pid_process_denom = read8();
masterConfig.use_unsyncedPwm = read8();
masterConfig.fast_pwm_protocol = read8();
masterConfig.motor_pwm_rate = read16();
break;
case MSP_SET_FILTER_CONFIG :
masterConfig.gyro_soft_lpf_hz = read8();
currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16();
break;
case MSP_SET_ADVANCED_TUNING:
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();
currentProfile->pidProfile.yawItermIgnoreRate = read16();
currentProfile->pidProfile.yaw_p_limit = read16();
break;
case MSP_SET_TEMPORARY_COMMANDS:
currentControlRateProfile->rcYawRate8 = read8();
break;
#ifdef USE_QUAD_MIXER_ONLY
read8(); // mixerMode ignored
#else

13
src/main/io/serial_msp.h
View file

@ -184,6 +184,19 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
// DEPRECATED - Use MSP_BUILD_INFO instead
#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion
// Betaflight Additional Commands
#define MSP_PID_ADVANCED_CONFIG 90
#define MSP_SET_PID_ADVANCED_CONFIG 91
#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93
#define MSP_ADVANCED_TUNING 94
#define MSP_SET_ADVANCED_TUNING 95
#define MSP_TEMPORARY_COMMANDS 98 // Temporary Commands before cleanup
#define MSP_SET_TEMPORARY_COMMANDS 99 // Temporary Commands before cleanup
//
// Multwii original MSP commands
//