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Merge pull request #6038 from supiiik/master

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MSP for smart_feedforward and throttle boost
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Michael Keller 2018-07-17 01:26:48 +12:00 • committed by GitHub
commit 8607b1c38b
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1 changed files with 8 additions and 0 deletions
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8
src/main/interface/msp.c
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@ -1262,6 +1262,9 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold); sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain); sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight); sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
sbufWriteU8(dst, currentPidProfile->smart_feedforward);
sbufWriteU8(dst, currentPidProfile->throttle_boost);
sbufWriteU8(dst, currentPidProfile->throttle_boost_cutoff);
break; break;
case MSP_SENSOR_CONFIG: case MSP_SENSOR_CONFIG:
@ -1742,6 +1745,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) { if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->dtermSetpointWeight = sbufReadU16(src); currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
} }
if (sbufBytesRemaining(src) >= 3) {
currentPidProfile->smart_feedforward = sbufReadU8(src);
currentPidProfile->throttle_boost = sbufReadU8(src);
currentPidProfile->throttle_boost_cutoff = sbufReadU8(src);
}
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
break; break;