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Add output for small_angle

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This commit is contained in:
Spencer Owen 2017-08-16 11:07:51 -06:00
parent b1f47c8a87
commit 8d0b6cfb40
2 changed files with 6 additions and 2 deletions
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4
src/main/fc/fc_msp.c
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@ -861,6 +861,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
case MSP_ARMING_CONFIG: case MSP_ARMING_CONFIG:
sbufWriteU8(dst, armingConfig()->auto_disarm_delay); sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
sbufWriteU8(dst, armingConfig()->disarm_kill_switch); sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
sbufWriteU8(dst, imuConfig()->small_angle);
break; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
@ -1362,6 +1363,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ARMING_CONFIG: case MSP_SET_ARMING_CONFIG:
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src); armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
armingConfigMutable()->disarm_kill_switch = sbufReadU8(src); armingConfigMutable()->disarm_kill_switch = sbufReadU8(src);
if (sbufBytesRemaining(src)) {
imuConfigMutable()->small_angle = sbufReadU8(src);
}
break; break;
case MSP_SET_PID_CONTROLLER: case MSP_SET_PID_CONTROLLER:

4
src/main/msp/msp_protocol.h
View file

@ -149,8 +149,8 @@
#define MSP_PID_CONTROLLER 59 #define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60 #define MSP_SET_PID_CONTROLLER 60
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters #define MSP_ARMING_CONFIG 61
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters #define MSP_SET_ARMING_CONFIG 62
// //
// Baseflight MSP commands (if enabled they exist in Cleanflight) // Baseflight MSP commands (if enabled they exist in Cleanflight)