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Add 3.1 MSP parameters

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This commit is contained in:
borisbstyle 2017-01-03 23:52:35 +01:00
parent b86e0fbf28
commit 8ea3997989
7 changed files with 19 additions and 10 deletions
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11
src/main/fc/fc_msp.c
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@ -1139,6 +1139,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
break;
case MSP_FILTER_CONFIG :
@ -1166,6 +1167,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
sbufWriteU8(dst, currentProfile->pidProfile.levelAngleLimit);
sbufWriteU8(dst, currentProfile->pidProfile.levelSensitivity);
break;
case MSP_SENSOR_CONFIG:
@ -1461,7 +1464,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RESET_CURR_PID:
resetProfile(currentProfile);
break;
case MSP_SET_SENSOR_ALIGNMENT:
gyroConfig()->gyro_align = sbufReadU8(src);
accelerometerConfig()->acc_align = sbufReadU8(src);
@ -1478,6 +1480,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfig()->motorPwmRate = sbufReadU16(src);
if (dataSize > 7) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
break;
case MSP_SET_FILTER_CONFIG:
@ -1514,6 +1519,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
if (dataSize > 17) {
currentProfile->pidProfile.levelAngleLimit = sbufReadU8(src);
currentProfile->pidProfile.levelSensitivity = sbufReadU8(src);
}
pidInitConfig(&currentProfile->pidProfile);
break;