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merge upstream into sirinfpv branch

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This commit is contained in:
Evgeny Sychov 2016-03-20 20:06:53 -07:00
commit 93f8e0dadd
10 changed files with 20 additions and 27 deletions
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8
src/main/io/serial_msp.c
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@ -881,9 +881,9 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(3 * PID_ITEM_COUNT);
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 40.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 4000.0f), 0, 255));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
@ -1339,9 +1339,9 @@ static bool processInCommand(void)
case MSP_SET_PID:
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile->pidProfile.P_f[i] = (float)read8() / 40.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 1000.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 4000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {