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Added support for 32kHz gyro updates

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This commit is contained in:
Martin Budden 2017-01-05 18:15:37 +00:00
parent a1c14320bf
commit 95111483d8
14 changed files with 83 additions and 33 deletions
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11
src/main/fc/fc_msp.c
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@ -1140,6 +1140,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
sbufWriteU16(dst, (uint16_t)(motorConfig()->digitalIdleOffsetPercent * 100));
//!!TODO gyro_isr_update and gyro_use_32khz to be added once we decide to add them to configurator
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
//sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
break;
case MSP_FILTER_CONFIG :
@ -1483,6 +1486,14 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (dataSize > 7) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
//!!TODO gyro_isr_update and gyro_use_32khz to be added once we decide to add them to configurator
/*if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_isr_update = sbufReadU8(src);
}
if (sbufBytesRemaining(src)) {
gyroConfig()->gyro_use_32khz = sbufReadU8(src);
}*/
validateAndFixGyroConfig();
break;
case MSP_SET_FILTER_CONFIG: