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Changed float parameters to int16 in 'cli.c'.

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Fixed buffer length used for 'ftoa'.

Got rid of magic numbers, replaced 'digitalIdlePercent' with 'digitalIdleValue'.
This commit is contained in:
Michael Keller 2017-03-30 12:12:20 +13:00
parent ce8c5fbd79
commit 9c29475ba4
16 changed files with 77 additions and 120 deletions
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12
src/main/fc/fc_msp.c
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@ -1176,7 +1176,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, (uint16_t)lrintf(motorConfig()->digitalIdleOffsetPercent * 100));
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
@ -1206,8 +1206,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); // reserved
sbufWriteU16(dst, (uint16_t)lrintf(currentPidProfile->rateAccelLimit * 10));
sbufWriteU16(dst, (uint16_t)lrintf(currentPidProfile->yawRateAccelLimit * 10));
sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
sbufWriteU16(dst, currentPidProfile->yawRateAccelLimit);
sbufWriteU8(dst, currentPidProfile->levelAngleLimit);
sbufWriteU8(dst, currentPidProfile->levelSensitivity);
break;
@ -1538,7 +1538,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src);
}
if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
@ -1586,8 +1586,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src) / 10.0f;
currentPidProfile->yawRateAccelLimit = sbufReadU16(src) / 10.0f;
currentPidProfile->rateAccelLimit = sbufReadU16(src);
currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (dataSize > 17) {
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src);