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Consolidated changes for API 1.41.

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This commit is contained in:
mikeller 2019-03-08 08:23:10 +13:00
parent 05e5417f10
commit 9dede30bad
1 changed files with 2 additions and 3 deletions
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5
src/main/msp/msp.c
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@ -2144,7 +2144,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->antiGravityMode = sbufReadU8(src); currentPidProfile->antiGravityMode = sbufReadU8(src);
} }
if (sbufBytesRemaining(src) >= 5) { if (sbufBytesRemaining(src) >= 7) {
// Added in MSP API 1.41
#if defined(USE_D_MIN) #if defined(USE_D_MIN)
currentPidProfile->d_min[PID_ROLL] = sbufReadU8(src); currentPidProfile->d_min[PID_ROLL] = sbufReadU8(src);
currentPidProfile->d_min[PID_PITCH] = sbufReadU8(src); currentPidProfile->d_min[PID_PITCH] = sbufReadU8(src);
@ -2158,8 +2159,6 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); sbufReadU8(src);
sbufReadU8(src); sbufReadU8(src);
#endif #endif
}
if (sbufBytesRemaining(src) >= 2) {
#if defined(USE_INTEGRATED_YAW_CONTROL) #if defined(USE_INTEGRATED_YAW_CONTROL)
currentPidProfile->use_integrated_yaw = sbufReadU8(src); currentPidProfile->use_integrated_yaw = sbufReadU8(src);
currentPidProfile->integrated_yaw_relax = sbufReadU8(src); currentPidProfile->integrated_yaw_relax = sbufReadU8(src);