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Code Issues Wiki Activity

Added separate yaw pidsum limit

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This commit is contained in:
Martin Budden 2017-03-04 07:53:03 +00:00
parent 52c104f4b8
commit 9e4de2ea3b
8 changed files with 12 additions and 16 deletions
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4
src/main/fc/fc_msp.c
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@ -1150,7 +1150,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, currentPidProfile->yaw_p_limit);
sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
@ -1540,7 +1540,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_PID_ADVANCED:
sbufReadU16(src);
sbufReadU16(src);
currentPidProfile->yaw_p_limit = sbufReadU16(src);
sbufReadU16(src); // was pidProfile.yaw_p_limit
sbufReadU8(src); // reserved
currentPidProfile->vbatPidCompensation = sbufReadU8(src);
currentPidProfile->setpointRelaxRatio = sbufReadU8(src);