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Merge pull request #3521 from basdelfos/datasize_cleanup

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Replace dataSize with sbufBytesRemaining()
This commit is contained in:
Martin Budden 2017-07-15 09:52:08 +01:00 • committed by GitHub
commit a46936d040
1 changed files with 12 additions and 12 deletions
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24
src/main/fc/fc_msp.c
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@ -1597,7 +1597,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break; break;
case MSP_SET_RC_TUNING: case MSP_SET_RC_TUNING:
if (dataSize >= 10) { if (sbufBytesRemaining(src) >= 10) {
currentControlRateProfile->rcRate8 = sbufReadU8(src); currentControlRateProfile->rcRate8 = sbufReadU8(src);
currentControlRateProfile->rcExpo8 = sbufReadU8(src); currentControlRateProfile->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
@ -1609,10 +1609,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentControlRateProfile->thrMid8 = sbufReadU8(src); currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src); currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src); currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
if (dataSize >= 11) { if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src); currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
} }
if (dataSize >= 12) { if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src); currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
} }
generateThrottleCurve(); generateThrottleCurve();
@ -1738,17 +1738,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src); gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentPidProfile->dterm_lpf_hz = sbufReadU16(src); currentPidProfile->dterm_lpf_hz = sbufReadU16(src);
currentPidProfile->yaw_lpf_hz = sbufReadU16(src); currentPidProfile->yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) { if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentPidProfile->dterm_notch_hz = sbufReadU16(src); currentPidProfile->dterm_notch_hz = sbufReadU16(src);
currentPidProfile->dterm_notch_cutoff = sbufReadU16(src); currentPidProfile->dterm_notch_cutoff = sbufReadU16(src);
} }
if (dataSize > 13) { if (sbufBytesRemaining(src) >= 4) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src); gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
} }
if (dataSize > 17) { if (sbufBytesRemaining(src) >= 1) {
currentPidProfile->dterm_filter_type = sbufReadU8(src); currentPidProfile->dterm_filter_type = sbufReadU8(src);
} }
// reinitialize the gyro filters with the new values // reinitialize the gyro filters with the new values
@ -1771,11 +1771,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src); currentPidProfile->rateAccelLimit = sbufReadU16(src);
currentPidProfile->yawRateAccelLimit = sbufReadU16(src); currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (dataSize > 17) { if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->levelAngleLimit = sbufReadU8(src); currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src); currentPidProfile->levelSensitivity = sbufReadU8(src);
} }
if (dataSize > 19) { if (sbufBytesRemaining(src) >= 4) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src); currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src); currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
} }
@ -1928,21 +1928,21 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
rxConfigMutable()->midrc = sbufReadU16(src); rxConfigMutable()->midrc = sbufReadU16(src);
rxConfigMutable()->mincheck = sbufReadU16(src); rxConfigMutable()->mincheck = sbufReadU16(src);
rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src); rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) { if (sbufBytesRemaining(src) >= 4) {
rxConfigMutable()->rx_min_usec = sbufReadU16(src); rxConfigMutable()->rx_min_usec = sbufReadU16(src);
rxConfigMutable()->rx_max_usec = sbufReadU16(src); rxConfigMutable()->rx_max_usec = sbufReadU16(src);
} }
if (dataSize > 12) { if (sbufBytesRemaining(src) >= 4) {
rxConfigMutable()->rcInterpolation = sbufReadU8(src); rxConfigMutable()->rcInterpolation = sbufReadU8(src);
rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src); rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src); rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src);
} }
if (dataSize > 16) { if (sbufBytesRemaining(src) >= 6) {
rxConfigMutable()->rx_spi_protocol = sbufReadU8(src); rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
rxConfigMutable()->rx_spi_id = sbufReadU32(src); rxConfigMutable()->rx_spi_id = sbufReadU32(src);
rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src); rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
} }
if (dataSize > 22) { if (sbufBytesRemaining(src) >= 1) {
rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src); rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
} }
break; break;