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Add Thrust Linearization to MSP

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Adds Thrust Linearization to MSP.
This commit is contained in:
Hans Christian Olaussen 2020-10-11 21:23:08 +02:00
parent 7503f06ce9
commit a8cbd4d271
1 changed files with 11 additions and 1 deletions
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12
src/main/msp/msp.c
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@ -1861,6 +1861,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_THRUST_LINEARIZATION)
sbufWriteU8(dst, currentPidProfile->thrustLinearization);
#else
sbufWriteU8(dst, 0);
#endif
break;
case MSP_SENSOR_CONFIG:
@ -2714,7 +2719,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 4) {
if (sbufBytesRemaining(src) >= 5) {
// Added in MSP API 1.44
#if defined(USE_INTERPOLATED_SP)
currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
@ -2728,6 +2733,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_THRUST_LINEARIZATION)
currentPidProfile->thrustLinearization = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
pidInitConfig(currentPidProfile);