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Decouple roll and pitch rates. MSP clients take note of updated

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MSP_RC_TUNING/MSP_SET_RC_TUNING commands.
This commit is contained in:
Dominic Clifton 2015-03-07 15:09:42 +00:00
parent 26bb86898e
commit b595b49ca8
9 changed files with 70 additions and 51 deletions
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26
src/main/io/serial_msp.c
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@ -890,11 +890,12 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
break;
case MSP_RC_TUNING:
headSerialReply(7);
headSerialReply(8);
serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8);
serialize8(currentControlRateProfile->rollPitchRate);
serialize8(currentControlRateProfile->yawRate);
for (i = 0 ; i < 3; i++) {
serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
}
serialize8(currentControlRateProfile->dynThrPID);
serialize8(currentControlRateProfile->thrMid8);
serialize8(currentControlRateProfile->thrExpo8);
@ -1325,13 +1326,18 @@ static bool processInCommand(void)
break;
case MSP_SET_RC_TUNING:
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
currentControlRateProfile->rollPitchRate = read8();
currentControlRateProfile->yawRate = read8();
currentControlRateProfile->dynThrPID = read8();
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
if (currentPort->dataSize == 8) {
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
currentControlRateProfile->rates[i] = read8();
}
currentControlRateProfile->dynThrPID = read8();
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
} else {
headSerialError(0);
}
break;
case MSP_SET_MISC:
tmp = read16();