Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

Merge pull request #351 from nebbian/baseflight-pid-horizon-mode-tuneup_a

Browse source 
Baseflight pid (pid_controller=2) horizon mode tuneup
This commit is contained in:
Dominic Clifton 2015-01-16 00:50:12 +00:00
commit b7462c0b3d
7 changed files with 37 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/io/serial_msp.c
View file

@ -846,7 +846,7 @@ static bool processOutCommand(uint8_t cmdMSP)
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
serialize8(0);
serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 250));
} else {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
@ -1171,7 +1171,7 @@ static bool processInCommand(void)
if (i == PIDLEVEL) {
currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
read8();
currentProfile->pidProfile.H_sensitivity = read8();
} else {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();