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Code Issues Wiki Activity

added dterm configurable expo curve to MSP

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This commit is contained in:
Nicola De Pasquale 2020-02-05 12:55:05 +01:00
parent 8f2d21460a
commit bddd7e37f6
1 changed files with 14 additions and 1 deletions
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15
src/main/msp/msp.c
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@ -1737,6 +1737,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#else #else
sbufWriteU16(dst, 0); sbufWriteU16(dst, 0);
#endif #endif
#if defined(USE_DYN_LPF)
// Added in MSP API 1.44
sbufWriteU8(dst, currentPidProfile->dyn_lpf_curve_expo);
#else
sbufWriteU8(dst, 0);
#endif
break; break;
case MSP_PID_ADVANCED: case MSP_PID_ADVANCED:
@ -2561,7 +2567,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU16(src); sbufReadU16(src);
#endif #endif
} }
if (sbufBytesRemaining(src) >= 1) {
// Added in MSP API 1.44
#if defined(USE_DYN_LPF)
currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
// reinitialize the gyro filters with the new values // reinitialize the gyro filters with the new values
validateAndFixGyroConfig(); validateAndFixGyroConfig();