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Finalisation of Betaflight PID controller // RC smoothing added back

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This commit is contained in:
borisbstyle 2016-07-27 14:30:51 +02:00
parent 6e99489200
commit c11c50287e
10 changed files with 186 additions and 153 deletions
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4
src/main/io/serial_msp.c
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@ -1248,7 +1248,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentControlRateProfile->rcYawRate8);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
serialize8(masterConfig.rxConfig.rcSmoothInterval);
serialize16(currentProfile->pidProfile.accelerationLimitPercent);
serialize16(currentProfile->pidProfile.pidMaxVelocity);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
@ -1829,7 +1829,7 @@ static bool processInCommand(void)
currentControlRateProfile->rcYawRate8 = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16();
masterConfig.rxConfig.rcSmoothInterval = read8();
currentProfile->pidProfile.accelerationLimitPercent = read16();
read16();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();