Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 08:15:30 +03:00
Code Issues Wiki Activity

msp and other small fixes

Browse source
This commit is contained in:
ctzsnooze 2021-05-20 23:46:44 +10:00
parent b414be320f
commit c26428232a
7 changed files with 58 additions and 54 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/msp/msp.c
View file

@ -1487,8 +1487,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
sbufWriteU16(dst, rxConfig()->rx_min_usec);
sbufWriteU16(dst, rxConfig()->rx_max_usec);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation)
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval)
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval
sbufWriteU16(dst, rxConfig()->airModeActivateThreshold * 10 + 1000);
#ifdef USE_RX_SPI
sbufWriteU8(dst, rxSpiConfig()->rx_spi_protocol);
@ -1502,7 +1502,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->fpvCamAngleDegrees);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcSmoothingChannels
#if defined(USE_RC_SMOOTHING_FILTER)
sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_type
sbufWriteU8(dst, rxConfig()->rc_smoothing_setpoint_cutoff);
sbufWriteU8(dst, rxConfig()->rc_smoothing_feedforward_cutoff);
sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_input_type
@ -1524,6 +1524,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, rxConfig()->rc_smoothing_auto_factor_rpy);
#else
sbufWriteU8(dst, 0);
#endif
// Added in MSP API 1.44
#if defined(USE_RC_SMOOTHING_FILTER)
sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
#else
sbufWriteU8(dst, 0);
#endif
break;
case MSP_FAILSAFE_CONFIG:
@ -3256,7 +3262,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
// Added in MSP API 1.40
sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcSmoothingChannels
#if defined(USE_RC_SMOOTHING_FILTER)
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
sbufReadU8(src); // not required in API 1.44, was rc_smoothing_type
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_setpoint_cutoff, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_feedforward_cutoff, sbufReadU8(src));
sbufReadU8(src); // not required in API 1.44, was rc_smoothing_input_type
@ -3290,7 +3296,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 1) {
// Added in MSP API 1.44
#if defined(USE_RC_SMOOTHING_FILTER)
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
#else
sbufReadU8(src);
#endif
}
break;
case MSP_SET_FAILSAFE_CONFIG:
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);