Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Fix upper bound clamping of FP PID settings upon MSP read

Browse source
This commit is contained in:
Nicholas Sherlock 2015-08-20 16:10:18 +12:00
parent 718729504e
commit c5a7914fe8
1 changed files with 6 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/io/serial_msp.c
View file

@ -938,15 +938,15 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(3 * PID_ITEM_COUNT);
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 100));
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 255));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
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(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 255));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 255));
} else {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);