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Merge pull request #11779 from haslinghuis/update-pidprofile

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Move TPA to PID profile
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haslinghuis 2022-10-13 21:09:49 +02:00 • committed by GitHub
commit cbbc80ee90
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11 changed files with 59 additions and 42 deletions
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18
src/main/msp/msp.c
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@ -1353,10 +1353,10 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
}
sbufWriteU8(dst, currentControlRateProfile->tpa_rate);
sbufWriteU8(dst, 0); // was currentControlRateProfile->tpa_rate
sbufWriteU8(dst, currentControlRateProfile->thrMid8);
sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
sbufWriteU16(dst, 0); // was currentControlRateProfile->tpa_breakpoint
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_PITCH]);
@ -2014,6 +2014,8 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, currentPidProfile->tpa_rate);
sbufWriteU16(dst, currentPidProfile->tpa_breakpoint); // was currentControlRateProfile->tpa_breakpoint
break;
case MSP_SENSOR_CONFIG:
#if defined(USE_ACC)
@ -2666,11 +2668,10 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
currentControlRateProfile->rates[i] = sbufReadU8(src);
}
value = sbufReadU8(src);
currentControlRateProfile->tpa_rate = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
sbufReadU8(src); // tpa_rate is moved to PID profile
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
sbufReadU16(src); // tpa_breakpoint is moved to PID profile
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcExpo[FD_YAW] = sbufReadU8(src);
@ -3135,6 +3136,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src);
#endif
}
if (sbufBytesRemaining(src) >= 3) {
// Added in API 1.45
value = sbufReadU8(src);
currentPidProfile->tpa_rate = MIN(value, TPA_MAX);
currentPidProfile->tpa_breakpoint = sbufReadU16(src);
}
pidInitConfig(currentPidProfile);
initEscEndpoints();
mixerInitProfile();