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Code Issues Wiki Activity

Yaw Expo Feature

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borisbstyle 2015-05-05 16:43:27 +02:00 • committed by Dominic Clifton
parent 5bf687a150
commit da8bb6f6fc
8 changed files with 23 additions and 3 deletions
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6
src/main/io/serial_msp.c
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@ -281,7 +281,7 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
@ -918,6 +918,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentControlRateProfile->thrMid8);
serialize8(currentControlRateProfile->thrExpo8);
serialize16(currentControlRateProfile->tpa_breakpoint);
serialize8(currentControlRateProfile->rcYawExpo8);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
@ -1364,7 +1365,7 @@ static bool processInCommand(void)
break;
case MSP_SET_RC_TUNING:
if (currentPort->dataSize == 10) {//allow for tpa_breakpoint
if (currentPort->dataSize >= 11) {//allow for yaw expo
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
@ -1376,6 +1377,7 @@ static bool processInCommand(void)
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16();
currentControlRateProfile->rcYawExpo8 = read8();
} else {
headSerialError(0);
}