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Remove magic number usage. Fix limits for FP based pid controller PID

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adjustments to match those in serial_cli.c.
This commit is contained in:
Dominic Clifton 2015-01-30 21:27:09 +01:00
parent fa18940087
commit ea386e6da2
3 changed files with 13 additions and 13 deletions
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4
src/main/io/serial_msp.c
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@ -865,7 +865,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
if (currentProfile->pidProfile.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
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));
@ -1209,7 +1209,7 @@ static bool processInCommand(void)
setPIDController(currentProfile->pidProfile.pidController);
break;
case MSP_SET_PID:
if (currentProfile->pidProfile.pidController == 2) {
if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
for (i = 0; i < 3; i++) {
currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;