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Added selectable RaceFlight rates.

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This commit is contained in:
mikeller 2018-01-18 01:48:05 +13:00
parent bca7b905b5
commit ee65eba88d
21 changed files with 260 additions and 135 deletions
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47
src/main/interface/msp.c
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@ -880,8 +880,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_RC_TUNING:
sbufWriteU8(dst, currentControlRateProfile->rcRate8);
sbufWriteU8(dst, currentControlRateProfile->rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_ROLL]);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_ROLL]);
for (int i = 0 ; i < 3; i++) {
sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
}
@ -889,8 +889,10 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, currentControlRateProfile->thrMid8);
sbufWriteU8(dst, currentControlRateProfile->thrExpo8);
sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->rcYawExpo8);
sbufWriteU8(dst, currentControlRateProfile->rcYawRate8);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_YAW]);
sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_PITCH]);
sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_PITCH]);
break;
case MSP_PID:
@ -1473,24 +1475,45 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RC_TUNING:
if (sbufBytesRemaining(src) >= 10) {
currentControlRateProfile->rcRate8 = sbufReadU8(src);
currentControlRateProfile->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) {
value = sbufReadU8(src);
currentControlRateProfile->rates[i] = MIN(value, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
value = sbufReadU8(src);
if (currentControlRateProfile->rcRates[FD_PITCH] == currentControlRateProfile->rcRates[FD_ROLL]) {
currentControlRateProfile->rcRates[FD_PITCH] = value;
}
currentControlRateProfile->rcRates[FD_ROLL] = value;
value = sbufReadU8(src);
if (currentControlRateProfile->rcExpo[FD_PITCH] == currentControlRateProfile->rcExpo[FD_ROLL]) {
currentControlRateProfile->rcExpo[FD_PITCH] = value;
}
currentControlRateProfile->rcExpo[FD_ROLL] = value;
for (int i = 0; i < 3; i++) {
currentControlRateProfile->rates[i] = sbufReadU8(src);
}
value = sbufReadU8(src);
currentControlRateProfile->dynThrPID = MIN(value, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
currentControlRateProfile->rcExpo[FD_YAW] = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
currentControlRateProfile->rcRates[FD_YAW] = sbufReadU8(src);
}
generateThrottleCurve();
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcRates[FD_PITCH] = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcExpo[FD_PITCH] = sbufReadU8(src);
}
initRcProcessing();
} else {
return MSP_RESULT_ERROR;
}