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Fix MSP_RC_TUNING and MSP_SET_RC_TUNING to cater for rcYawExpo

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This commit is contained in:
Dominic Clifton 2015-05-06 22:27:48 +01:00
parent da8bb6f6fc
commit f5bfe1ce83
1 changed files with 5 additions and 3 deletions
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8
src/main/io/serial_msp.c
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@ -908,7 +908,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(masterConfig.looptime); serialize16(masterConfig.looptime);
break; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
headSerialReply(10); headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8); serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8); serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) { for (i = 0 ; i < 3; i++) {
@ -1365,7 +1365,7 @@ static bool processInCommand(void)
break; break;
case MSP_SET_RC_TUNING: case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 11) {//allow for yaw expo if (currentPort->dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8(); currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
@ -1377,7 +1377,9 @@ static bool processInCommand(void)
currentControlRateProfile->thrMid8 = read8(); currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8(); currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16(); currentControlRateProfile->tpa_breakpoint = read16();
currentControlRateProfile->rcYawExpo8 = read8(); if (currentPort->dataSize >= 11) {
currentControlRateProfile->rcYawExpo8 = read8();
}
} else { } else {
headSerialError(0); headSerialError(0);
} }