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Merge pull request #601 from tricopterY/tricopterY-patch-1

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Update serial_msp.c
This commit is contained in:
Dominic Clifton 2015-03-11 20:15:24 +01:00
commit f62b5c883d
2 changed files with 14 additions and 2 deletions
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7
src/main/io/serial_msp.c
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@ -890,7 +890,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
break;
case MSP_RC_TUNING:
headSerialReply(8);
headSerialReply(8 + 2);//allow for returning tpa_breakpoint
serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) {
@ -899,6 +899,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentControlRateProfile->dynThrPID);
serialize8(currentControlRateProfile->thrMid8);
serialize8(currentControlRateProfile->thrExpo8);
//Configurator pid-tuning can allow tpa_breakpoint update, agnostic if older Configurator versions are used
serialize16(currentControlRateProfile->tpa_breakpoint);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
@ -1326,7 +1328,7 @@ static bool processInCommand(void)
break;
case MSP_SET_RC_TUNING:
if (currentPort->dataSize == 8) {
if (currentPort->dataSize == 10) {//allow for tpa_breakpoint
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
@ -1335,6 +1337,7 @@ static bool processInCommand(void)
currentControlRateProfile->dynThrPID = read8();
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16();
} else {
headSerialError(0);
}