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backend of pidSumLimit

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-01-20 10:58:41 +01:00
parent 4f78f7c080
commit 2f4dcc9a37
2 changed files with 7 additions and 3 deletions
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3
js/fc.js
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@ -252,7 +252,8 @@ var FC = {
yawPLimit: null, yawPLimit: null,
axisAccelerationLimitRollPitch: null, axisAccelerationLimitRollPitch: null,
axisAccelerationLimitYaw: null, axisAccelerationLimitYaw: null,
dtermSetpointWeight: null dtermSetpointWeight: null,
pidSumLimit: null
}; };
INAV_PID_CONFIG = { INAV_PID_CONFIG = {

7
js/msp/MSPHelper.js
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@ -846,6 +846,7 @@ var mspHelper = (function (gui) {
if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) { if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
PID_ADVANCED.dtermSetpointWeight = data.getUint8(9); PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
PID_ADVANCED.pidSumLimit = data.getUint16(10, true);
} }
PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true); PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
@ -1262,12 +1263,14 @@ var mspHelper = (function (gui) {
if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) { if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
buffer.push(PID_ADVANCED.dtermSetpointWeight); buffer.push(PID_ADVANCED.dtermSetpointWeight);
buffer.push(lowByte(PID_ADVANCED.pidSumLimit));
buffer.push(highByte(PID_ADVANCED.pidSumLimit));
} else { } else {
buffer.push(0); buffer.push(0);
buffer.push(0); // reserved
buffer.push(0); // reserved
} }
buffer.push(0); // reserved
buffer.push(0); // reserved
buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain
buffer.push(lowByte(PID_ADVANCED.axisAccelerationLimitRollPitch)); buffer.push(lowByte(PID_ADVANCED.axisAccelerationLimitRollPitch));