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Merge remote-tracking branch 'origin/master' into sh_mixer_confi

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This commit is contained in:
shota 2023-10-24 19:19:24 +09:00
commit 0651d44b92
38 changed files with 1271 additions and 349 deletions
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47
src/main/fc/fc_msp.c
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@ -78,6 +78,7 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "flight/ez_tune.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
@ -717,6 +718,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].FF, 0, 255));
}
#ifdef USE_EZ_TUNE
ezTuneUpdate();
#endif
break;
case MSP_PIDNAMES:
@ -1602,6 +1606,23 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE:
{
sbufWriteU8(dst, ezTune()->enabled);
sbufWriteU16(dst, ezTune()->filterHz);
sbufWriteU8(dst, ezTune()->axisRatio);
sbufWriteU8(dst, ezTune()->response);
sbufWriteU8(dst, ezTune()->damping);
sbufWriteU8(dst, ezTune()->stability);
sbufWriteU8(dst, ezTune()->aggressiveness);
sbufWriteU8(dst, ezTune()->rate);
sbufWriteU8(dst, ezTune()->expo);
}
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_RATE_DYNAMICS:
@ -3083,6 +3104,30 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE_SET:
{
if (dataSize == 10) {
ezTuneMutable()->enabled = sbufReadU8(src);
ezTuneMutable()->filterHz = sbufReadU16(src);
ezTuneMutable()->axisRatio = sbufReadU8(src);
ezTuneMutable()->response = sbufReadU8(src);
ezTuneMutable()->damping = sbufReadU8(src);
ezTuneMutable()->stability = sbufReadU8(src);
ezTuneMutable()->aggressiveness = sbufReadU8(src);
ezTuneMutable()->rate = sbufReadU8(src);
ezTuneMutable()->expo = sbufReadU8(src);
ezTuneUpdate();
} else {
return MSP_RESULT_ERROR;
}
}
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_SET_RATE_DYNAMICS:
@ -3287,6 +3332,8 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
break;
case EZ_TUNE_VALUE:
FALLTHROUGH;
case PROFILE_VALUE:
FALLTHROUGH;
case CONTROL_RATE_VALUE: