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Add new failsafe parameters to MSP

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Konstantin Sharlaimov (DigitalEntity) 2017-02-05 19:05:49 +10:00
parent 967caed6cb
commit 06728447ba
1 changed files with 10 additions and 0 deletions
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10
src/main/fc/fc_msp.c
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@ -904,6 +904,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle_low_delay); sbufWriteU16(dst, failsafeConfig()->failsafe_throttle_low_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_procedure); sbufWriteU8(dst, failsafeConfig()->failsafe_procedure);
sbufWriteU8(dst, failsafeConfig()->failsafe_recovery_delay); sbufWriteU8(dst, failsafeConfig()->failsafe_recovery_delay);
sbufWriteU16(dst, failsafeConfig()->failsafe_fw_roll_angle);
sbufWriteU16(dst, failsafeConfig()->failsafe_fw_pitch_angle);
sbufWriteU16(dst, failsafeConfig()->failsafe_fw_yaw_rate);
sbufWriteU16(dst, failsafeConfig()->failsafe_stick_motion_threshold);
break; break;
case MSP_RSSI_CONFIG: case MSP_RSSI_CONFIG:
@ -1884,6 +1888,12 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (dataSize > 8) { if (dataSize > 8) {
failsafeConfigMutable()->failsafe_recovery_delay = sbufReadU8(src); failsafeConfigMutable()->failsafe_recovery_delay = sbufReadU8(src);
} }
if (dataSize > 9) {
failsafeConfigMutable()->failsafe_fw_roll_angle = sbufReadU16(src);
failsafeConfigMutable()->failsafe_fw_pitch_angle = sbufReadU16(src);
failsafeConfigMutable()->failsafe_fw_yaw_rate = sbufReadU16(src);
failsafeConfigMutable()->failsafe_stick_motion_threshold = sbufReadU16(src);
}
break; break;
case MSP_SET_RSSI_CONFIG: case MSP_SET_RSSI_CONFIG: