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Revert "Merge pull request #9901 from iNavFlight/dzikuvx-drop-MSP_PID_ADVANCED"

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This reverts commit cea4397f7b, reversing
changes made to 8fac3549b4.
This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-10 21:06:47 +02:00
parent f7334495dc
commit 6481f1ef25
2 changed files with 44 additions and 0 deletions
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42
src/main/fc/fc_msp.c
View file

@ -1260,6 +1260,25 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz
break;
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
sbufWriteU16(dst, 0); //pidProfile()->yaw_p_limit
sbufWriteU8(dst, 0); //BF: pidProfile()->deltaMethod
sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
sbufWriteU8(dst, 0);
sbufWriteU16(dst, pidProfile()->pidSumLimit);
sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
/*
* To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 10]
*/
sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitRollPitch / 10, 0, 65535));
sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitYaw / 10, 0, 65535));
break;
case MSP_INAV_PID:
@ -2278,6 +2297,29 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_PID_ADVANCED:
if (dataSize == 17) {
sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate
sbufReadU16(src); // pidProfileMutable()->yawItermIgnoreRate
sbufReadU16(src); //pidProfile()->yaw_p_limit
sbufReadU8(src); //BF: pidProfileMutable()->deltaMethod
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
sbufReadU8(src);
pidProfileMutable()->pidSumLimit = sbufReadU16(src);
sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
/*
* To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 10]
*/
pidProfileMutable()->axisAccelerationLimitRollPitch = sbufReadU16(src) * 10;
pidProfileMutable()->axisAccelerationLimitYaw = sbufReadU16(src) * 10;
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_INAV_PID:
if (dataSize == 15) {
sbufReadU8(src); //Legacy, no longer in use async processing value

2
src/main/msp/msp_protocol.h
View file

@ -204,6 +204,8 @@
#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93
#define MSP_PID_ADVANCED 94
#define MSP_SET_PID_ADVANCED 95
#define MSP_SENSOR_CONFIG 96
#define MSP_SET_SENSOR_CONFIG 97