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Code Issues Wiki Activity

Add ability to read Programming PID status via MSP

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2021-02-21 11:20:07 +01:00
parent 8f5ac3e51f
commit 67572fed9d
2 changed files with 6 additions and 1 deletions
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5
src/main/fc/fc_msp.c
View file

@ -567,6 +567,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, programmingPids(i)->gains.FF);
}
break;
case MSP2_INAV_PROGRAMMING_PID_STATUS:
for (int i = 0; i < MAX_PROGRAMMING_PID_COUNT; i++) {
sbufWriteU32(dst, programmingPidGetOutput(i));
}
break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -63,6 +63,7 @@
#define MSP2_INAV_GVAR_STATUS 0x2027
#define MSP2_INAV_PROGRAMMING_PID 0x2028
#define MSP2_INAV_SET_PROGRAMMING_PID 0x2029
#define MSP2_INAV_PROGRAMMING_PID_STATUS 0x202A
#define MSP2_PID 0x2030
#define MSP2_SET_PID 0x2031
@ -79,4 +80,3 @@
#define MSP2_INAV_SET_SAFEHOME 0x2039
#define MSP2_INAV_MISC2 0x203A