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Refactor MSP_SET_RC_TUNING for better readability

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Konstantin (DigitalEntity) Sharlaimov 2016-06-15 20:16:07 +03:00
parent f77eb4788d
commit 6bf5c147b6
1 changed files with 6 additions and 1 deletions
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7
src/main/io/serial_msp.c
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@ -1224,7 +1224,12 @@ static bool processInCommand(void)
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
rate = read8();
currentControlRateProfile->rates[i] = constrain(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MIN : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
if (i == FD_YAW) {
currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
}
else {
currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
}
rate = read8();
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);