Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-27 02:05:26 +03:00
Code Issues Wiki Activity

Refactor MSP_SET_RC_TUNING for better readability

Browse source
This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-06-15 20:16:07 +03:00
parent f77eb4788d
commit 6bf5c147b6
1 changed files with 6 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/io/serial_msp.c
View file

@ -1224,7 +1224,12 @@ static bool processInCommand(void)
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
rate = read8(); 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(); rate = read8();
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX); currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);