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Merge remote-tracking branch 'origin/development' into dzikuvx-throttle-idle

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-23 14:08:05 +01:00
commit 7d19930ac1
12 changed files with 55 additions and 63 deletions
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14
src/main/fc/fc_msp.c
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@ -1119,7 +1119,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
sbufWriteU16(dst, pidProfile()->yaw_p_limit);
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
@ -1141,7 +1141,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
sbufWriteU8(dst, 0); //reserved
@ -1374,7 +1374,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_MIXER:
sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, mixerConfig()->platformType);
sbufWriteU8(dst, mixerConfig()->hasFlaps);
sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
@ -2033,7 +2033,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize >= 17) {
sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate
sbufReadU16(src); // pidProfileMutable()->yawItermIgnoreRate
pidProfileMutable()->yaw_p_limit = sbufReadU16(src);
sbufReadU16(src); //pidProfile()->yaw_p_limit
sbufReadU8(src); //BF: pidProfileMutable()->deltaMethod
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
@ -2059,10 +2059,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); //Legacy, no longer in use async processing value
pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
sbufReadU16(src); //Legacy yaw_jump_prevention_limit
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
@ -2704,7 +2704,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_SET_MIXER:
mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
sbufReadU16(src); // Was yaw_jump_prevention_limit
mixerConfigMutable()->platformType = sbufReadU8(src);
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);