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MSP_INAV_PID MSP frame
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parent
376df9d396
commit
9562275f51
4 changed files with 31 additions and 2 deletions
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@ -1064,6 +1064,32 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp
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sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535));
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sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535));
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break;
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break;
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case MSP_INAV_PID:
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#ifdef ASYNC_GYRO_PROCESSING
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sbufWriteU8(dst, masterConfig.asyncMode);
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sbufWriteU16(dst, masterConfig.accTaskFrequency);
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sbufWriteU16(dst, masterConfig.attitudeTaskFrequency);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU16(dst, 0);
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sbufWriteU16(dst, 0);
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#endif
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#ifdef MAG
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sbufWriteU8(dst, currentProfile->pidProfile.mag_hold_rate_limit);
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sbufWriteU8(dst, MAG_HOLD_ERROR_LPF_FREQ);
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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#endif
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sbufWriteU16(dst, masterConfig.mixerConfig.yaw_jump_prevention_limit);
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sbufWriteU8(dst, masterConfig.gyro_lpf);
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sbufWriteU8(dst, 0); //reserved
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sbufWriteU8(dst, 0); //reserved
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sbufWriteU8(dst, 0); //reserved
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sbufWriteU8(dst, 0); //reserved
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sbufWriteU8(dst, 0); //reserved
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break;
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case MSP_REBOOT:
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case MSP_REBOOT:
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if (mspPostProcessFn) {
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if (mspPostProcessFn) {
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*mspPostProcessFn = mspRebootFn;
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*mspPostProcessFn = mspRebootFn;
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@ -44,8 +44,6 @@
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#include "sensors/acceleration.h"
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#include "sensors/acceleration.h"
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#define MAG_HOLD_ERROR_LPF_FREQ 2
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typedef struct {
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typedef struct {
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float kP;
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float kP;
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float kI;
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float kI;
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@ -33,6 +33,8 @@
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#define AXIS_ACCEL_MIN_LIMIT 50
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#define AXIS_ACCEL_MIN_LIMIT 50
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#define MAG_HOLD_ERROR_LPF_FREQ 2
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typedef enum {
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typedef enum {
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PIDROLL,
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PIDROLL,
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PIDPITCH,
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PIDPITCH,
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@ -99,6 +99,9 @@
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#define MSP_BOARD_INFO 4 //out message
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#define MSP_BOARD_INFO 4 //out message
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#define MSP_BUILD_INFO 5 //out message
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#define MSP_BUILD_INFO 5 //out message
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#define MSP_INAV_PID 6
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#define MSP_SET_INAV_PID 7
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#define MSP_NAME 10 //out message Returns user set board name - betaflight
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#define MSP_NAME 10 //out message Returns user set board name - betaflight
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#define MSP_SET_NAME 11 //in message Sets board name - betaflight
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#define MSP_SET_NAME 11 //in message Sets board name - betaflight
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