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Code Issues Wiki Activity

MSP_INAV_PID MSP frame

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2016-11-03 20:35:01 +01:00
parent 376df9d396
commit 9562275f51
4 changed files with 31 additions and 2 deletions
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26
src/main/fc/fc_msp.c
View file

@ -1064,6 +1064,32 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp
sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535));
break;
case MSP_INAV_PID:
#ifdef ASYNC_GYRO_PROCESSING
sbufWriteU8(dst, masterConfig.asyncMode);
sbufWriteU16(dst, masterConfig.accTaskFrequency);
sbufWriteU16(dst, masterConfig.attitudeTaskFrequency);
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
#ifdef MAG
sbufWriteU8(dst, currentProfile->pidProfile.mag_hold_rate_limit);
sbufWriteU8(dst, MAG_HOLD_ERROR_LPF_FREQ);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
sbufWriteU16(dst, masterConfig.mixerConfig.yaw_jump_prevention_limit);
sbufWriteU8(dst, masterConfig.gyro_lpf);
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
break;
case MSP_REBOOT:
if (mspPostProcessFn) {
*mspPostProcessFn = mspRebootFn;

2
src/main/flight/pid.c
View file

@ -44,8 +44,6 @@
#include "sensors/acceleration.h"
#define MAG_HOLD_ERROR_LPF_FREQ 2
typedef struct {
float kP;
float kI;

2
src/main/flight/pid.h
View file

@ -33,6 +33,8 @@
#define AXIS_ACCEL_MIN_LIMIT 50
#define MAG_HOLD_ERROR_LPF_FREQ 2
typedef enum {
PIDROLL,
PIDPITCH,

3
src/main/msp/msp_protocol.h
View file

@ -99,6 +99,9 @@
#define MSP_BOARD_INFO 4 //out message
#define MSP_BUILD_INFO 5 //out message
#define MSP_INAV_PID 6
#define MSP_SET_INAV_PID 7
#define MSP_NAME 10 //out message Returns user set board name - betaflight
#define MSP_SET_NAME 11 //in message Sets board name - betaflight