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Code Issues Wiki Activity

Added controlrateConfig parameter group

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This commit is contained in:
Martin Budden 2017-01-10 23:50:29 +00:00
parent 20a4913bb0
commit 9b2750526c
20 changed files with 200 additions and 132 deletions
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18
src/main/fc/fc_msp.c
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@ -43,6 +43,7 @@
#include "drivers/system.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_msp.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -1349,23 +1350,24 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RC_TUNING:
if (dataSize >= 10) {
sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons
currentControlRateProfile->rcExpo8 = sbufReadU8(src);
// need to cast away const to set controlRateProfile
((controlRateConfig_t*)currentControlRateProfile)->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) {
rate = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
((controlRateConfig_t*)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);
((controlRateConfig_t*)currentControlRateProfile)->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
}
rate = sbufReadU8(src);
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
((controlRateConfig_t*)currentControlRateProfile)->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->thrMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->thrExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->tpa_breakpoint = sbufReadU16(src);
if (dataSize >= 11) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rcYawExpo8 = sbufReadU8(src);
}
schedulePidGainsUpdate();