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Code Issues Wiki Activity

Added compassConfig parameter group

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This commit is contained in:
Martin Budden 2017-01-01 21:29:57 +00:00
parent 3e1c158ad0
commit a690e49239
15 changed files with 139 additions and 125 deletions
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16
src/main/fc/fc_msp.c
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@ -1128,7 +1128,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, 0);
#endif
#ifdef MAG
sbufWriteU8(dst, currentProfile->pidProfile.mag_hold_rate_limit);
sbufWriteU8(dst, compassConfig()->mag_hold_rate_limit);
sbufWriteU8(dst, MAG_HOLD_ERROR_LPF_FREQ);
#else
sbufWriteU8(dst, 0);
@ -1146,7 +1146,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
sbufWriteU8(dst, barometerConfig()->baro_hardware);
#ifdef MAG
sbufWriteU8(dst, compassConfig()->mag_hardware);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, pitotmeterConfig()->pitot_hardware);
sbufWriteU8(dst, 0); // rangefinder hardware
sbufWriteU8(dst, 0); // optical flow hardware
@ -1385,7 +1389,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
rxConfig()->rssi_channel = sbufReadU8(src);
sbufReadU8(src);
#ifdef MAG
compassConfig()->mag_declination = sbufReadU16(src) * 10;
#else
sbufReadU16(src);
#endif
batteryConfig()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
@ -1462,7 +1470,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_SENSOR_ALIGNMENT:
gyroConfig()->gyro_align = sbufReadU8(src);
accelerometerConfig()->acc_align = sbufReadU8(src);
#ifdef MAG
compassConfig()->mag_align = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
break;
case MSP_SET_ADVANCED_CONFIG:
@ -1537,7 +1549,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU16(src);
#endif
#ifdef MAG
currentProfile->pidProfile.mag_hold_rate_limit = sbufReadU8(src);
compassConfig()->mag_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //MAG_HOLD_ERROR_LPF_FREQ
#else
sbufReadU8(src);