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Add pidSumLimit to MSP_PID_ADVANCED

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-01-18 18:06:13 +10:00
parent d5c424257c
commit d1578011ae
1 changed files with 2 additions and 4 deletions
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6
src/main/fc/fc_msp.c
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@ -1103,8 +1103,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
sbufWriteU8(dst, constrain(pidProfile()->dterm_setpoint_weight * 100, 0, 255)); sbufWriteU8(dst, constrain(pidProfile()->dterm_setpoint_weight * 100, 0, 255));
sbufWriteU8(dst, 0); // reserved sbufWriteU16(dst, pidProfile()->pidSumLimit);
sbufWriteU8(dst, 0); // reserved
sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
/* /*
@ -1557,8 +1556,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
pidProfileMutable()->dterm_setpoint_weight = constrainf(sbufReadU8(src) / 100.0f, 0.0f, 2.0f); pidProfileMutable()->dterm_setpoint_weight = constrainf(sbufReadU8(src) / 100.0f, 0.0f, 2.0f);
sbufReadU8(src); // reserved pidProfileMutable()->pidSumLimit = sbufReadU16(src);
sbufReadU8(src); // reserved
sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
/* /*