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Move PID gains to UINT16 instead of UINT8. Keep it compatible on the MSP level

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Pawel Spychalski (DzikuVx) 2020-12-04 20:38:34 +01:00
parent ebf581c871
commit d32fe6dea5
12 changed files with 122 additions and 65 deletions
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14
src/main/fc/fc_msp.c
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@ -686,18 +686,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, pidBank()->pid[i].P);
sbufWriteU8(dst, pidBank()->pid[i].I);
sbufWriteU8(dst, pidBank()->pid[i].D);
sbufWriteU8(dst, constrain(pidBank()->pid[i].P, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].I, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
}
break;
case MSP2_PID:
for (int i = 0; i < PID_ITEM_COUNT; i++) {
sbufWriteU8(dst, pidBank()->pid[i].P);
sbufWriteU8(dst, pidBank()->pid[i].I);
sbufWriteU8(dst, pidBank()->pid[i].D);
sbufWriteU8(dst, pidBank()->pid[i].FF);
sbufWriteU8(dst, constrain(pidBank()->pid[i].P, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].I, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].D, 0, 255));
sbufWriteU8(dst, constrain(pidBank()->pid[i].FF, 0, 255));
}
break;