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rates constrained to new min and max

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Pawel Spychalski (DzikuVx) 2016-05-13 12:09:42 +02:00
parent 5ec4cf715a
commit d534f99fb3
4 changed files with 15 additions and 12 deletions
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2
src/main/io/serial_msp.c
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@ -1219,7 +1219,7 @@ static bool processInCommand(void)
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
rate = read8();
currentControlRateProfile->rates[i] = MIN(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile->rates[i] = constrain(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MIN : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
}
rate = read8();
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);