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Add EZ Tune MSP frames

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2023-09-19 21:14:38 +02:00
parent 0d3216ef07
commit e772d085cd
3 changed files with 46 additions and 0 deletions
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1
src/main/fc/config.c
View file

@ -64,6 +64,7 @@
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/ez_tune.h"
#include "fc/config.h" #include "fc/config.h"
#include "fc/controlrate_profile.h" #include "fc/controlrate_profile.h"

43
src/main/fc/fc_msp.c
View file

@ -77,6 +77,7 @@
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/pid.h" #include "flight/pid.h"
#include "flight/servos.h" #include "flight/servos.h"
#include "flight/ez_tune.h"
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
#include "config/feature.h" #include "config/feature.h"
@ -1583,6 +1584,24 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break; break;
#endif #endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE:
{
sbufWriteU8(dst, ezTune()->enabled);
sbufWriteU16(dst, ezTune()->filterHz);
sbufWriteU8(dst, ezTune()->axisRatio);
sbufWriteU8(dst, ezTune()->response);
sbufWriteU8(dst, ezTune()->damping);
sbufWriteU8(dst, ezTune()->stability);
sbufWriteU8(dst, ezTune()->aggressiveness);
sbufWriteU8(dst, ezTune()->rate);
sbufWriteU8(dst, ezTune()->expo);
}
break;
#endif
default: default:
return false; return false;
} }
@ -3040,6 +3059,30 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break; break;
#endif #endif
#ifdef USE_EZ_TUNE
case MSP2_INAV_EZ_TUNE_SET:
{
if (dataSize == 10) {
ezTuneMutable()->enabled = sbufReadU8(src);
ezTuneMutable()->filterHz = sbufReadU16(src);
ezTuneMutable()->axisRatio = sbufReadU8(src);
ezTuneMutable()->response = sbufReadU8(src);
ezTuneMutable()->damping = sbufReadU8(src);
ezTuneMutable()->stability = sbufReadU8(src);
ezTuneMutable()->aggressiveness = sbufReadU8(src);
ezTuneMutable()->rate = sbufReadU8(src);
ezTuneMutable()->expo = sbufReadU8(src);
ezTuneUpdate();
} else {
return MSP_RESULT_ERROR;
}
}
break;
#endif
default: default:
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -92,3 +92,5 @@
#define MSP2_INAV_LED_STRIP_CONFIG_EX 0x2048 #define MSP2_INAV_LED_STRIP_CONFIG_EX 0x2048
#define MSP2_INAV_SET_LED_STRIP_CONFIG_EX 0x2049 #define MSP2_INAV_SET_LED_STRIP_CONFIG_EX 0x2049
#define MSP2_INAV_EZ_TUNE 0x2050
#define MSP2_INAV_EZ_TUNE_SET 0x2051