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Code Issues Wiki Activity

Prevent MSP from hogging the CPU.

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This commit is contained in:
Dominic Clifton 2014-12-26 18:06:01 +00:00
parent 916aa60254
commit e7cac196a1
1 changed files with 3 additions and 2 deletions
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5
src/main/io/serial_msp.c
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@ -760,7 +760,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break; break;
case MSP_RAW_IMU: case MSP_RAW_IMU:
headSerialReply(18); headSerialReply(18);
// Retarded hack until multiwiidorks start using real units for sensor data // Hack due to choice of units for sensor data in multiwii
if (acc_1G > 1024) { if (acc_1G > 1024) {
for (i = 0; i < 3; i++) for (i = 0; i < 3; i++)
serialize16(accSmooth[i] / 8); serialize16(accSmooth[i] / 8);
@ -982,7 +982,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(GPS_svinfo_svid[i]); serialize8(GPS_svinfo_svid[i]);
serialize8(GPS_svinfo_quality[i]); serialize8(GPS_svinfo_quality[i]);
serialize8(GPS_svinfo_cno[i]); serialize8(GPS_svinfo_cno[i]);
} }
break; break;
#endif #endif
case MSP_DEBUG: case MSP_DEBUG:
@ -1469,6 +1469,7 @@ static void mspProcessPort(void)
tailSerialReply(); tailSerialReply();
} }
currentPort->c_state = IDLE; currentPort->c_state = IDLE;
break; // process one command so as not to block.
} }
} }
} }