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Add Rate Dynamics to MSP

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2023-10-02 20:50:47 +02:00
parent d04536a11d
commit ef7fa53a94
2 changed files with 38 additions and 0 deletions
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36
src/main/fc/fc_msp.c
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@ -1582,6 +1582,21 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_RATE_DYNAMICS:
{
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightEnd);
}
break;
#endif
default:
return false;
}
@ -3040,6 +3055,27 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef USE_RATE_DYNAMICS
case MSP2_INAV_SET_RATE_DYNAMICS:
if (dataSize == 8) {
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
} else {
return MSP_RESULT_ERROR;
}
break;
#endif
default:
return MSP_RESULT_ERROR;
}