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Merge branch 'inav-rates-in-dps' of https://github.com/DzikuVx/cleanflight into DzikuVx-inav-rates-in-dps

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-06-15 20:11:29 +03:00
commit f77eb4788d
15 changed files with 124 additions and 105 deletions
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6
src/main/io/serial_msp.c
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@ -737,7 +737,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_RC_TUNING:
headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8);
serialize8(100); //rcRate8 kept for compatibity reasons, this setting is no longer used
serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) {
serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
@ -1220,11 +1220,11 @@ static bool processInCommand(void)
case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8();
read8(); //Read rcRate8, kept for protocol compatibility reasons
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);