Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

TPA calculation fixes; Force re-calculation of PIDs when they are changed by MSP or adjustments

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-10-17 11:34:40 +10:00
parent ade14763a5
commit fe8156be2a
4 changed files with 34 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/fc/fc_msp.c
View file

@ -1131,6 +1131,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_PID:
signalRequiredPIDCoefficientsUpdate();
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile->pidProfile.P8[i] = sbufReadU8(src);
currentProfile->pidProfile.I8[i] = sbufReadU8(src);
@ -1200,6 +1201,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (dataSize >= 11) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
}
signalRequiredPIDCoefficientsUpdate();
} else {
return MSP_RESULT_ERROR;
}