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Code Issues Wiki Activity

axisAccelerationLimit MSP scaling changed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2016-11-20 09:41:22 +01:00
parent bdd91138ea
commit fec7d696b7
1 changed files with 4 additions and 4 deletions
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8
src/main/fc/fc_msp.c
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@ -1016,11 +1016,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.itermThrottleGain
/*
* To keep compatibility on MSP level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 1000]
* To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 10]
*/
sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitRollPitch / 1000, 0, 65535));
sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535));
sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitRollPitch / 10, 0, 65535));
sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 10, 0, 65535));
break;
case MSP_INAV_PID: