Add MSP command to allow changing pid controller.
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104a263533
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203c744763
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@ -125,7 +125,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
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#define MSP_PROTOCOL_VERSION 0
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#define API_VERSION_MAJOR 1 // increment when major changes are made
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#define API_VERSION_MINOR 4 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
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#define API_VERSION_MINOR 5 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
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#define API_VERSION_LENGTH 2
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@ -209,6 +209,8 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
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#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
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#define MSP_PID_CONTROLLER 59
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#define MSP_SET_PID_CONTROLLER 60
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//
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// Baseflight MSP commands (if enabled they exist in Cleanflight)
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//
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@ -892,6 +894,10 @@ static bool processOutCommand(uint8_t cmdMSP)
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headSerialReply(sizeof(pidnames) - 1);
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serializeNames(pidnames);
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break;
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case MSP_PID_CONTROLLER:
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headSerialReply(1);
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serialize8(currentProfile->pidController);
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break;
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case MSP_MODE_RANGES:
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headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
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for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
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@ -1198,6 +1204,10 @@ static bool processInCommand(void)
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currentProfile->accelerometerTrims.values.pitch = read16();
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currentProfile->accelerometerTrims.values.roll = read16();
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break;
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case MSP_SET_PID_CONTROLLER:
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currentProfile->pidController = read8();
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setPIDController(currentProfile->pidController);
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break;
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case MSP_SET_PID:
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if (currentProfile->pidController == 2) {
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for (i = 0; i < 3; i++) {
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