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Added antigravity mode parameter to MSP.

This commit is contained in:
mikeller 2018-07-22 22:23:17 +12:00
parent b4dd86dbde
commit 651174e794
1 changed files with 5 additions and 1 deletions
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6
src/main/interface/msp.c
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@ -1325,6 +1325,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, currentPidProfile->pid[PID_PITCH].F);
sbufWriteU16(dst, currentPidProfile->pid[PID_YAW].F);
sbufWriteU8(dst, currentPidProfile->antiGravityMode);
break;
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
@ -1844,7 +1846,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 2) {
sbufReadU16(src); // was currentPidProfile->dtermSetpointWeight
}
if (sbufBytesRemaining(src) >= 13) {
if (sbufBytesRemaining(src) >= 14) {
// Added in MSP API 1.40
currentPidProfile->iterm_rotation = sbufReadU8(src);
#if defined(USE_SMART_FEEDFORWARD)
@ -1878,6 +1880,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->pid[PID_ROLL].F = sbufReadU16(src);
currentPidProfile->pid[PID_PITCH].F = sbufReadU16(src);
currentPidProfile->pid[PID_YAW].F = sbufReadU16(src);
currentPidProfile->antiGravityMode = sbufReadU8(src);
}
pidInitConfig(currentPidProfile);