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Add new MSP parameters

This commit is contained in:
borisbstyle 2016-07-28 01:15:11 +02:00
parent 0e45d2749d
commit 6dcefedde6
2 changed files with 34 additions and 0 deletions
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6
src/main/io/msp_protocol.h
View File

@ -213,6 +213,12 @@
#define MSP_SPECIAL_PARAMETERS 98 // Temporary betaflight parameters before cleanup and keep CF compatibility
#define MSP_SET_SPECIAL_PARAMETERS 99 // Temporary betaflight parameters before cleanup and keep CF compatibility
#define MSP_PIDC_BETAFLIGHT 246
#define MSP_SET_PIDC_BETAFLIGHT 247
#define MSP_RC_SMOOTHING 248
#define MSP_SET_RC_SMOOTHING 249
//
// OSD specific
//

28
src/main/io/serial_msp.c
View File

@ -1250,6 +1250,21 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.rxConfig.rcSmoothInterval);
serialize16(currentProfile->pidProfile.pidMaxVelocity);
break;
case MSP_PIDC_BETAFLIGHT:
headSerialReply(9);
serialize8(currentProfile->pidProfile.ptermSetpointWeight);
serialize8(currentProfile->pidProfile.dtermSetpointWeight);
serialize8(currentProfile->pidProfile.toleranceBand);
serialize8(currentProfile->pidProfile.toleranceBandReduction);
serialize8(currentProfile->pidProfile.itermThrottleGain);
serialize16(currentProfile->pidProfile.pidMaxVelocity);
serialize16(currentProfile->pidProfile.pidMaxVelocityYaw);
break;
case MSP_RC_SMOOTHING:
headSerialReply(2);
serialize8(masterConfig.rxConfig.rcSmoothing);
serialize8(masterConfig.rxConfig.rcSmoothInterval);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
serialize8(masterConfig.acc_hardware);
@ -1831,6 +1846,19 @@ static bool processInCommand(void)
masterConfig.rxConfig.rcSmoothInterval = read8();
read16();
break;
case MSP_SET_PIDC_BETAFLIGHT:
currentProfile->pidProfile.ptermSetpointWeight = read8();
currentProfile->pidProfile.dtermSetpointWeight = read8();
currentProfile->pidProfile.toleranceBand = read8();
currentProfile->pidProfile.toleranceBandReduction = read8();
currentProfile->pidProfile.itermThrottleGain = read8();
currentProfile->pidProfile.pidMaxVelocity = read16();
currentProfile->pidProfile.pidMaxVelocityYaw = read16();
break;
case MSP_SET_RC_SMOOTHING:
masterConfig.rxConfig.rcSmoothing = read8();
masterConfig.rxConfig.rcSmoothInterval = read8();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();
masterConfig.baro_hardware = read8();