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Added RC smoothing parameters to MSP.

This commit is contained in:
mikeller 2018-07-15 16:31:36 +12:00
parent 37d66a6005
commit 7fe0c8f892
1 changed files with 31 additions and 2 deletions
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33
src/main/interface/msp.c
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@ -1086,8 +1086,21 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, 0);
#endif
sbufWriteU8(dst, rxConfig()->fpvCamAngleDegrees);
break;
#if defined(USE_RC_SMOOTHING_FILTER)
sbufWriteU8(dst, rxConfig()->rc_smoothing_type);
sbufWriteU8(dst, rxConfig()->rc_smoothing_input_cutoff);
sbufWriteU8(dst, rxConfig()->rc_smoothing_derivative_cutoff);
sbufWriteU8(dst, rxConfig()->rc_smoothing_input_type);
sbufWriteU8(dst, rxConfig()->rc_smoothing_derivative_type);
#else
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP_FAILSAFE_CONFIG:
sbufWriteU8(dst, failsafeConfig()->failsafe_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_off_delay);
@ -1952,8 +1965,24 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (sbufBytesRemaining(src) >= 1) {
rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
}
break;
if (sbufBytesRemaining(src) >= 5) {
// Added in MSP API 1.40
#if defined(USE_RC_SMOOTHING_FILTER)
rxConfigMutable()->rc_smoothing_type = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_input_cutoff = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_derivative_cutoff = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_input_type = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_derivative_type = sbufReadU8(src);
#else
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
sbufReadU8(src);
#endif
}
break;
case MSP_SET_FAILSAFE_CONFIG:
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);