Add Thrust Linearization to MSP
Adds Thrust Linearization to MSP.
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@ -1861,6 +1861,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
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sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
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#else
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#else
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sbufWriteU8(dst, 0);
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sbufWriteU8(dst, 0);
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#endif
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#if defined(USE_THRUST_LINEARIZATION)
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sbufWriteU8(dst, currentPidProfile->thrustLinearization);
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#else
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sbufWriteU8(dst, 0);
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#endif
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#endif
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break;
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break;
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case MSP_SENSOR_CONFIG:
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case MSP_SENSOR_CONFIG:
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@ -2714,7 +2719,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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sbufReadU8(src);
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sbufReadU8(src);
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#endif
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#endif
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}
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}
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if (sbufBytesRemaining(src) >= 4) {
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if (sbufBytesRemaining(src) >= 5) {
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// Added in MSP API 1.44
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// Added in MSP API 1.44
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#if defined(USE_INTERPOLATED_SP)
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#if defined(USE_INTERPOLATED_SP)
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currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
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currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
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@ -2728,6 +2733,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
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currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
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currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
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#else
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#else
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sbufReadU8(src);
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sbufReadU8(src);
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#endif
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#if defined(USE_THRUST_LINEARIZATION)
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currentPidProfile->thrustLinearization = sbufReadU8(src);
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#else
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sbufReadU8(src);
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#endif
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#endif
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}
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}
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pidInitConfig(currentPidProfile);
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pidInitConfig(currentPidProfile);
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