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Update serial_msp.c 

Enhanced MSP_RC_TUNING and MSP_SET_RC_TUNING. Configurator's PID Tuning tab can be enabled to update TPA Breakpoint.  
PID Tuning tab must be enhanced for this feature. Agnostic if older versions of Configurator are used.
This commit is contained in:
tricopterY 2015-03-10 10:40:56 +11:00
parent fe47223453
commit ced280acb9
1 changed files with 5 additions and 2 deletions
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7
src/main/io/serial_msp.c
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@ -890,7 +890,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16((int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
break;
case MSP_RC_TUNING:
headSerialReply(8);
headSerialReply(8 + 2);//allow for returning tpa_breakpoint
serialize8(currentControlRateProfile->rcRate8);
serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) {
@ -899,6 +899,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentControlRateProfile->dynThrPID);
serialize8(currentControlRateProfile->thrMid8);
serialize8(currentControlRateProfile->thrExpo8);
//Configurator pid-tuning can allow tpa_breakpoint update, agnostic if older Configurator versions are used
serialize16(currentControlRateProfile->tpa_breakpoint);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
@ -1326,7 +1328,7 @@ static bool processInCommand(void)
break;
case MSP_SET_RC_TUNING:
if (currentPort->dataSize == 8) {
if (currentPort->dataSize == 10) {//allow for tpa_breakpoint
currentControlRateProfile->rcRate8 = read8();
currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) {
@ -1335,6 +1337,7 @@ static bool processInCommand(void)
currentControlRateProfile->dynThrPID = read8();
currentControlRateProfile->thrMid8 = read8();
currentControlRateProfile->thrExpo8 = read8();
currentControlRateProfile->tpa_breakpoint = read16();
} else {
headSerialError(0);
}