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Add Rate Dynamics to MSP #9336

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merged 2 commits into from
Oct 3, 2023
Merged

Add Rate Dynamics to MSP #9336

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ef7fa53
Add Rate Dynamics to MSP
DzikuVx Oct 2, 2023
5c6b8a6
review changes
DzikuVx Oct 3, 2023
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36 changes: 36 additions & 0 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1582,6 +1582,21 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
#endif

#ifdef USE_RATE_DYNAMICS

case MSP2_INAV_RATE_DYNAMICS:
{
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionEnd);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightCenter);
sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightEnd);
}
break;

#endif

default:
return false;
}
Expand Down Expand Up @@ -3040,6 +3055,27 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif

#ifdef USE_RATE_DYNAMICS

case MSP2_INAV_SET_RATE_DYNAMICS:

if (dataSize == 8) {
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);

} else {
return MSP_RESULT_ERROR;
}

break;

#endif


default:
return MSP_RESULT_ERROR;
}
Expand Down
2 changes: 2 additions & 0 deletions src/main/msp/msp_protocol_v2_inav.h
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Expand Up @@ -92,3 +92,5 @@
#define MSP2_INAV_LED_STRIP_CONFIG_EX 0x2048
#define MSP2_INAV_SET_LED_STRIP_CONFIG_EX 0x2049

#define MSP2_INAV_RATE_DYNAMICS 0x2060
#define MSP2_INAV_SET_RATE_DYNAMICS 0x2061