Add Thrust Linearization to MSP

Adds Thrust Linearization to MSP.
betaflight · Oct 11, 2020 · a8cbd4d · a8cbd4d
1 parent 7503f06
commit a8cbd4d
Showing 1 changed file with 11 additions and 1 deletion.
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
@@ -1861,6 +1861,11 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, currentPidProfile->vbat_sag_compensation);
 #else
         sbufWriteU8(dst, 0);
+#endif
+#if defined(USE_THRUST_LINEARIZATION)
+        sbufWriteU8(dst, currentPidProfile->thrustLinearization);
+#else
+        sbufWriteU8(dst, 0);
 #endif
         break;
     case MSP_SENSOR_CONFIG:
@@ -2714,7 +2719,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             sbufReadU8(src);
 #endif
         }
-        if (sbufBytesRemaining(src) >= 4) {
+        if (sbufBytesRemaining(src) >= 5) {
             // Added in MSP API 1.44
 #if defined(USE_INTERPOLATED_SP)
             currentPidProfile->ff_interpolate_sp = sbufReadU8(src);
@@ -2728,6 +2733,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             currentPidProfile->vbat_sag_compensation = sbufReadU8(src);
 #else
             sbufReadU8(src);
+#endif
+#if defined(USE_THRUST_LINEARIZATION)
+            currentPidProfile->thrustLinearization = sbufReadU8(src);
+#else
+            sbufReadU8(src);
 #endif
         }
         pidInitConfig(currentPidProfile);