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Merged in f5soh/librepilot/LP-462_MSP_Dterm_zeroed (pull request #373)
LP-462 MWOSD - MSP: Handle Dterm scale
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commit
02d4d47139
@ -676,14 +676,18 @@ static void msp_send_pidnames(struct msp_bridge *m)
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static void pid_native2msp(const float *native, msp_pid_t *piditem, float scale, unsigned numelem)
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{
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for (unsigned i = 0; i < numelem; ++i) {
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piditem->values[i] = lroundf(native[i] * scale);
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// Handle Dterm scale
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float s = (i == 2) ? scale * 100 : scale;
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piditem->values[i] = lroundf(native[i] * s);
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}
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}
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static void pid_msp2native(const msp_pid_t *piditem, float *native, float scale, unsigned numelem)
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{
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for (unsigned i = 0; i < numelem; ++i) {
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native[i] = (float)piditem->values[i] / scale;
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// Handle Dterm scale
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float s = (i == 2) ? scale * 100 : scale;
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native[i] = (float)piditem->values[i] / s;
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}
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}
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