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betaflight-configurator
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Merge pull request #237 from sherlockflight/pid-rounding 

Fix rounding of floating point values in crunch() (rc_rate, pids, etc)
10.3.x-maintenance
Dominic Clifton 2015-10-14 20:40:28 +01:00
parent 9b820499a9 fa3888a9d8
commit 43423ec7f9
1 changed files with 22 additions and 22 deletions
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44
js/msp.js
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@ -987,43 +987,43 @@ MSP.crunch = function (code) {
case 7: case 7:
case 8: case 8:
case 9: case 9:
buffer.push(parseInt(PIDs[i][0] * 10)); buffer.push(Math.round(PIDs[i][0] * 10));
buffer.push(parseInt(PIDs[i][1] * 1000)); buffer.push(Math.round(PIDs[i][1] * 1000));
buffer.push(parseInt(PIDs[i][2])); buffer.push(parseInt(PIDs[i][2]));
break; break;
case 4: case 4:
buffer.push(parseInt(PIDs[i][0] * 100)); buffer.push(Math.round(PIDs[i][0] * 100));
buffer.push(parseInt(PIDs[i][1] * 100)); buffer.push(Math.round(PIDs[i][1] * 100));
buffer.push(parseInt(PIDs[i][2])); buffer.push(parseInt(PIDs[i][2]));
break; break;
case 5: case 5:
case 6: case 6:
buffer.push(parseInt(PIDs[i][0] * 10)); buffer.push(Math.round(PIDs[i][0] * 10));
buffer.push(parseInt(PIDs[i][1] * 100)); buffer.push(Math.round(PIDs[i][1] * 100));
buffer.push(parseInt(PIDs[i][2] * 1000)); buffer.push(Math.round(PIDs[i][2] * 1000));
break; break;
} }
} }
break; break;
case MSP_codes.MSP_SET_RC_TUNING: case MSP_codes.MSP_SET_RC_TUNING:
buffer.push(parseInt(RC_tuning.RC_RATE * 100)); buffer.push(Math.round(RC_tuning.RC_RATE * 100));
buffer.push(parseInt(RC_tuning.RC_EXPO * 100)); buffer.push(Math.round(RC_tuning.RC_EXPO * 100));
if (semver.lt(CONFIG.apiVersion, "1.7.0")) { if (semver.lt(CONFIG.apiVersion, "1.7.0")) {
buffer.push(parseInt(RC_tuning.roll_pitch_rate * 100)); buffer.push(Math.round(RC_tuning.roll_pitch_rate * 100));
} else { } else {
buffer.push(parseInt(RC_tuning.roll_rate * 100)); buffer.push(Math.round(RC_tuning.roll_rate * 100));
buffer.push(parseInt(RC_tuning.pitch_rate * 100)); buffer.push(Math.round(RC_tuning.pitch_rate * 100));
} }
buffer.push(parseInt(RC_tuning.yaw_rate * 100)); buffer.push(Math.round(RC_tuning.yaw_rate * 100));
buffer.push(parseInt(RC_tuning.dynamic_THR_PID * 100)); buffer.push(Math.round(RC_tuning.dynamic_THR_PID * 100));
buffer.push(parseInt(RC_tuning.throttle_MID * 100)); buffer.push(Math.round(RC_tuning.throttle_MID * 100));
buffer.push(parseInt(RC_tuning.throttle_EXPO * 100)); buffer.push(Math.round(RC_tuning.throttle_EXPO * 100));
if (semver.gte(CONFIG.apiVersion, "1.7.0")) { if (semver.gte(CONFIG.apiVersion, "1.7.0")) {
buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint)); buffer.push(lowByte(RC_tuning.dynamic_THR_breakpoint));
buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint)); buffer.push(highByte(RC_tuning.dynamic_THR_breakpoint));
} }
if (semver.gte(CONFIG.apiVersion, "1.10.0")) { if (semver.gte(CONFIG.apiVersion, "1.10.0")) {
buffer.push(parseInt(RC_tuning.RC_YAW_EXPO * 100)); buffer.push(Math.round(RC_tuning.RC_YAW_EXPO * 100));
} }
break; break;
// Disabled, cleanflight does not use MSP_SET_BOX. // Disabled, cleanflight does not use MSP_SET_BOX.
@ -1071,12 +1071,12 @@ MSP.crunch = function (code) {
buffer.push(MISC.multiwiicurrentoutput); buffer.push(MISC.multiwiicurrentoutput);
buffer.push(MISC.rssi_channel); buffer.push(MISC.rssi_channel);
buffer.push(MISC.placeholder2); buffer.push(MISC.placeholder2);
buffer.push(lowByte(MISC.mag_declination * 10)); buffer.push(lowByte(Math.round(MISC.mag_declination * 10)));
buffer.push(highByte(MISC.mag_declination * 10)); buffer.push(highByte(Math.round(MISC.mag_declination * 10)));
buffer.push(MISC.vbatscale); buffer.push(MISC.vbatscale);
buffer.push(MISC.vbatmincellvoltage * 10); buffer.push(Math.round(MISC.vbatmincellvoltage * 10));
buffer.push(MISC.vbatmaxcellvoltage * 10); buffer.push(Math.round(MISC.vbatmaxcellvoltage * 10));
buffer.push(MISC.vbatwarningcellvoltage * 10); buffer.push(Math.round(MISC.vbatwarningcellvoltage * 10));
break; break;
case MSP_codes.MSP_SET_CHANNEL_FORWARDING: case MSP_codes.MSP_SET_CHANNEL_FORWARDING:
for (var i = 0; i < SERVO_CONFIG.length; i++) { for (var i = 0; i < SERVO_CONFIG.length; i++) {