{"action":"created","comment":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/204210188","pull_request_review_id":139257472,"id":204210188,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwNDIxMDE4OA==","diff_hunk":"@@ -947,8 +947,9 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)\n         sbufWriteU16(dst, currentControlRateProfile->tpa_breakpoint);\n         sbufWriteU8(dst, currentControlRateProfile->rcExpo[FD_YAW]);\n         sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_YAW]);\n-        sbufWriteU8(dst, currentControlRateProfile->rcRates[FD_PITCH]);","path":"src/main/interface/msp.c","position":4,"original_position":4,"commit_id":"8b110220b599acd6a6ae1d81589f79d008e08e86","original_commit_id":"463709427160c5dbc3f89b2f6dd0dce128f4ce81","user":{"login":"ianrmurphy","id":8200689,"node_id":"MDQ6VXNlcjgyMDA2ODk=","avatar_url":"https://avatars1.githubusercontent.com/u/8200689?v=4","gravatar_id":"","url":"https://api.github.com/users/ianrmurphy","html_url":"https://github.com/ianrmurphy","followers_url":"https://api.github.com/users/ianrmurphy/followers","following_url":"https://api.github.com/users/ianrmurphy/following{/other_user}","gists_url":"https://api.github.com/users/ianrmurphy/gists{/gist_id}","starred_url":"https://api.github.com/users/ianrmurphy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ianrmurphy/subscriptions","organizations_url":"https://api.github.com/users/ianrmurphy/orgs","repos_url":"https://api.github.com/users/ianrmurphy/repos","events_url":"https://api.github.com/users/ianrmurphy/events{/privacy}","received_events_url":"https://api.github.com/users/ianrmurphy/received_events","type":"User","site_admin":false},"body":"I'll remove any changes to `msp.c`.\r\nIs there an explanation as to why Betaflight sends `currentControlRateProfile->rcRates[FD_PITCH]` and `currentControlRateProfile->rcExpo[FD_PITCH]` while the Configurator does not read them?","created_at":"2018-07-21T12:51:45Z","updated_at":"2018-07-21T12:51:45Z","html_url":"https://github.com/betaflight/betaflight/pull/6402#discussion_r204210188","pull_request_url":"https://api.github.com/repos/betaflight/betaflight/pulls/6402","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/comments/204210188"},"html":{"href":"https://github.com/betaflight/betaflight/pull/6402#discussion_r204210188"},"pull_request":{"href":"https://api.github.com/repos/betaflight/betaflight/pulls/6402"}},"in_reply_to_id":204203154},"pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/6402","id":202706227,"node_id":"MDExOlB1bGxSZXF1ZXN0MjAyNzA2MjI3","html_url":"https://github.com/betaflight/betaflight/pull/6402","diff_url":"https://github.com/betaflight/betaflight/pull/6402.diff","patch_url":"https://github.com/betaflight/betaflight/pull/6402.patch","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/6402","number":6402,"state":"open","locked":false,"title":"CLI configurable limits for rates","user":{"login":"ianrmurphy","id":8200689,"node_id":"MDQ6VXNlcjgyMDA2ODk=","avatar_url":"https://avatars1.githubusercontent.com/u/8200689?v=4","gravatar_id":"","url":"https://api.github.com/users/ianrmurphy","html_url":"https://github.com/ianrmurphy","followers_url":"https://api.github.com/users/ianrmurphy/followers","following_url":"https://api.github.com/users/ianrmurphy/following{/other_user}","gists_url":"https://api.github.com/users/ianrmurphy/gists{/gist_id}","starred_url":"https://api.github.com/users/ianrmurphy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ianrmurphy/subscriptions","organizations_url":"https://api.github.com/users/ianrmurphy/orgs","repos_url":"https://api.github.com/users/ianrmurphy/repos","events_url":"https://api.github.com/users/ianrmurphy/events{/privacy}","received_events_url":"https://api.github.com/users/ianrmurphy/received_events","type":"User","site_admin":false},"body":"Currently there is only a #define hard-coded limit on for rates (1998.0f).\r\n\r\nI've added 3 new CLI parameters to configure axis rate limits, and associated them with the controlRateProfiles. Default & max set to 1998, so default behaviour is unchanged.\r\n\r\nPotential uses:\r\n- Create a zone towards stick limits where rates are constant (my use case). Helpful to get more consistent flips & rolls when a lot of expo is used.\r\n- Precise control of rates for PID tuning by setting different profiles (with different limits) on an aux switch to step through them in one 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