From d981bc42d5caa155623fe5cd6f219ae98f660116 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sun, 14 Aug 2016 01:55:50 +1200
Subject: [PATCH] Added new filters to MSP.

---
 js/fc.js            |  6 +++++-
 js/msp/MSPHelper.js | 17 +++++++++++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/js/fc.js b/js/fc.js
index 88f0c382..87c38273 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -259,7 +259,11 @@ var FC = {
         FILTER_CONFIG = {
             gyro_soft_lpf_hz:       0,
             dterm_lpf_hz:           0,
-            yaw_lpf_hz:             0
+            yaw_lpf_hz:             0,
+            gyro_soft_notch_hz:     0,
+            gyro_soft_notch_cutoff: 0,
+            dterm_notch_hz:         0,
+            dterm_notch_cutoff:     0
         };
         
         ADVANCED_TUNING = {
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 560b1982..99a06c56 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -681,6 +681,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
             FILTER_CONFIG.dterm_lpf_hz = data.getUint16(offset, 1);
             offset += 2;
             FILTER_CONFIG.yaw_lpf_hz = data.getUint16(offset, 1);
+            offset += 2;
+            if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
+                FILTER_CONFIG.gyro_soft_notch_hz = data.getUint16(offset, 1);
+                offset += 2;
+                FILTER_CONFIG.gyro_soft_notch_cutoff = data.getUint16(offset, 1);
+                offset += 2;
+                FILTER_CONFIG.dterm_notch_hz = data.getUint16(offset, 1);
+                offset += 2;
+                FILTER_CONFIG.dterm_notch_cutoff = data.getUint16(offset, 1);
+                offset += 2;
+            }
             break;
 
         case MSPCodes.MSP_PID_ADVANCED:
@@ -1313,6 +1324,12 @@ MspHelper.prototype.crunch = function(code) {
             buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
               .push16(FILTER_CONFIG.dterm_lpf_hz)
               .push16(FILTER_CONFIG.yaw_lpf_hz);
+            if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
+                buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz)
+                    .push16(FILTER_CONFIG.gyro_soft_notch_cutoff)
+                    .push16(FILTER_CONFIG.dterm_notch_hz)
+                    .push16(FILTER_CONFIG.dterm_notch_cutoff);
+            }
             break;
         case MSPCodes.MSP_SET_PID_ADVANCED:
             if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {