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Added new filters to MSP.

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This commit is contained in:
mikeller 2016-08-14 01:55:50 +12:00
parent 838ab954f1
commit d981bc42d5
2 changed files with 22 additions and 1 deletions
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6
js/fc.js
View file

@ -259,7 +259,11 @@ var FC = {
FILTER_CONFIG = { FILTER_CONFIG = {
gyro_soft_lpf_hz: 0, gyro_soft_lpf_hz: 0,
dterm_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 = { ADVANCED_TUNING = {

17
js/msp/MSPHelper.js
View file

@ -681,6 +681,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
FILTER_CONFIG.dterm_lpf_hz = data.getUint16(offset, 1); FILTER_CONFIG.dterm_lpf_hz = data.getUint16(offset, 1);
offset += 2; offset += 2;
FILTER_CONFIG.yaw_lpf_hz = data.getUint16(offset, 1); 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; break;
case MSPCodes.MSP_PID_ADVANCED: case MSPCodes.MSP_PID_ADVANCED:
@ -1313,6 +1324,12 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz) buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
.push16(FILTER_CONFIG.dterm_lpf_hz) .push16(FILTER_CONFIG.dterm_lpf_hz)
.push16(FILTER_CONFIG.yaw_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; break;
case MSPCodes.MSP_SET_PID_ADVANCED: case MSPCodes.MSP_SET_PID_ADVANCED:
if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) { if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {