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Merge pull request #545 from basdelfos/bfc_change_dterm_filter

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Added new features and settings for BF 3.2
This commit is contained in:
borisbstyle 2017-07-27 09:37:34 +02:00 • committed by GitHub
commit fc371852b2
6 changed files with 200 additions and 108 deletions
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22
js/msp/MSPHelper.js
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@ -789,6 +789,9 @@ MspHelper.prototype.process_data = function(dataHandler) {
FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
FILTER_CONFIG.dterm_filter_type = data.readU8();
}
}
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
@ -808,10 +811,14 @@ MspHelper.prototype.process_data = function(dataHandler) {
ADVANCED_TUNING.itermThrottleGain = data.readU8();
ADVANCED_TUNING.pidMaxVelocity = data.readU16();
ADVANCED_TUNING.pidMaxVelocityYaw = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
ADVANCED_TUNING.levelAngleLimit = data.readU8();
ADVANCED_TUNING.levelSensitivity = data.readU8();
if (semver.gte(CONFIG.apiVersion, "1.24.0")) {
ADVANCED_TUNING.levelAngleLimit = data.readU8();
ADVANCED_TUNING.levelSensitivity = data.readU8();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
ADVANCED_TUNING.itermThrottleThreshold = data.readU16();
ADVANCED_TUNING.itermAcceleratorGain = data.readU16();
}
}
break;
case MSPCodes.MSP_SENSOR_CONFIG:
@ -1392,6 +1399,9 @@ MspHelper.prototype.crunch = function(code) {
buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push8(FILTER_CONFIG.dterm_filter_type);
}
}
break;
case MSPCodes.MSP_SET_PID_ADVANCED:
@ -1412,6 +1422,10 @@ MspHelper.prototype.crunch = function(code) {
buffer.push8(ADVANCED_TUNING.levelAngleLimit)
.push8(ADVANCED_TUNING.levelSensitivity);
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push16(ADVANCED_TUNING.itermThrottleThreshold)
.push16(ADVANCED_TUNING.itermAcceleratorGain);
}
}
// only supports 1 version pre bf 3.0
else {