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Code Issues Wiki Activity

Added dterm filter type to MSP_FILTER_CONFIG and MSP_SET_FILTER_CONFIG

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This commit is contained in:
Bas Delfos 2017-07-12 11:38:31 +02:00
parent 0b9dd11cb5
commit 25b10f50f6
1 changed files with 4 additions and 0 deletions
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4
src/main/fc/fc_msp.c
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@ -1345,6 +1345,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, currentPidProfile->dterm_notch_cutoff);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_2);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_2);
sbufWriteU8(dst, currentPidProfile->dterm_filter_type);
break;
case MSP_PID_ADVANCED:
@ -1745,6 +1746,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
if (dataSize > 17) {
currentPidProfile->dterm_filter_type = sbufReadU8(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
gyroInitFilters();