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Code Issues Wiki Activity

Moved gyro filter settings into gyroConfig

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This commit is contained in:
Martin Budden 2016-11-23 19:04:14 +00:00
parent fa4d04b5a7
commit 2c7d06a94e
9 changed files with 59 additions and 81 deletions
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28
src/main/fc/fc_msp.c
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@ -1094,15 +1094,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, masterConfig.gyro_soft_lpf_hz);
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_soft_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_lpf_hz);
sbufWriteU16(dst, currentProfile->pidProfile.yaw_lpf_hz);
sbufWriteU16(dst, masterConfig.gyro_soft_notch_hz_1);
sbufWriteU16(dst, masterConfig.gyro_soft_notch_cutoff_1);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_hz_1);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_cutoff_1);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_hz);
sbufWriteU16(dst, currentProfile->pidProfile.dterm_notch_cutoff);
sbufWriteU16(dst, masterConfig.gyro_soft_notch_hz_2);
sbufWriteU16(dst, masterConfig.gyro_soft_notch_cutoff_2);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_hz_2);
sbufWriteU16(dst, masterConfig.gyroConfig.gyro_soft_notch_cutoff_2);
break;
case MSP_PID_ADVANCED:
@ -1445,28 +1445,22 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_FILTER_CONFIG:
masterConfig.gyro_soft_lpf_hz = sbufReadU8(src);
masterConfig.gyroConfig.gyro_soft_lpf_hz = sbufReadU8(src);
currentProfile->pidProfile.dterm_lpf_hz = sbufReadU16(src);
currentProfile->pidProfile.yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) {
masterConfig.gyro_soft_notch_hz_1 = sbufReadU16(src);
masterConfig.gyro_soft_notch_cutoff_1 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_hz_1 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_hz = sbufReadU16(src);
currentProfile->pidProfile.dterm_notch_cutoff = sbufReadU16(src);
}
if (dataSize > 13) {
masterConfig.gyro_soft_notch_hz_2 = sbufReadU16(src);
masterConfig.gyro_soft_notch_cutoff_2 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_hz_2 = sbufReadU16(src);
masterConfig.gyroConfig.gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
// reinitialize the gyro filters with the new values
validateAndFixGyroConfig();
gyroUseConfig(&masterConfig.gyroConfig,
masterConfig.gyro_soft_lpf_hz,
masterConfig.gyro_soft_notch_hz_1,
masterConfig.gyro_soft_notch_cutoff_1,
masterConfig.gyro_soft_notch_hz_2,
masterConfig.gyro_soft_notch_cutoff_2,
masterConfig.gyro_soft_type);
gyroUseConfig(&masterConfig.gyroConfig);
gyroInit();
// reinitialize the PID filters with the new values
pidInitFilters(&currentProfile->pidProfile);