mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 00:05:33 +03:00
Moved further gyro parameters into gyroConfig_t
This commit is contained in:
parent
0f082201f4
commit
78e6130aab
10 changed files with 41 additions and 50 deletions
|
@ -1081,11 +1081,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
|
|||
break;
|
||||
|
||||
case MSP_ADVANCED_CONFIG:
|
||||
if (masterConfig.gyro_lpf) {
|
||||
if (masterConfig.gyroConfig.gyro_lpf) {
|
||||
sbufWriteU8(dst, 8); // If gyro_lpf != OFF then looptime is set to 1000
|
||||
sbufWriteU8(dst, 1);
|
||||
} else {
|
||||
sbufWriteU8(dst, masterConfig.gyro_sync_denom);
|
||||
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_sync_denom);
|
||||
sbufWriteU8(dst, masterConfig.pid_process_denom);
|
||||
}
|
||||
sbufWriteU8(dst, masterConfig.motorConfig.useUnsyncedPwm);
|
||||
|
@ -1433,7 +1433,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
break;
|
||||
|
||||
case MSP_SET_ADVANCED_CONFIG:
|
||||
masterConfig.gyro_sync_denom = sbufReadU8(src);
|
||||
masterConfig.gyroConfig.gyro_sync_denom = sbufReadU8(src);
|
||||
masterConfig.pid_process_denom = sbufReadU8(src);
|
||||
masterConfig.motorConfig.useUnsyncedPwm = sbufReadU8(src);
|
||||
#ifdef USE_DSHOT
|
||||
|
@ -1460,8 +1460,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
}
|
||||
// reinitialize the gyro filters with the new values
|
||||
validateAndFixGyroConfig();
|
||||
gyroUseConfig(&masterConfig.gyroConfig);
|
||||
gyroInit();
|
||||
gyroInit(&masterConfig.gyroConfig);
|
||||
// reinitialize the PID filters with the new values
|
||||
pidInitFilters(¤tProfile->pidProfile);
|
||||
break;
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue