Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Moved further gyro parameters into gyroConfig_t

Browse source
This commit is contained in:
Martin Budden 2016-11-24 07:24:17 +00:00
parent 0f082201f4
commit 78e6130aab
10 changed files with 41 additions and 50 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/fc/fc_msp.c
View file

@ -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(&currentProfile->pidProfile);
break;