Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00
Code Issues Wiki Activity

Removed duplicate legacy gyro_lpf validation from msp.c

Browse source 
Additional validation in msp.c was resetting the gyro and pid denoms incorrectly under the assumption that any non-zero gyro_lpf value means the gyro is in 1KHz refresh rate.  The correct validation is already been performed by fc/config.c so the extra legacy validtions are not needed.
This commit is contained in:
Bruce Luckcuck 2018-02-20 14:38:28 -05:00
parent 7c3bb49759
commit 84db8ef3fc
1 changed files with 2 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/interface/msp.c
View file

@ -1157,13 +1157,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break; break;
case MSP_ADVANCED_CONFIG: case MSP_ADVANCED_CONFIG:
if (gyroConfig()->gyro_lpf) { sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, 8); // If gyro_lpf != OFF then looptime is set to 1000 sbufWriteU8(dst, pidConfig()->pid_process_denom);
sbufWriteU8(dst, 1);
} else {
sbufWriteU8(dst, gyroConfig()->gyro_sync_denom);
sbufWriteU8(dst, pidConfig()->pid_process_denom);
}
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm); sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol); sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate); sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);