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Code Issues Wiki Activity

consistent gyro and dterm filter names

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This commit is contained in:
ctzsnooze 2021-09-27 09:12:00 +10:00
parent 8702bba3ec
commit 99a7479b8c
16 changed files with 219 additions and 219 deletions
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56
src/main/msp/msp.c
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@ -1749,8 +1749,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lowpass_hz);
sbufWriteU8(dst, gyroConfig()->gyro_lpf1_static_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lpf1_static_hz);
sbufWriteU16(dst, currentPidProfile->yaw_lowpass_hz);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_1);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_cutoff_1);
@ -1758,21 +1758,21 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
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);
sbufWriteU8(dst, currentPidProfile->dterm_lpf1_type);
sbufWriteU8(dst, gyroConfig()->gyro_hardware_lpf);
sbufWriteU8(dst, 0); // DEPRECATED: gyro_32khz_hardware_lpf
sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz);
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
sbufWriteU16(dst, currentPidProfile->dterm_lowpass2_hz);
sbufWriteU16(dst, gyroConfig()->gyro_lpf1_static_hz);
sbufWriteU16(dst, gyroConfig()->gyro_lpf2_static_hz);
sbufWriteU8(dst, gyroConfig()->gyro_lpf1_type);
sbufWriteU8(dst, gyroConfig()->gyro_lpf2_type);
sbufWriteU16(dst, currentPidProfile->dterm_lpf2_static_hz);
// Added in MSP API 1.41
sbufWriteU8(dst, currentPidProfile->dterm_filter2_type);
sbufWriteU8(dst, currentPidProfile->dterm_lpf2_type);
#if defined(USE_DYN_LPF)
sbufWriteU16(dst, gyroConfig()->dyn_lpf_gyro_min_hz);
sbufWriteU16(dst, gyroConfig()->dyn_lpf_gyro_max_hz);
sbufWriteU16(dst, currentPidProfile->dyn_lpf_dterm_min_hz);
sbufWriteU16(dst, currentPidProfile->dyn_lpf_dterm_max_hz);
sbufWriteU16(dst, gyroConfig()->gyro_lpf1_dyn_min_hz);
sbufWriteU16(dst, gyroConfig()->gyro_lpf1_dyn_max_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lpf1_dyn_min_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lpf1_dyn_max_hz);
#else
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
@ -1806,7 +1806,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#endif
#if defined(USE_DYN_LPF)
// Added in MSP API 1.44
sbufWriteU8(dst, currentPidProfile->dyn_lpf_curve_expo);
sbufWriteU8(dst, currentPidProfile->dterm_lpf1_dyn_expo);
#else
sbufWriteU8(dst, 0);
#endif
@ -2622,8 +2622,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
case MSP_SET_FILTER_CONFIG:
gyroConfigMutable()->gyro_lowpass_hz = sbufReadU8(src);
currentPidProfile->dterm_lowpass_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf1_static_hz = sbufReadU8(src);
currentPidProfile->dterm_lpf1_static_hz = sbufReadU16(src);
currentPidProfile->yaw_lowpass_hz = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
@ -2636,25 +2636,25 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 1) {
currentPidProfile->dterm_filter_type = sbufReadU8(src);
currentPidProfile->dterm_lpf1_type = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 10) {
gyroConfigMutable()->gyro_hardware_lpf = sbufReadU8(src);
sbufReadU8(src); // DEPRECATED: gyro_32khz_hardware_lpf
gyroConfigMutable()->gyro_lowpass_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass2_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src);
gyroConfigMutable()->gyro_lowpass2_type = sbufReadU8(src);
currentPidProfile->dterm_lowpass2_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf1_static_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf2_static_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf1_type = sbufReadU8(src);
gyroConfigMutable()->gyro_lpf2_type = sbufReadU8(src);
currentPidProfile->dterm_lpf2_static_hz = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 9) {
// Added in MSP API 1.41
currentPidProfile->dterm_filter2_type = sbufReadU8(src);
currentPidProfile->dterm_lpf2_type = sbufReadU8(src);
#if defined(USE_DYN_LPF)
gyroConfigMutable()->dyn_lpf_gyro_min_hz = sbufReadU16(src);
gyroConfigMutable()->dyn_lpf_gyro_max_hz = sbufReadU16(src);
currentPidProfile->dyn_lpf_dterm_min_hz = sbufReadU16(src);
currentPidProfile->dyn_lpf_dterm_max_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf1_dyn_min_hz = sbufReadU16(src);
gyroConfigMutable()->gyro_lpf1_dyn_max_hz = sbufReadU16(src);
currentPidProfile->dterm_lpf1_dyn_min_hz = sbufReadU16(src);
currentPidProfile->dterm_lpf1_dyn_max_hz = sbufReadU16(src);
#else
sbufReadU16(src);
sbufReadU16(src);
@ -2694,7 +2694,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
if (sbufBytesRemaining(src) >= 2) {
// Added in MSP API 1.44
#if defined(USE_DYN_LPF)
currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src);
currentPidProfile->dterm_lpf1_dyn_expo = sbufReadU8(src);
#else
sbufReadU8(src);
#endif