Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 14:55:21 +03:00
Code Issues Wiki Activity

Add new filters to MSP

Browse source
This commit is contained in:
borisbstyle 2016-08-13 00:47:19 +02:00
parent 74212518a6
commit ab15c5a418
1 changed files with 11 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

12
src/main/io/serial_msp.c
View file

@ -1258,10 +1258,14 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(masterConfig.motor_pwm_rate);
break;
case MSP_FILTER_CONFIG :
headSerialReply(5);
headSerialReply(13);
serialize8(masterConfig.gyro_soft_lpf_hz);
serialize16(currentProfile->pidProfile.dterm_lpf_hz);
serialize16(currentProfile->pidProfile.yaw_lpf_hz);
serialize16(masterConfig.gyro_soft_notch_hz);
serialize16(masterConfig.gyro_soft_notch_cutoff);
serialize16(currentProfile->pidProfile.dterm_notch_hz);
serialize16(currentProfile->pidProfile.dterm_notch_cutoff);
break;
case MSP_PID_ADVANCED:
headSerialReply(17);
@ -1857,6 +1861,12 @@ static bool processInCommand(void)
masterConfig.gyro_soft_lpf_hz = read8();
currentProfile->pidProfile.dterm_lpf_hz = read16();
currentProfile->pidProfile.yaw_lpf_hz = read16();
if (currentPort->dataSize > 5) {
masterConfig.gyro_soft_notch_hz = read16();
masterConfig.gyro_soft_notch_cutoff = read16();
currentProfile->pidProfile.dterm_notch_hz = read16();
currentProfile->pidProfile.dterm_notch_cutoff = read16();
}
break;
case MSP_SET_PID_ADVANCED:
currentProfile->pidProfile.rollPitchItermIgnoreRate = read16();