From b69bab33b2d04b933674f5f126b51e3a978542db Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sun, 16 Aug 2015 23:25:16 +0200
Subject: [PATCH] Configurable RC Smoothing

---
 src/main/config/config.c | 1 +
 src/main/io/serial_cli.c | 1 +
 src/main/mw.c            | 4 +++-
 src/main/rx/rx.h         | 1 +
 4 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 6764ad4abd..3f615ecf5c 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -414,6 +414,7 @@ static void resetConf(void)
     masterConfig.rxConfig.rssi_channel = 0;
     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
     masterConfig.rxConfig.rssi_ppm_invert = 0;
+    masterConfig.rxConfig.rcSmoothing = 1;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index eddbf960af..fbc6ca197b 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -316,6 +316,7 @@ const clivalue_t valueTable[] = {
     { "rssi_channel",               VAR_INT8   | MASTER_VALUE,  &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
     { "rssi_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
     { "rssi_ppm_invert",            VAR_INT8   | MASTER_VALUE,  &masterConfig.rxConfig.rssi_ppm_invert, 0, 1 },
+    { "rc_smoothing",               VAR_INT8   | MASTER_VALUE,  &masterConfig.rxConfig.rcSmoothing, 0, 1 },
     { "input_filtering_mode",       VAR_INT8   | MASTER_VALUE,  &masterConfig.inputFilteringMode, 0, 1 },
 
     { "min_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
diff --git a/src/main/mw.c b/src/main/mw.c
index 708dc006ab..5fc1e4159f 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -857,7 +857,9 @@ void loop(void)
             }
         }
 
-        filterRc();
+        if (masterConfig.rxConfig.rcSmoothing) {
+            filterRc();
+        }
 
         annexCode();
 #if defined(BARO) || defined(SONAR)
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 7ab45f1066..058c3b0897 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -106,6 +106,7 @@ typedef struct rxConfig_s {
     uint8_t rssi_channel;
     uint8_t rssi_scale;
     uint8_t rssi_ppm_invert;
+    uint8_t rcSmoothing;                    // Enable/Disable RC filtering
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end