From cdea3adb6e1d2130d0a72e2997a0730f6179b21a Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sat, 13 Aug 2016 00:47:19 +0200
Subject: [PATCH] Add new filters to MSP

---
 src/main/io/serial_msp.c | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index f4646c3905..3844595c3b 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1251,10 +1251,14 @@ 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);
@@ -1846,6 +1850,12 @@ 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();