Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 00:35:39 +03:00
Code Issues Wiki Activity

Reset out of range filter cutoffs

Browse source 
Protection against previous Configurator versions allowing higher cutoff values than the parameter limits in the firmware and causing out-of-range corrupted config errors.
This commit is contained in:
Bruce Luckcuck 2019-06-30 10:13:47 -04:00
parent d7f62a710c
commit edd5bb947f
1 changed files with 23 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/fc/config.c
View file

@ -162,6 +162,13 @@ static void activateConfig(void)
#endif
}
static void adjustFilterLimit(uint16_t *parm)
{
if (*parm > FILTER_FREQUENCY_MAX) {
*parm = FILTER_FREQUENCY_MAX;
}
}
static void validateAndFixConfig(void)
{
#if !defined(USE_QUAD_MIXER_ONLY)
@ -200,6 +207,13 @@ static void validateAndFixConfig(void)
}
for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
// Fix filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lowpass_hz);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_lowpass2_hz);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_hz);
adjustFilterLimit(&pidProfilesMutable(i)->dterm_notch_cutoff);
// Prevent invalid notch cutoff
if (pidProfilesMutable(i)->dterm_notch_cutoff >= pidProfilesMutable(i)->dterm_notch_hz) {
pidProfilesMutable(i)->dterm_notch_hz = 0;
@ -513,6 +527,15 @@ void validateAndFixGyroConfig(void)
}
#endif
// Fix gyro filter settings to handle cases where an older configurator was used that
// allowed higher cutoff limits from previous firmware versions.
adjustFilterLimit(&gyroConfigMutable()->gyro_lowpass_hz);
adjustFilterLimit(&gyroConfigMutable()->gyro_lowpass2_hz);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_1);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_1);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_hz_2);
adjustFilterLimit(&gyroConfigMutable()->gyro_soft_notch_cutoff_2);
// Prevent invalid notch cutoff
if (gyroConfig()->gyro_soft_notch_cutoff_1 >= gyroConfig()->gyro_soft_notch_hz_1) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;