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Merge pull request #9903 from iNavFlight/dzikuvx-drop-MSP_FILTER_CONFIG

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Drop MSP_FILTER_CONFIG and MSP_SET_FILTER_CONFIG commands
This commit is contained in:
Paweł Spychalski 2024-04-09 07:53:59 +02:00 • committed by GitHub
commit 0d21b3d71d
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2 changed files with 0 additions and 62 deletions
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59
src/main/fc/fc_msp.c
View file

@ -1200,24 +1200,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
break; break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_notch_hz
sbufWriteU16(dst, 1); //Was gyroConfig()->gyro_notch_cutoff
sbufWriteU16(dst, 0); //BF: pidProfile()->dterm_notch_hz
sbufWriteU16(dst, 1); //pidProfile()->dterm_notch_cutoff
sbufWriteU16(dst, 0); //BF: masterConfig.gyro_soft_notch_hz_2
sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_2
sbufWriteU16(dst, accelerometerConfig()->acc_notch_hz);
sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz
break;
case MSP_PID_ADVANCED: case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
@ -2182,47 +2164,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
break; break;
case MSP_SET_FILTER_CONFIG :
if (dataSize >= 5) {
gyroConfigMutable()->gyro_main_lpf_hz = sbufReadU8(src);
pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
if (dataSize >= 9) {
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_hz
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_cutoff
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 13) {
sbufReadU16(src);
sbufReadU16(src);
pidInitFilters();
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 17) {
sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_hz_2
sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_cutoff_2
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 21) {
accelerometerConfigMutable()->acc_notch_hz = constrain(sbufReadU16(src), 0, 255);
accelerometerConfigMutable()->acc_notch_cutoff = constrain(sbufReadU16(src), 1, 255);
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 22) {
sbufReadU16(src); //Was gyro_stage2_lowpass_hz
} else {
return MSP_RESULT_ERROR;
}
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_PID_ADVANCED: case MSP_SET_PID_ADVANCED:
if (dataSize == 17) { if (dataSize == 17) {
sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate

3
src/main/msp/msp_protocol.h
View file

@ -196,9 +196,6 @@
#define MSP_ADVANCED_CONFIG 90 #define MSP_ADVANCED_CONFIG 90
#define MSP_SET_ADVANCED_CONFIG 91 #define MSP_SET_ADVANCED_CONFIG 91
#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93
#define MSP_PID_ADVANCED 94 #define MSP_PID_ADVANCED 94
#define MSP_SET_PID_ADVANCED 95 #define MSP_SET_PID_ADVANCED 95