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Drop MSP_PID_ADVANCED and MSP_SET_PID_ADVANCED from MSP protocol

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-06 20:46:54 +02:00
parent f7bda375d2
commit 72f622afbe
2 changed files with 0 additions and 45 deletions
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42
src/main/fc/fc_msp.c
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@ -1236,25 +1236,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz
break;
case MSP_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
sbufWriteU16(dst, 0); //pidProfile()->yaw_p_limit
sbufWriteU8(dst, 0); //BF: pidProfile()->deltaMethod
sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
sbufWriteU8(dst, 0);
sbufWriteU16(dst, pidProfile()->pidSumLimit);
sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
/*
* To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 10]
*/
sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitRollPitch / 10, 0, 65535));
sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitYaw / 10, 0, 65535));
break;
case MSP_INAV_PID:
sbufWriteU8(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
@ -2241,29 +2222,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_PID_ADVANCED:
if (dataSize == 17) {
sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate
sbufReadU16(src); // pidProfileMutable()->yawItermIgnoreRate
sbufReadU16(src); //pidProfile()->yaw_p_limit
sbufReadU8(src); //BF: pidProfileMutable()->deltaMethod
sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
sbufReadU8(src);
pidProfileMutable()->pidSumLimit = sbufReadU16(src);
sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
/*
* To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
* limit will be sent and received in [dps / 10]
*/
pidProfileMutable()->axisAccelerationLimitRollPitch = sbufReadU16(src) * 10;
pidProfileMutable()->axisAccelerationLimitYaw = sbufReadU16(src) * 10;
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_INAV_PID:
if (dataSize == 15) {
sbufReadU8(src); //Legacy, no longer in use async processing value