Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 16:25:26 +03:00
Code Issues Wiki Activity

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

Browse source 
This reverts commit 0d21b3d71d, reversing
changes made to b5d5f4ca6e.
This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-10 20:30:56 +02:00
parent ef2f65680d
commit 77fac1a3c1
2 changed files with 62 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

59
src/main/fc/fc_msp.c
View file

@ -1193,6 +1193,24 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0);
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_INAV_PID:
sbufWriteU8(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
@ -2138,6 +2156,47 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
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_INAV_PID:
if (dataSize == 15) {
sbufReadU8(src); //Legacy, no longer in use async processing value