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Code Issues Wiki Activity

Drop yaw_jump_prevention_limit

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-10-17 19:28:26 +02:00
parent 8ec311e906
commit 80dc0e1d5a
5 changed files with 6 additions and 18 deletions
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10
src/main/fc/fc_msp.c
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@ -1165,7 +1165,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, gyroConfig()->gyro_lpf);
sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
sbufWriteU8(dst, 0); //reserved
@ -1398,7 +1398,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_MIXER:
sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, mixerConfig()->platformType);
sbufWriteU8(dst, mixerConfig()->hasFlaps);
sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
@ -2088,10 +2088,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); //Legacy, no longer in use async processing value
pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
sbufReadU16(src); //Legacy yaw_jump_prevention_limit
gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved
@ -2733,7 +2733,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP2_INAV_SET_MIXER:
mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
sbufReadU16(src); // Was yaw_jump_prevention_limit
mixerConfigMutable()->platformType = sbufReadU8(src);
mixerConfigMutable()->hasFlaps = sbufReadU8(src);
mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);