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Code Issues Wiki Activity

async processing removed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-10-16 15:02:46 +02:00
parent fd34e7acf2
commit aac9e485c0
16 changed files with 28 additions and 283 deletions
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24
src/main/fc/fc_msp.c
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@ -1080,15 +1080,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_INAV_PID:
#ifdef USE_ASYNC_GYRO_PROCESSING
sbufWriteU8(dst, systemConfig()->asyncMode);
sbufWriteU16(dst, systemConfig()->accTaskFrequency);
sbufWriteU16(dst, systemConfig()->attitudeTaskFrequency);
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
sbufWriteU8(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
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);
@ -1904,15 +1898,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_INAV_PID:
if (dataSize >= 15) {
#ifdef USE_ASYNC_GYRO_PROCESSING
systemConfigMutable()->asyncMode = sbufReadU8(src);
systemConfigMutable()->accTaskFrequency = sbufReadU16(src);
systemConfigMutable()->attitudeTaskFrequency = sbufReadU16(src);
#else
sbufReadU8(src);
sbufReadU16(src);
sbufReadU16(src);
#endif
sbufReadU8(src); //Legacy, no longer in use async processing value
sbufReadU16(src); //Legacy, no longer in use async processing value
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);