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Code Issues Wiki Activity

Drop the last static gyro notch

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Pawel Spychalski (DzikuVx) 2021-11-03 15:17:06 +01:00
parent f8c9c3ec0b
commit abeb205bb7
8 changed files with 7 additions and 45 deletions
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8
src/main/fc/fc_msp.c
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@ -1238,8 +1238,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
sbufWriteU16(dst, gyroConfig()->gyro_notch_hz);
sbufWriteU16(dst, gyroConfig()->gyro_notch_cutoff);
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
@ -2176,8 +2176,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
if (dataSize >= 9) {
gyroConfigMutable()->gyro_notch_hz = constrain(sbufReadU16(src), 0, 500);
gyroConfigMutable()->gyro_notch_cutoff = constrain(sbufReadU16(src), 1, 500);
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_hz
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_cutoff
} else {
return MSP_RESULT_ERROR;
}