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Merge pull request #5240 from iNavFlight/dzikuvx-dterm-filters-refactor

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Dterm filters refactoring and enhancement
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Paweł Spychalski 2019-12-29 12:34:19 +01:00 • committed by GitHub
commit c89469216e
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6 changed files with 74 additions and 15 deletions
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src/main/fc/fc_msp.c
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@ -1991,7 +1991,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_FILTER_CONFIG :
if (dataSize >= 5) {
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 255);
pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
if (dataSize >= 9) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = constrain(sbufReadU16(src), 0, 500);