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Code Issues Wiki Activity

Move gyro master config items to gyro config

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This commit is contained in:
Martin Budden 2016-11-28 18:15:46 +00:00
parent a6ca0bf09d
commit cce0efca2e
12 changed files with 56 additions and 65 deletions
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16
src/main/fc/fc_msp.c
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@ -632,7 +632,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_LOOP_TIME:
sbufWriteU16(dst, masterConfig.looptime);
sbufWriteU16(dst, masterConfig.gyroConfig.looptime);
break;
case MSP_RC_TUNING:
@ -1002,7 +1002,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_ADVANCED_CONFIG:
sbufWriteU8(dst, masterConfig.gyroSyncDenominator);
sbufWriteU8(dst, masterConfig.gyroConfig.gyroSyncDenominator);
sbufWriteU8(dst, 1); // BF: masterConfig.pid_process_denom
sbufWriteU8(dst, 1); // BF: masterConfig.motorConfig.useUnsyncedPwm
sbufWriteU8(dst, masterConfig.motorConfig.motorPwmProtocol);
@ -1012,7 +1012,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU8(dst, masterConfig.gyroSync);
sbufWriteU8(dst, masterConfig.gyroConfig.gyroSync);
break;
case MSP_FILTER_CONFIG :
@ -1065,7 +1065,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0);
#endif
sbufWriteU16(dst, masterConfig.mixerConfig.yaw_jump_prevention_limit);
sbufWriteU8(dst, masterConfig.gyro_lpf);
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_lpf);
sbufWriteU8(dst, currentProfile->pidProfile.acc_soft_lpf_hz);
sbufWriteU8(dst, 0); //reserved
sbufWriteU8(dst, 0); //reserved
@ -1190,7 +1190,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_LOOP_TIME:
masterConfig.looptime = sbufReadU16(src);
masterConfig.gyroConfig.looptime = sbufReadU16(src);
break;
case MSP_SET_PID_CONTROLLER:
@ -1380,7 +1380,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_ADVANCED_CONFIG:
masterConfig.gyroSyncDenominator = sbufReadU8(src);
masterConfig.gyroConfig.gyroSyncDenominator = sbufReadU8(src);
sbufReadU8(src); // BF: masterConfig.pid_process_denom
sbufReadU8(src); // BF: masterConfig.motorConfig.useUnsyncedPwm
masterConfig.motorConfig.motorPwmProtocol = sbufReadU8(src);
@ -1390,7 +1390,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#else
sbufReadU16(src);
#endif
masterConfig.gyroSync = sbufReadU8(src);
masterConfig.gyroConfig.gyroSync = sbufReadU8(src);
break;
case MSP_SET_FILTER_CONFIG :
@ -1446,7 +1446,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src);
#endif
masterConfig.mixerConfig.yaw_jump_prevention_limit = sbufReadU16(src);
masterConfig.gyro_lpf = sbufReadU8(src);
masterConfig.gyroConfig.gyro_lpf = sbufReadU8(src);
currentProfile->pidProfile.acc_soft_lpf_hz = sbufReadU8(src);
sbufReadU8(src); //reserved
sbufReadU8(src); //reserved