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Drop MSP_FILTER_CONFIG frame #9923

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Drop MSP_FILTER_CONFIG frame #9923

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59 changes: 0 additions & 59 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1193,24 +1193,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0);
break;

case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
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

sbufWriteU16(dst, 0); //BF: masterConfig.gyro_soft_notch_hz_2
sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_2

sbufWriteU16(dst, accelerometerConfig()->acc_notch_hz);
sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);

sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_stage2_lowpass_hz
break;

case MSP_INAV_PID:
sbufWriteU8(dst, 0); //Legacy, no longer in use async processing value
sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
Expand Down Expand Up @@ -2156,47 +2138,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;

case MSP_SET_FILTER_CONFIG :
if (dataSize >= 5) {
gyroConfigMutable()->gyro_main_lpf_hz = sbufReadU8(src);
pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
if (dataSize >= 9) {
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_hz
sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_cutoff
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 13) {
sbufReadU16(src);
sbufReadU16(src);
pidInitFilters();
} else {
return MSP_RESULT_ERROR;
}
if (dataSize >= 17) {
sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_hz_2
sbufReadU16(src); // Was gyroConfigMutable()->gyro_soft_notch_cutoff_2
} else {
return MSP_RESULT_ERROR;
}

if (dataSize >= 21) {
accelerometerConfigMutable()->acc_notch_hz = constrain(sbufReadU16(src), 0, 255);
accelerometerConfigMutable()->acc_notch_cutoff = constrain(sbufReadU16(src), 1, 255);
} else {
return MSP_RESULT_ERROR;
}

if (dataSize >= 22) {
sbufReadU16(src); //Was gyro_stage2_lowpass_hz
} else {
return MSP_RESULT_ERROR;
}
} else
return MSP_RESULT_ERROR;
break;

case MSP_SET_INAV_PID:
if (dataSize == 15) {
sbufReadU8(src); //Legacy, no longer in use async processing value
Expand Down
3 changes: 0 additions & 3 deletions src/main/msp/msp_protocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -196,9 +196,6 @@
#define MSP_ADVANCED_CONFIG 90
#define MSP_SET_ADVANCED_CONFIG 91

#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93

#define MSP_SENSOR_CONFIG 96
#define MSP_SET_SENSOR_CONFIG 97

Expand Down