From 08050a13bbada00c82e47aa321267662d970c46d Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 10 Apr 2024 21:07:28 +0200
Subject: [PATCH] Revert "Revert "Merge pull request #9901 from
 iNavFlight/dzikuvx-drop-MSP_PID_ADVANCED""

This reverts commit 6481f1ef25dc146aff6b4e20d2f213dfc17d895a.
---
 src/main/fc/fc_msp.c        | 42 -------------------------------------
 src/main/msp/msp_protocol.h |  2 --
 2 files changed, 44 deletions(-)

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 63c7468ea69..ee97a9f1e65 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1260,25 +1260,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
 
         sbufWriteU16(dst, 0);    //Was gyroConfig()->gyro_stage2_lowpass_hz
-        break; 
-
-    case MSP_PID_ADVANCED:
-        sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
-        sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
-        sbufWriteU16(dst, 0); //pidProfile()->yaw_p_limit
-        sbufWriteU8(dst, 0); //BF: pidProfile()->deltaMethod
-        sbufWriteU8(dst, 0); //BF: pidProfile()->vbatPidCompensation
-        sbufWriteU8(dst, 0); //BF: pidProfile()->setpointRelaxRatio
-        sbufWriteU8(dst, 0);
-        sbufWriteU16(dst, pidProfile()->pidSumLimit);
-        sbufWriteU8(dst, 0); //BF: pidProfile()->itermThrottleGain
-
-        /*
-         * To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
-         * limit will be sent and received in [dps / 10]
-         */
-        sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitRollPitch / 10, 0, 65535));
-        sbufWriteU16(dst, constrain(pidProfile()->axisAccelerationLimitYaw / 10, 0, 65535));
         break;
 
     case MSP_INAV_PID:
@@ -2297,29 +2278,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-    case MSP_SET_PID_ADVANCED:
-        if (dataSize == 17) {
-            sbufReadU16(src);   // pidProfileMutable()->rollPitchItermIgnoreRate
-            sbufReadU16(src);   // pidProfileMutable()->yawItermIgnoreRate
-            sbufReadU16(src); //pidProfile()->yaw_p_limit
-
-            sbufReadU8(src); //BF: pidProfileMutable()->deltaMethod
-            sbufReadU8(src); //BF: pidProfileMutable()->vbatPidCompensation
-            sbufReadU8(src); //BF: pidProfileMutable()->setpointRelaxRatio
-            sbufReadU8(src);
-            pidProfileMutable()->pidSumLimit = sbufReadU16(src);
-            sbufReadU8(src); //BF: pidProfileMutable()->itermThrottleGain
-
-            /*
-             * To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw
-             * limit will be sent and received in [dps / 10]
-             */
-            pidProfileMutable()->axisAccelerationLimitRollPitch = sbufReadU16(src) * 10;
-            pidProfileMutable()->axisAccelerationLimitYaw = sbufReadU16(src) * 10;
-        } else
-            return MSP_RESULT_ERROR;
-        break;
-
     case MSP_SET_INAV_PID:
         if (dataSize == 15) {
             sbufReadU8(src);  //Legacy, no longer in use async processing value
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index ac847afeaec..62e3c0d1a3d 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -204,8 +204,6 @@
 
 #define MSP_FILTER_CONFIG               92
 #define MSP_SET_FILTER_CONFIG           93
-#define MSP_PID_ADVANCED                94
-#define MSP_SET_PID_ADVANCED            95
 
 #define MSP_SENSOR_CONFIG               96
 #define MSP_SET_SENSOR_CONFIG           97