Skip to content

Drop MSP_FILTER_CONFIG frame #9923

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
DzikuVx wants to merge 2 commits into
base: maintenance-10.x
Choose a base branch
from
+2 −270
Open

Drop MSP_FILTER_CONFIG frame #9923

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
883b3a1
Revert "Revert "Merge pull request #9903 from iNavFlight/dzikuvx-drop…
DzikuVx Apr 10, 2024
da670c4
Merge upstream/maintenance-10.x to resolve conflicts with PR #9923
sensei-hacker Aug 30, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
46 changes: 0 additions & 46 deletions docs/development/msp/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -259,8 +259,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
[89 - MSP_SET_VTX_CONFIG](#msp_set_vtx_config)
[90 - MSP_ADVANCED_CONFIG](#msp_advanced_config)
[91 - MSP_SET_ADVANCED_CONFIG](#msp_set_advanced_config)
[92 - MSP_FILTER_CONFIG](#msp_filter_config)
[93 - MSP_SET_FILTER_CONFIG](#msp_set_filter_config)
[94 - MSP_PID_ADVANCED](#msp_pid_advanced)
[95 - MSP_SET_PID_ADVANCED](#msp_set_pid_advanced)
[96 - MSP_SENSOR_CONFIG](#msp_sensor_config)
Expand Down Expand Up @@ -1680,50 +1678,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:

**Notes:** Expects 9 bytes.

## <a id="msp_filter_config"></a>`MSP_FILTER_CONFIG (92 / 0x5c)`
**Description:** Retrieves filter configuration settings (Gyro, D-term, Yaw, Accel). Some fields are BF compatibility placeholders or legacy.

**Request Payload:** **None**

**Reply Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `gyroMainLpfHz` | `uint8_t` | 1 | Hz | Gyro main low-pass filter cutoff frequency (`gyroConfig()->gyro_main_lpf_hz`) |
| `dtermLpfHz` | `uint16_t` | 2 | Hz | D-term low-pass filter cutoff frequency (`pidProfile()->dterm_lpf_hz`) |
| `yawLpfHz` | `uint16_t` | 2 | Hz | Yaw low-pass filter cutoff frequency (`pidProfile()->yaw_lpf_hz`) |
| `legacyGyroNotchHz` | `uint16_t` | 2 | - | Always 0 (Legacy) |
| `legacyGyroNotchCutoff` | `uint16_t` | 2 | - | Always 1 (Legacy) |
| `bfCompatDtermNotchHz` | `uint16_t` | 2 | - | Always 0 (BF compatibility) |
| `bfCompatDtermNotchCutoff` | `uint16_t` | 2 | - | Always 1 (BF compatibility) |
| `bfCompatGyroNotch2Hz` | `uint16_t` | 2 | - | Always 0 (BF compatibility) |
| `bfCompatGyroNotch2Cutoff` | `uint16_t` | 2 | - | Always 1 (BF compatibility) |
| `accNotchHz` | `uint16_t` | 2 | Hz | Accelerometer notch filter center frequency (`accelerometerConfig()->acc_notch_hz`) |
| `accNotchCutoff` | `uint16_t` | 2 | Hz | Accelerometer notch filter cutoff frequency (`accelerometerConfig()->acc_notch_cutoff`) |
| `legacyGyroStage2LpfHz` | `uint16_t` | 2 | - | Always 0 (Legacy) |

## <a id="msp_set_filter_config"></a>`MSP_SET_FILTER_CONFIG (93 / 0x5d)`
**Description:** Sets filter configuration settings. Handles different payload lengths for backward compatibility.

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `gyroMainLpfHz` | `uint8_t` | 1 | Hz | Sets `gyroConfigMutable()->gyro_main_lpf_hz`. (Size >= 5) |
| `dtermLpfHz` | `uint16_t` | 2 | Hz | Sets `pidProfileMutable()->dterm_lpf_hz` (constrained 0-500). (Size >= 5) |
| `yawLpfHz` | `uint16_t` | 2 | Hz | Sets `pidProfileMutable()->yaw_lpf_hz` (constrained 0-255). (Size >= 5) |
| `legacyGyroNotchHz` | `uint16_t` | 2 | - | Ignored. (Size >= 9) |
| `legacyGyroNotchCutoff` | `uint16_t` | 2 | - | Ignored. (Size >= 9) |
| `bfCompatDtermNotchHz` | `uint16_t` | 2 | - | Ignored. (Size >= 13) |
| `bfCompatDtermNotchCutoff` | `uint16_t` | 2 | - | Ignored. (Size >= 13) |
| `bfCompatGyroNotch2Hz` | `uint16_t` | 2 | - | Ignored. (Size >= 17) |
| `bfCompatGyroNotch2Cutoff` | `uint16_t` | 2 | - | Ignored. (Size >= 17) |
| `accNotchHz` | `uint16_t` | 2 | Hz | Sets `accelerometerConfigMutable()->acc_notch_hz` (constrained 0-255). (Size >= 21) |
| `accNotchCutoff` | `uint16_t` | 2 | Hz | Sets `accelerometerConfigMutable()->acc_notch_cutoff` (constrained 1-255). (Size >= 21) |
| `legacyGyroStage2LpfHz` | `uint16_t` | 2 | - | Ignored. (Size >= 22) |

**Reply Payload:** **None**

**Notes:** Requires at least 22 bytes; intermediate length checks enforce legacy Betaflight frame layout and call `pidInitFilters()` once the D-term notch placeholders are consumed.

## <a id="msp_pid_advanced"></a>`MSP_PID_ADVANCED (94 / 0x5e)`
**Description:** Retrieves advanced PID tuning parameters. Many fields are BF compatibility placeholders.

Expand Down
165 changes: 2 additions & 163 deletions docs/development/msp/msp_messages.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"version": {
"major": 2,
"minor": 1,
"major": 3,
"minor": 0,
"patch": 0
},
"messages": {
Expand Down Expand Up @@ -3143,167 +3143,6 @@
"notes": "Expects 9 bytes.",
"description": "Sets advanced hardware-related configuration (PWM protocols, rates)."
},
"MSP_FILTER_CONFIG": {
"code": 92,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SETTING"],
"request": null,
"reply": {
"payload": [
{
"name": "gyroMainLpfHz",
"ctype": "uint8_t",
"desc": "Gyro main low-pass filter cutoff frequency (`gyroConfig()->gyro_main_lpf_hz`)",
"units": "Hz"
},
{
"name": "dtermLpfHz",
"ctype": "uint16_t",
"desc": "D-term low-pass filter cutoff frequency (`pidProfile()->dterm_lpf_hz`)",
"units": "Hz"
},
{
"name": "yawLpfHz",
"ctype": "uint16_t",
"desc": "Yaw low-pass filter cutoff frequency (`pidProfile()->yaw_lpf_hz`)",
"units": "Hz"
},
{
"name": "legacyGyroNotchHz",
"ctype": "uint16_t",
"desc": "Always 0 (Legacy)",
"value": 0
},
{
"name": "legacyGyroNotchCutoff",
"ctype": "uint16_t",
"desc": "Always 1 (Legacy)",
"value": 1
},
{
"name": "bfCompatDtermNotchHz",
"ctype": "uint16_t",
"desc": "Always 0 (BF compatibility)",
"value": 0
},
{
"name": "bfCompatDtermNotchCutoff",
"ctype": "uint16_t",
"desc": "Always 1 (BF compatibility)",
"value": 1
},
{
"name": "bfCompatGyroNotch2Hz",
"ctype": "uint16_t",
"desc": "Always 0 (BF compatibility)",
"value": 0
},
{
"name": "bfCompatGyroNotch2Cutoff",
"ctype": "uint16_t",
"desc": "Always 1 (BF compatibility)",
"value": 1
},
{
"name": "accNotchHz",
"ctype": "uint16_t",
"desc": "Accelerometer notch filter center frequency (`accelerometerConfig()->acc_notch_hz`)",
"units": "Hz"
},
{
"name": "accNotchCutoff",
"ctype": "uint16_t",
"desc": "Accelerometer notch filter cutoff frequency (`accelerometerConfig()->acc_notch_cutoff`)",
"units": "Hz"
},
{
"name": "legacyGyroStage2LpfHz",
"ctype": "uint16_t",
"desc": "Always 0 (Legacy)",
"value": 0
}
]
},
"notes": "",
"description": "Retrieves filter configuration settings (Gyro, D-term, Yaw, Accel). Some fields are BF compatibility placeholders or legacy."
},
"MSP_SET_FILTER_CONFIG": {
"code": 93,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SET_SETTING"],
"request": {
"payload": [
{
"name": "gyroMainLpfHz",
"ctype": "uint8_t",
"desc": "Sets `gyroConfigMutable()->gyro_main_lpf_hz`. (Size >= 5)",
"units": "Hz"
},
{
"name": "dtermLpfHz",
"ctype": "uint16_t",
"desc": "Sets `pidProfileMutable()->dterm_lpf_hz` (constrained 0-500). (Size >= 5)",
"units": "Hz"
},
{
"name": "yawLpfHz",
"ctype": "uint16_t",
"desc": "Sets `pidProfileMutable()->yaw_lpf_hz` (constrained 0-255). (Size >= 5)",
"units": "Hz"
},
{
"name": "legacyGyroNotchHz",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 9)"
},
{
"name": "legacyGyroNotchCutoff",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 9)"
},
{
"name": "bfCompatDtermNotchHz",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 13)"
},
{
"name": "bfCompatDtermNotchCutoff",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 13)"
},
{
"name": "bfCompatGyroNotch2Hz",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 17)"
},
{
"name": "bfCompatGyroNotch2Cutoff",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 17)"
},
{
"name": "accNotchHz",
"ctype": "uint16_t",
"desc": "Sets `accelerometerConfigMutable()->acc_notch_hz` (constrained 0-255). (Size >= 21)",
"units": "Hz"
},
{
"name": "accNotchCutoff",
"ctype": "uint16_t",
"desc": "Sets `accelerometerConfigMutable()->acc_notch_cutoff` (constrained 1-255). (Size >= 21)",
"units": "Hz"
},
{
"name": "legacyGyroStage2LpfHz",
"ctype": "uint16_t",
"desc": "Ignored. (Size >= 22)"
}
]
},
"reply": null,
"notes": "Requires at least 22 bytes; intermediate length checks enforce legacy Betaflight frame layout and call `pidInitFilters()` once the D-term notch placeholders are consumed.",
"description": "Sets filter configuration settings. Handles different payload lengths for backward compatibility."
},
"MSP_PID_ADVANCED": {
"code": 94,
"mspv": 1,
Expand Down
59 changes: 0 additions & 59 deletions src/main/fc/fc_msp.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1425,24 +1425,6 @@ 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_PID_ADVANCED:
sbufWriteU16(dst, 0); // pidProfile()->rollPitchItermIgnoreRate
sbufWriteU16(dst, 0); // pidProfile()->yawItermIgnoreRate
Expand Down Expand Up @@ -2833,47 +2815,6 @@ 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_PID_ADVANCED:
if (dataSize == 17) {
sbufReadU16(src); // pidProfileMutable()->rollPitchItermIgnoreRate
Expand Down
2 changes: 0 additions & 2 deletions src/main/msp/msp_protocol.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -202,8 +202,6 @@
#define MSP_ADVANCED_CONFIG 90
#define MSP_SET_ADVANCED_CONFIG 91

#define MSP_FILTER_CONFIG 92 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0
#define MSP_SET_FILTER_CONFIG 93 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0
#define MSP_PID_ADVANCED 94 //DEPRECATED in INAV 9.1 - use MSP_INAV_PID instead. Will be removed in INAV 10.0
#define MSP_SET_PID_ADVANCED 95 //DEPRECATED in INAV 9.1 - use MSP_SET_INAV_PID instead. Will be removed in INAV 10.0

Expand Down
Loading