Hack inertia params into old dynamic precomps

rotorflight · Jan 11, 2025 · d6ccf92 · d6ccf92
1 parent c5dd8c8
commit d6ccf92
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Showing 2 changed files with 8 additions and 14 deletions.
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
@@ -283,10 +283,10 @@ static int getAdjustmentValue(adjustmentFunc_e adjFunc)
             value = currentPidProfile->yaw_collective_ff_gain;
             break;
         case ADJUSTMENT_YAW_COLLECTIVE_DYN:
-            value = 0;
+            value = currentPidProfile->yaw_inertia_precomp_gain;
             break;
         case ADJUSTMENT_YAW_COLLECTIVE_DECAY:
-            value = 0;
+            value = currentPidProfile->yaw_inertia_precomp_cutoff;
             break;
         case ADJUSTMENT_PITCH_COLLECTIVE_FF:
             value = currentPidProfile->pitch_collective_ff_gain;
@@ -500,8 +500,10 @@ static void setAdjustmentValue(adjustmentFunc_e adjFunc, int value)
             currentPidProfile->yaw_collective_ff_gain = value;
             break;
         case ADJUSTMENT_YAW_COLLECTIVE_DYN:
+            currentPidProfile->yaw_inertia_precomp_gain = value;
             break;
         case ADJUSTMENT_YAW_COLLECTIVE_DECAY:
+            currentPidProfile->yaw_inertia_precomp_cutoff = value;
             break;
         case ADJUSTMENT_PITCH_COLLECTIVE_FF:
             currentPidProfile->pitch_collective_ff_gain = value;

diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
@@ -1820,8 +1820,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, currentPidProfile->yaw_precomp_cutoff);
         sbufWriteU8(dst, currentPidProfile->yaw_cyclic_ff_gain);
         sbufWriteU8(dst, currentPidProfile->yaw_collective_ff_gain);
-        sbufWriteU8(dst, 0); // was currentPidProfile->yaw_collective_dynamic_gain
-        sbufWriteU8(dst, 0); // was currentPidProfile->yaw_collective_dynamic_decay
+        sbufWriteU8(dst, currentPidProfile->yaw_inertia_precomp_gain);
+        sbufWriteU8(dst, currentPidProfile->yaw_inertia_precomp_cutoff);
         sbufWriteU8(dst, currentPidProfile->pitch_collective_ff_gain);
         /* Angle mode */
         sbufWriteU8(dst, currentPidProfile->angle.level_strength);
@@ -1842,9 +1842,6 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, currentPidProfile->bterm_cutoff[0]);
         sbufWriteU8(dst, currentPidProfile->bterm_cutoff[1]);
         sbufWriteU8(dst, currentPidProfile->bterm_cutoff[2]);
-        /* Inertia precomps */
-        sbufWriteU8(dst, currentPidProfile->yaw_inertia_precomp_gain);
-        sbufWriteU8(dst, currentPidProfile->yaw_inertia_precomp_cutoff);
         break;
 
     case MSP_RESCUE_PROFILE:
@@ -2624,8 +2621,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         currentPidProfile->yaw_precomp_cutoff = sbufReadU8(src);
         currentPidProfile->yaw_cyclic_ff_gain = sbufReadU8(src);
         currentPidProfile->yaw_collective_ff_gain = sbufReadU8(src);
-        sbufReadU8(src); // was currentPidProfile->yaw_collective_dynamic_gain
-        sbufReadU8(src); // was currentPidProfile->yaw_collective_dynamic_decay
+        currentPidProfile->yaw_inertia_precomp_gain = sbufReadU8(src);
+        currentPidProfile->yaw_inertia_precomp_cutoff = sbufReadU8(src);
         currentPidProfile->pitch_collective_ff_gain = sbufReadU8(src);
         /* Angle mode */
         currentPidProfile->angle.level_strength = sbufReadU8(src);
@@ -2652,11 +2649,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             currentPidProfile->bterm_cutoff[1] = sbufReadU8(src);
             currentPidProfile->bterm_cutoff[2] = sbufReadU8(src);
         }
-        /* Inertia precomps */
-        if (sbufBytesRemaining(src) >= 2) {
-            currentPidProfile->yaw_inertia_precomp_gain = sbufReadU8(src);
-            currentPidProfile->yaw_inertia_precomp_cutoff = sbufReadU8(src);
-        }
         /* Load new values */
         pidInitProfile(currentPidProfile);
         break;