Merge pull request #10761 from ctzsnooze/rc-update-msp-and-whitespace-fixes

msp and other small fixes to bring 10727 up to date with 10723

src/main/cli/cli.c

@@ -4957,7 +4957,7 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
     UNUSED(cmdline);
     rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
     cliPrint("# RC Smoothing Type: ");
-    if (rxConfig()->rc_smoothing_mode == ON) {
+    if (rxConfig()->rc_smoothing_mode) {
         cliPrintLine("FILTER");
         if (rcSmoothingAutoCalculate()) {
             const uint16_t avgRxFrameUs = rcSmoothingData->averageFrameTimeUs;
@@ -4969,22 +4969,22 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
             }
         }
         cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);
-        if (rcSmoothingData->setpointCutoffSetting == 0) {
+        if (rcSmoothingData->setpointCutoffSetting) {
-            cliPrintLine("(auto)");
-        } else {
             cliPrintLine("(manual)");
-        }
-        cliPrintf("# Active FF cutoff: %dhz (", rcSmoothingData->feedforwardCutoffFrequency);
-        if (rcSmoothingData->ffCutoffSetting == 0) {
-            cliPrintLine("auto)");
         } else {
-            cliPrintLine("manual)");
+            cliPrintLine("(auto)");
         }
-        cliPrintf("# Active throttle cutoff: %dhz (", rcSmoothingData->throttleCutoffFrequency);
+        cliPrintf("# Active FF cutoff: %dhz ", rcSmoothingData->feedforwardCutoffFrequency);
-        if (rcSmoothingData->ffCutoffSetting == 0) {
+        if (rcSmoothingData->ffCutoffSetting) {
-            cliPrintLine("auto)");
+            cliPrintLine("(manual)");
         } else {
-            cliPrintLine("manual)");
+            cliPrintLine("(auto)");
+        }
+        cliPrintf("# Active throttle cutoff: %dhz ", rcSmoothingData->throttleCutoffFrequency);
+        if (rcSmoothingData->ffCutoffSetting) {
+            cliPrintLine("(manual)");
+        } else {
+            cliPrintLine("(auto)");
         }
     } else {
         cliPrintLine("OFF");

src/main/cli/settings.c

@@ -473,7 +473,7 @@ static const char * const lookupTableOffOnAuto[] = {
 };
 
 const char* const lookupTableFeedforwardAveraging[] = {
-    "NONE", "2_POINT", "3_POINT", "4_POINT"
+    "OFF", "2_POINT", "3_POINT", "4_POINT"
 };
 
 static const char* const lookupTableDshotBitbangedTimer[] = {

src/main/fc/rc_controls.h

@@ -58,11 +58,6 @@ typedef enum {
     CENTERED
 } rollPitchStatus_e;
 
-typedef enum {
-    OFF,
-    ON
-} rcSmoothingMode_e;
-
 #define ROL_LO (1 << (2 * ROLL))
 #define ROL_CE (3 << (2 * ROLL))
 #define ROL_HI (2 << (2 * ROLL))

src/main/msp/msp.c

@@ -1487,8 +1487,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
         sbufWriteU16(dst, rxConfig()->rx_min_usec);
         sbufWriteU16(dst, rxConfig()->rx_max_usec);
-        sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation)
+        sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolation
-        sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval)
+        sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcInterpolationInterval
         sbufWriteU16(dst, rxConfig()->airModeActivateThreshold * 10 + 1000);
 #ifdef USE_RX_SPI
         sbufWriteU8(dst, rxSpiConfig()->rx_spi_protocol);
@@ -1502,7 +1502,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, rxConfig()->fpvCamAngleDegrees);
         sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rcSmoothingChannels
 #if defined(USE_RC_SMOOTHING_FILTER)
-        sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
+        sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_type
         sbufWriteU8(dst, rxConfig()->rc_smoothing_setpoint_cutoff);
         sbufWriteU8(dst, rxConfig()->rc_smoothing_feedforward_cutoff);
         sbufWriteU8(dst, 0); // not required in API 1.44, was rxConfig()->rc_smoothing_input_type
@@ -1524,6 +1524,12 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, rxConfig()->rc_smoothing_auto_factor_rpy);
 #else
         sbufWriteU8(dst, 0);
+#endif
+        // Added in MSP API 1.44
+#if defined(USE_RC_SMOOTHING_FILTER)
+        sbufWriteU8(dst, rxConfig()->rc_smoothing_mode);
+#else
+        sbufWriteU8(dst, 0);
 #endif
         break;
     case MSP_FAILSAFE_CONFIG:
@@ -3256,7 +3262,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             // Added in MSP API 1.40
             sbufReadU8(src); // not required in API 1.44, was rxConfigMutable()->rcSmoothingChannels
 #if defined(USE_RC_SMOOTHING_FILTER)
-            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
+            sbufReadU8(src); // not required in API 1.44, was rc_smoothing_type
             configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_setpoint_cutoff, sbufReadU8(src));
             configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_feedforward_cutoff, sbufReadU8(src));
             sbufReadU8(src); // not required in API 1.44, was rc_smoothing_input_type
@@ -3290,7 +3296,14 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             sbufReadU8(src);
 #endif
         }
-
+        if (sbufBytesRemaining(src) >= 1) {
+            // Added in MSP API 1.44
+#if defined(USE_RC_SMOOTHING_FILTER)
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_mode, sbufReadU8(src));
+#else
+            sbufReadU8(src);
+#endif
+        }
         break;
     case MSP_SET_FAILSAFE_CONFIG:
         failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);

src/main/pg/rx.c

@@ -59,7 +59,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .fpvCamAngleDegrees = 0,
         .airModeActivateThreshold = 25,
         .max_aux_channel = DEFAULT_AUX_CHANNEL_COUNT,
-        .rc_smoothing_mode = ON,
+        .rc_smoothing_mode = 1,
         .rc_smoothing_setpoint_cutoff = 0,
         .rc_smoothing_feedforward_cutoff = 0,
         .rc_smoothing_throttle_cutoff = 0,

src/main/pg/rx.h

@@ -29,42 +29,39 @@
 
 typedef struct rxConfig_s {
     uint8_t rcmap[RX_MAPPABLE_CHANNEL_COUNT];  // mapping of radio channels to internal RPYTA+ order
-    uint8_t serialrx_provider;              // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
+    uint8_t serialrx_provider;                 // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
-    uint8_t serialrx_inverted;              // invert the serial RX protocol compared to it's default setting
+    uint8_t serialrx_inverted;                 // invert the serial RX protocol compared to it's default setting
-    uint8_t halfDuplex;                     // allow rx to operate in half duplex mode on F4, ignored for F1 and F3.
+    uint8_t halfDuplex;                        // allow rx to operate in half duplex mode on F4, ignored for F1 and F3.
     ioTag_t spektrum_bind_pin_override_ioTag;
     ioTag_t spektrum_bind_plug_ioTag;
-    uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
+    uint8_t spektrum_sat_bind;                 // number of bind pulses for Spektrum satellite receivers
-    uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot
+    uint8_t spektrum_sat_bind_autoreset;       // whenever we will reset (exit) binding mode after hard reboot
     uint8_t rssi_channel;
     uint8_t rssi_scale;
     uint8_t rssi_invert;
-    uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
+    uint16_t midrc;                            // Some radios have not a neutral point centered on 1500. can be changed here
-    uint16_t mincheck;                      // minimum rc end
+    uint16_t mincheck;                         // minimum rc end
-    uint16_t maxcheck;                      // maximum rc end
+    uint16_t maxcheck;                         // maximum rc end
-    uint8_t fpvCamAngleDegrees;             // Camera angle to be scaled into rc commands
+    uint8_t fpvCamAngleDegrees;                // Camera angle to be scaled into rc commands
-    uint8_t airModeActivateThreshold;       // Throttle setpoint percent where airmode gets activated
+    uint8_t airModeActivateThreshold;          // Throttle setpoint percent where airmode gets activated
-
     uint16_t rx_min_usec;
     uint16_t rx_max_usec;
     uint8_t max_aux_channel;
-    uint8_t rssi_src_frame_errors;          // true to use frame drop flags in the rx protocol
+    uint8_t rssi_src_frame_errors;             // true to use frame drop flags in the rx protocol
-    int8_t rssi_offset;                     // offset applied to the RSSI value before it is returned
+    int8_t rssi_offset;                        // offset applied to the RSSI value before it is returned
-    uint8_t rc_smoothing_mode;              // Whether filter based rc smoothing is on or off
+    uint8_t rc_smoothing_mode;                 // Whether filter based rc smoothing is on or off
-    uint8_t rc_smoothing_setpoint_cutoff;   // Filter cutoff frequency for the setpoint filter (0 = auto)
+    uint8_t rc_smoothing_setpoint_cutoff;      // Filter cutoff frequency for the setpoint filter (0 = auto)
-    uint8_t rc_smoothing_feedforward_cutoff;         // Filter cutoff frequency for the feedforward filter (0 = auto)
+    uint8_t rc_smoothing_feedforward_cutoff;   // Filter cutoff frequency for the feedforward filter (0 = auto)
-    uint8_t rc_smoothing_throttle_cutoff;   // Filter cutoff frequency for the setpoint filter (0 = auto)
+    uint8_t rc_smoothing_throttle_cutoff;      // Filter cutoff frequency for the setpoint filter (0 = auto)
-    uint8_t rc_smoothing_debug_axis;        // Axis to log as debug values when debug_mode = RC_SMOOTHING
+    uint8_t rc_smoothing_debug_axis;           // Axis to log as debug values when debug_mode = RC_SMOOTHING
-    uint8_t rc_smoothing_auto_factor_rpy;   // Used to adjust the "smoothness" determined by the auto cutoff calculations
+    uint8_t rc_smoothing_auto_factor_rpy;      // Used to adjust the "smoothness" determined by the auto cutoff calculations
-    uint8_t rc_smoothing_auto_factor_throttle;   // Used to adjust the "smoothness" determined by the auto cutoff calculations
+    uint8_t rc_smoothing_auto_factor_throttle; // Used to adjust the "smoothness" determined by the auto cutoff calculations
-    uint8_t rssi_src_frame_lpf_period;      // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
+    uint8_t rssi_src_frame_lpf_period;         // Period of the cutoff frequency for the source frame RSSI filter (in 0.1 s)
-
+    uint8_t srxl2_unit_id;                     // Spektrum SRXL2 RX unit id
-    uint8_t srxl2_unit_id; // Spektrum SRXL2 RX unit id
+    uint8_t srxl2_baud_fast;                   // Select Spektrum SRXL2 fast baud rate
-    uint8_t srxl2_baud_fast; // Select Spektrum SRXL2 fast baud rate
+    uint8_t sbus_baud_fast;                    // Select SBus fast baud rate
-    uint8_t sbus_baud_fast; // Select SBus fast baud rate
+    uint8_t crsf_use_rx_snr;                   // Use RX SNR (in dB) instead of RSSI dBm for CRSF
-    uint8_t crsf_use_rx_snr; // Use RX SNR (in dB) instead of RSSI dBm for CRSF
+    uint32_t msp_override_channels_mask;       // Channels to override when the MSP override mode is enabled
-
-    uint32_t msp_override_channels_mask; // Channels to override when the MSP override mode is enabled
 } rxConfig_t;
 
 PG_DECLARE(rxConfig_t, rxConfig);

src/test/unit/pid_unittest.cc

@@ -560,7 +560,6 @@ TEST(pidControllerTest, testFeedForward) {
     EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].F);
     EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].F);
     EXPECT_FLOAT_EQ(0, pidData[FD_YAW].F);
-
 }
 
 TEST(pidControllerTest, testItermRelax) {