From 4bcedab3e9053b7d1bb6f1f5b718b3f5183d651e Mon Sep 17 00:00:00 2001
From: Joel Fuster <j@fuster.org>
Date: Fri, 2 Jan 2015 17:16:55 -0500
Subject: [PATCH] Clean up lowpass patch

---
 src/main/config/config.c |  2 +-
 src/main/flight/mixer.c  | 44 +---------------------------------------
 src/main/io/serial_cli.c |  4 ++--
 3 files changed, 4 insertions(+), 46 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 21de5c93b..c9e1cc25a 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -428,7 +428,7 @@ static void resetConf(void)
 
     currentProfile->mixerConfig.yaw_direction = 1;
     currentProfile->mixerConfig.tri_unarmed_servo = 1;
-    currentProfile->mixerConfig.servo_lowpass_freq_idx = 21;
+    currentProfile->mixerConfig.servo_lowpass_freq_idx = 99;
     currentProfile->mixerConfig.servo_lowpass_enable = 0;
 
     // gimbal
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index f272cec13..5a549e60f 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -25,13 +25,12 @@
 
 #include "common/axis.h"
 #include "common/maths.h"
-#if 1
+
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_output.h"
 #include "drivers/pwm_mapping.h"
 
-#endif
 #include "rx/rx.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
@@ -232,7 +231,6 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
     gimbalConfig = gimbalConfigToUse;
 }
 
-#if 1
 
 int16_t determineServoMiddleOrForwardFromChannel(int nr)
 {
@@ -659,46 +657,6 @@ bool isMixerUsingServos(void)
 {
     return useServo;
 }
-#endif
-
-/*
-static float notchFilter(notchFilter_t *filter, float in, int16_t freqIdx )
-{
-    int16_t coefIdx;
-    float out;
-
-    if (freqIdx != filter->freqIdx) {
-        filter->init = false;
-    }
-
-    if (!filter->init) {
-        filter->freqIdx = freqIdx;
-        filter->freq = notch_table[filter->freqIdx][0];
-        filter->pCoef = &notch_table[filter->freqIdx][1];
-        for (coefIdx = 0; coefIdx < NOTCH_FILTER_COEFS; coefIdx++) {
-            filter->in[coefIdx] = in;
-            filter->out[coefIdx] = in;
-        }
-        filter->init = true;
-    }
-
-    filter->in[2] = filter->in[1];
-    filter->in[1] = filter->in[0];
-    filter->in[0] = in;
-    filter->out[2] = filter->out[1];
-    filter->out[1] = filter->out[0];
-
-    out = filter->in[0] * filter->pCoef[0] +
-          filter->in[1] * filter->pCoef[1] +
-          filter->in[2] * filter->pCoef[2] -
-          (filter->out[1] * filter->pCoef[3] +
-           filter->out[2] * filter->pCoef[4]);
-
-    filter->out[0] = out; 
-
-    return out;
-}
-*/
 
 static float lowpass(lowpass_t *filter, float in, int16_t freqIdx )
 {
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8ab728149..776a872d5 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -332,8 +332,8 @@ const clivalue_t valueTable[] = {
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, -1, 1 },
     { "yaw_direction",              VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
     { "tri_unarmed_servo",          VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
-    { "servo_lowpass_freq_idx",       VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq_idx, 0, 99},
-    { "servo_lowpass_enable",         VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
+    { "servo_lowpass_freq_idx",     VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq_idx, 0, 99},
+    { "servo_lowpass_enable",       VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
 
     { "default_rate_profile",       VAR_UINT8  | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
     { "rc_rate",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },