@@ -208,7 +208,6 @@ var FlightLogParser = function(logData) {
208208 superExpoFactor :null , // Super Expo Factor
209209 rates :[ null , null , null ] , // Rates [ROLL, PITCH, YAW]
210210 looptime :null , // Looptime
211- gyro_sync_denom :null , // Gyro Sync Denom
212211 pid_process_denom :null , // PID Process Denom
213212 pidController :null , // Active PID Controller
214213 rollPID :[ null , null , null ] , // Roll [P, I, D]
@@ -221,20 +220,14 @@ var FlightLogParser = function(logData) {
221220 levelPID :[ null , null , null ] , // Level Mode [P, I, D]
222221 magPID :null , // Magnetometer P
223222 velPID :[ null , null , null ] , // Velocity [P, I, D]
224- yaw_p_limit :null , // Yaw P Limit
225223 yaw_lpf_hz :null , // Yaw LowPass Filter Hz
226- dterm_average_count :null , // DTerm Average Count
227- rollPitchItermResetRate :null , // ITerm Reset rate for Roll and Pitch
228- yawItermResetRate :null , // ITerm Reset Rate for Yaw
229224 dterm_lpf_hz :null , // DTerm Lowpass Filter Hz
230225 dterm_differentiator :null , // DTerm Differentiator
231226 H_sensitivity :null , // Horizon Sensitivity
232- iterm_reset_offset :null , // I-Term reset offset
233227 deadband :null , // Roll, Pitch Deadband
234228 yaw_deadband :null , // Yaw Deadband
235229 gyro_lpf :null , // Gyro lpf setting.
236- gyro_lowpass_hz :null , // Gyro Soft Lowpass Filter Hz
237- gyro_stage2_lowpass_hz :null , // Stage 2 gyro LPF cutoff Hz
230+ gyro_lpf_hz :null , // Gyro Soft Lowpass Filter Hz
238231 gyro_notch_hz :null , // Gyro Notch Frequency
239232 gyro_notch_cutoff :null , // Gyro Notch Cutoff
240233 dterm_notch_hz :null , // Dterm Notch Frequency
@@ -243,25 +236,41 @@ var FlightLogParser = function(logData) {
243236 acc_hardware :null , // Accelerometer Hardware type
244237 baro_hardware :null , // Barometer Hardware type
245238 mag_hardware :null , // Magnetometer Hardware type
246- gyro_cal_on_first_arm :null , // Gyro Calibrate on first arm
247239 vbat_pid_compensation :null , // VBAT PID compensation
248240 rc_smoothing :null , // RC Control Smoothing
249241 rc_interpolation :null , // RC Control Interpolation type
250242 rc_interpolation_interval :null , // RC Control Interpolation Interval
251243 dterm_filter_type :null , // D term filtering type (PT1, BIQUAD)
252- pidAtMinThrottle :null , // Stabilisation at zero throttle
253244 itermThrottleGain :null , // Betaflight PID
254245 ptermSetpointWeight :null , // Betaflight PID
255- dtermSetpointWeight :null , // Betaflight PID
256- yawRateAccelLimit :null , // Betaflight PID
257- rateAccelLimit :null , // Betaflight PID
246+ dterm_setpoint_weight :null , // Betaflight PID
247+ axisAccelerationLimitYaw :null , // Betaflight PID
248+ axisAccelerationLimitRollPitch :null , // Betaflight PID
258249 gyro_soft_type :null , // Gyro soft filter type (PT1, BIQUAD)
259250 debug_mode :null , // Selected Debug Mode
260251 features :null , // Activated features (e.g. MOTORSTOP etc)
261252 Craft_name :null , // Craft Name
262253 motorOutput :[ null , null ] , // Minimum and maximum outputs to motor's
263254 digitalIdleOffset :null , // min throttle for d-shot (as a percentage)
264255 waypoints :[ null , null ] , // Number of nav. waypoints / is waypoint list valid
256+ dterm_lpf_type : null ,
257+ dterm_lpf2_hz : null ,
258+ dterm_lpf2_type : null ,
259+ gyro_lpf_type : null ,
260+ gyro_lpf2_hz : null ,
261+ dynamicGyroNotchRange : null ,
262+ dynamicGyroNotchQ : null ,
263+ dynamicGyroNotchMinHz : null ,
264+ acc_notch_hz : null ,
265+ acc_notch_cutoff : null ,
266+ pidSumLimit : null ,
267+ pidSumLimitYaw : null ,
268+ axisAccelerationLimitYaw : null ,
269+ axisAccelerationLimitRollPitch : null ,
270+ rpm_gyro_filter_enabled : null ,
271+ rpm_gyro_harmonics : null ,
272+ rpm_gyro_min_hz : null ,
273+ rpm_gyro_q : null ,
265274 unknownHeaders : [ ] // Unknown Extra Headers
266275 } ,
267276
@@ -417,58 +426,59 @@ var FlightLogParser = function(logData) {
417426 case "airmode_activate_throttle" :
418427 case "serialrx_provider" :
419428 case "looptime" :
420- case "gyro_sync_denom" :
421429 case "pid_process_denom" :
422430 case "pidController" :
423- case "yaw_p_limit" :
424- case "dterm_average_count" :
425- case "rollPitchItermResetRate" :
426- case "yawItermResetRate" :
427- case "rollPitchItermIgnoreRate" :
428- case "yawItermIgnoreRate" :
429431 case "dterm_differentiator" :
430432 case "deltaMethod" :
431433 case "dynamic_dterm_threshold" :
432- case "dynamic_pterm" :
433- case "iterm_reset_offset" :
434434 case "deadband" :
435435 case "yaw_deadband" :
436436 case "gyro_lpf" :
437437 case "acc_lpf_hz" :
438438 case "acc_hardware" :
439439 case "baro_hardware" :
440440 case "mag_hardware" :
441- case "gyro_cal_on_first_arm" :
442441 case "vbat_pid_compensation" :
443442 case "rc_smoothing" :
444- case "superExpoYawMode" :
445443 case "features" :
446- case "dynamic_pid" :
447444 case "rc_interpolation" :
448445 case "rc_interpolation_interval" :
449446 case "unsynced_fast_pwm" :
450- case "fast_pwm_protocol " :
447+ case "motor_pwm_protocol " :
451448 case "motor_pwm_rate" :
452449 case "vbatscale" :
453450 case "vbatref" :
454451 case "acc_1G" :
455452 case "dterm_filter_type" :
456- case "pidAtMinThrottle" :
457453 case "anti_gravity_threshold" :
458454 case "itermWindupPointPercent" :
459- case "ptermSRateWeight" :
460- case "setpointRelaxRatio" :
461- case "dtermSetpointWeight" :
462455 case "gyro_soft_type" :
463456 case "debug_mode" :
464457 case "dterm_cut_hz" :
465458 case "acc_cut_hz" :
466459 case "yaw_lpf_hz" :
467- case "gyro_lowpass_hz" :
468- case "gyro_stage2_lowpass_hz" :
460+ case "gyro_lpf_hz" :
469461 case "dterm_notch_hz" :
470462 case "dterm_notch_cutoff" :
471463 case "dterm_lpf_hz" :
464+ case "dterm_lpf_type" :
465+ case "dterm_lpf2_hz" :
466+ case "dterm_lpf2_type" :
467+ case "gyro_lpf_type" :
468+ case "gyro_lpf2_hz" :
469+ case "dynamicGyroNotchRange" :
470+ case "dynamicGyroNotchQ" :
471+ case "dynamicGyroNotchMinHz" :
472+ case "acc_notch_hz" :
473+ case "acc_notch_cutoff" :
474+ case "pidSumLimit" :
475+ case "pidSumLimitYaw" :
476+ case "axisAccelerationLimitYaw" :
477+ case "axisAccelerationLimitRollPitch" :
478+ case "rpm_gyro_filter_enabled" :
479+ case "rpm_gyro_harmonics" :
480+ case "rpm_gyro_min_hz" :
481+ case "rpm_gyro_q" :
472482 that . sysConfig [ fieldName ] = parseInt ( fieldValue , 10 ) ;
473483 break ;
474484
@@ -484,7 +494,7 @@ var FlightLogParser = function(logData) {
484494 break ;
485495
486496 case "gyro_lpf_hz" :
487- that . sysConfig [ "gyro_lowpass_hz " ] = parseInt ( fieldValue , 10 ) ;
497+ that . sysConfig [ "gyro_lpf_hz " ] = parseInt ( fieldValue , 10 ) ;
488498 break ;
489499
490500 case "waypoints" :
@@ -513,10 +523,6 @@ var FlightLogParser = function(logData) {
513523 that . sysConfig . thrExpo = parseInt ( fieldValue , 10 ) ;
514524 break ;
515525 case "setpoint_relaxation_ratio" :
516- that . sysConfig . setpointRelaxRatio = parseInt ( fieldValue , 10 ) ;
517- break ;
518- case "dterm_setpoint_weight" :
519- that . sysConfig . dtermSetpointWeight = parseInt ( fieldValue , 10 ) ;
520526 break ;
521527 case "gyro_lowpass_type" :
522528 that . sysConfig . gyro_soft_type = parseInt ( fieldValue , 10 ) ;
@@ -527,24 +533,16 @@ var FlightLogParser = function(logData) {
527533 case "dshot_idle_value" :
528534 that . sysConfig . digitalIdleOffset = parseInt ( fieldValue , 10 ) ;
529535 break ;
530- case "acc_limit" :
531- that . sysConfig . rateAccelLimit = parseInt ( fieldValue , 10 ) ;
532- break ;
533- case "acc_limit_yaw" :
534- that . sysConfig . yawRateAccelLimit = parseInt ( fieldValue , 10 ) ;
536+ case "axisAccelerationLimitYaw" :
537+ that . sysConfig . axisAccelerationLimitYaw = parseInt ( fieldValue , 10 ) ;
535538 break ;
536539 case "iterm_windup" :
537540 that . sysConfig . itermWindupPointPercent = parseInt ( fieldValue , 10 ) ;
538541 break ;
539- case "motor_pwm_protocol" :
540- that . sysConfig . fast_pwm_protocol = parseInt ( fieldValue , 10 ) ;
541- break ;
542542 case "tpa_rate" :
543543 that . sysConfig . dynThrPID = parseInt ( fieldValue , 10 ) ;
544544 break ;
545545
546- case "yawRateAccelLimit" :
547- case "rateAccelLimit" :
548546 case "anti_gravity_gain" :
549547 that . sysConfig [ fieldName ] = uint32ToFloat ( fieldValue , 10 ) ;
550548 break ;
@@ -640,6 +638,11 @@ var FlightLogParser = function(logData) {
640638 case "Device UID" :
641639 that . sysConfig . deviceUID = fieldValue ;
642640 break ;
641+
642+ case "dterm_setpoint_weight" :
643+ that . sysConfig [ fieldName ] = parseFloat ( fieldValue , 10 ) ;
644+ break ;
645+
643646 default :
644647 if ( ( matches = fieldName . match ( / ^ F i e l d ( .) ( .+ ) $ / ) ) ) {
645648 var
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