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Code Issues Wiki Activity

Refactor sat count checks and GPS trust code

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single minimum GPS satellite setting
single required GPS satellite setting
CLI Baro vs GPS trust user interface
GPS trust refactoring
allow arming with GPS_FIX even if not enough sats
required sats must be present to arm
set required sat count to 8
add blackbox headers
This commit is contained in:
ctzsnooze 2022-07-04 22:21:39 +10:00
parent 9dc2f127b8
commit 09ee27cd97
28 changed files with 180 additions and 120 deletions
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14
src/main/msp/msp.c
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@ -1452,6 +1452,9 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
// Added in API version 1.43
sbufWriteU8(dst, gpsConfig()->gps_set_home_point_once);
sbufWriteU8(dst, gpsConfig()->gps_ublox_use_galileo);
// Added in API version 1.45
sbufWriteU8(dst, gpsConfig()->gpsRequiredSats);
sbufWriteU8(dst, gpsConfig()->gpsMinimumSats);
break;
case MSP_RAW_GPS:
@ -1492,7 +1495,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gpsRescueConfig()->throttleMax);
sbufWriteU16(dst, gpsRescueConfig()->throttleHover);
sbufWriteU8(dst, gpsRescueConfig()->sanityChecks);
sbufWriteU8(dst, gpsRescueConfig()->minSats);
sbufWriteU8(dst, 0); // not required in API 1.44, gpsRescueConfig()->minSats
// Added in API version 1.43
sbufWriteU16(dst, gpsRescueConfig()->ascendRate);
sbufWriteU16(dst, gpsRescueConfig()->descendRate);
@ -2690,6 +2694,12 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gpsConfigMutable()->gps_set_home_point_once = sbufReadU8(src);
gpsConfigMutable()->gps_ublox_use_galileo = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 2) {
// Added in API version 1.45
gpsConfigMutable()->gpsRequiredSats = sbufReadU8(src);
gpsConfigMutable()->gpsMinimumSats = sbufReadU8(src);
}
break;
#ifdef USE_GPS_RESCUE
@ -2702,7 +2712,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gpsRescueConfigMutable()->throttleMax = sbufReadU16(src);
gpsRescueConfigMutable()->throttleHover = sbufReadU16(src);
gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
gpsRescueConfigMutable()->minSats = sbufReadU8(src);
sbufReadU8(src); // not used since 1.43, was gps rescue minSats
if (sbufBytesRemaining(src) >= 6) {
// Added in API version 1.43
gpsRescueConfigMutable()->ascendRate = sbufReadU16(src);