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Add gps rescue altitude mode setting to MSP (#9094)

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Add gps rescue altitude mode setting to MSP
This commit is contained in:
Michael Keller 2019-10-27 15:34:29 +13:00 • committed by GitHub
commit 33cb15a0ce
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1 changed files with 3 additions and 1 deletions
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4
src/main/msp/msp.c
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@ -1286,6 +1286,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gpsRescueConfig()->ascendRate); sbufWriteU16(dst, gpsRescueConfig()->ascendRate);
sbufWriteU16(dst, gpsRescueConfig()->descendRate); sbufWriteU16(dst, gpsRescueConfig()->descendRate);
sbufWriteU8(dst, gpsRescueConfig()->allowArmingWithoutFix); sbufWriteU8(dst, gpsRescueConfig()->allowArmingWithoutFix);
sbufWriteU8(dst, gpsRescueConfig()->altitudeMode);
break; break;
case MSP_GPS_RESCUE_PIDS: case MSP_GPS_RESCUE_PIDS:
@ -2181,11 +2182,12 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, uint8_t cmdMSP,
gpsRescueConfigMutable()->throttleHover = sbufReadU16(src); gpsRescueConfigMutable()->throttleHover = sbufReadU16(src);
gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src); gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
gpsRescueConfigMutable()->minSats = sbufReadU8(src); gpsRescueConfigMutable()->minSats = sbufReadU8(src);
if (sbufBytesRemaining(src) >= 5) { if (sbufBytesRemaining(src) >= 6) {
// Added in API version 1.43 // Added in API version 1.43
gpsRescueConfigMutable()->ascendRate = sbufReadU16(src); gpsRescueConfigMutable()->ascendRate = sbufReadU16(src);
gpsRescueConfigMutable()->descendRate = sbufReadU16(src); gpsRescueConfigMutable()->descendRate = sbufReadU16(src);
gpsRescueConfigMutable()->allowArmingWithoutFix = sbufReadU8(src); gpsRescueConfigMutable()->allowArmingWithoutFix = sbufReadU8(src);
gpsRescueConfigMutable()->altitudeMode = sbufReadU8(src);
} }
break; break;