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MSP for GPS Rescue

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This commit is contained in:
David-VG 2018-05-23 22:05:43 +02:00
parent 1962330066
commit 3993ea88d3
2 changed files with 49 additions and 0 deletions
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45
src/main/interface/msp.c
View file

@ -1030,6 +1030,29 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, GPS_svinfo_cno[i]);
}
break;
case MSP_GPS_RESCUE:
sbufWriteU16(dst, gpsRescue()->angle);
sbufWriteU16(dst, gpsRescue()->initialAltitude);
sbufWriteU16(dst, gpsRescue()->descentDistance);
sbufWriteU16(dst, gpsRescue()->rescueGroundspeed);
sbufWriteU16(dst, gpsRescue()->throttleMin);
sbufWriteU16(dst, gpsRescue()->throttleMax);
sbufWriteU16(dst, gpsRescue()->throttleHover);
sbufWriteU16(dst, gpsRescue()->throttleMax);
sbufWriteU8(dst, gpsRescue()->sanityChecks);
sbufWriteU8(dst, gpsRescue()->minSats);
break;
case MSP_GPS_RESCUE_PIDS:
sbufWriteU16(dst, gpsRescue()->throttleP);
sbufWriteU16(dst, gpsRescue()->throttleI);
sbufWriteU16(dst, gpsRescue()->throttleD);
sbufWriteU16(dst, gpsRescue()->velP);
sbufWriteU16(dst, gpsRescue()->velI);
sbufWriteU16(dst, gpsRescue()->velD);
sbufWriteU16(dst, gpsRescue()->yawP);
break;
#endif
case MSP_ACC_TRIM:
@ -1553,6 +1576,28 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gpsConfigMutable()->autoConfig = sbufReadU8(src);
gpsConfigMutable()->autoBaud = sbufReadU8(src);
break;
case MSP_SET_GPS_RESCUE:
gpsRescueMutable()->angle = sbufReadU16(src);
gpsRescueMutable()->initialAltitude = sbufReadU16(src);
gpsRescueMutable()->descentDistance = sbufReadU16(src);
gpsRescueMutable()->rescueGroundspeed = sbufReadU16(src);
gpsRescueMutable()->throttleMin = sbufReadU16(src);
gpsRescueMutable()->throttleMax = sbufReadU16(src);
gpsRescueMutable()->throttleHover = sbufReadU16(src);
gpsRescueMutable()->sanityChecks = sbufReadU8(src);
gpsRescueMutable()->minSats = sbufReadU8(src);
break;
case MSP_SET_GPS_RESCUE_PIDS:
gpsRescueMutable()->throttleP = sbufReadU16(src);
gpsRescueMutable()->throttleI = sbufReadU16(src);
gpsRescueMutable()->throttleD = sbufReadU16(src);
gpsRescueMutable()->velP = sbufReadU16(src);
gpsRescueMutable()->velI = sbufReadU16(src);
gpsRescueMutable()->velD = sbufReadU16(src);
gpsRescueMutable()->yawP = sbufReadU16(src);
break;
#endif
#ifdef USE_MAG

4
src/main/interface/msp_protocol.h
View file

@ -280,6 +280,8 @@
#define MSP_GPS_CONFIG 132 //out message GPS configuration
#define MSP_COMPASS_CONFIG 133 //out message Compass configuration
#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
#define MSP_GPS_RESCUE 135 //out message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -306,6 +308,8 @@
#define MSP_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc)
#define MSP_SET_GPS_CONFIG 223 //out message GPS configuration
#define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
#define MSP_SET_GPS_RESCUE 225 //in message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescues's throttleP and velocity PIDS + yaw P
// #define MSP_BIND 240 //in message no param
// #define MSP_ALARMS 242