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Code Issues Wiki Activity

GPS can now be conditionally compiled in.

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This commit is contained in:
Dominic Clifton 2014-06-28 20:20:16 +09:00
parent b3a718882c
commit 3b629d58a0
19 changed files with 144 additions and 29 deletions
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12
src/main/io/serial_msp.c
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@ -369,10 +369,12 @@ void mspInit(serialConfig_t *serialConfig)
if (feature(FEATURE_SERVO_TILT))
availableBoxes[idx++] = BOXCAMSTAB;
#ifdef GPS
if (feature(FEATURE_GPS)) {
availableBoxes[idx++] = BOXGPSHOME;
availableBoxes[idx++] = BOXGPSHOLD;
}
#endif
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE)
availableBoxes[idx++] = BOXPASSTHRU;
@ -397,8 +399,10 @@ void mspInit(serialConfig_t *serialConfig)
static void evaluateCommand(void)
{
uint32_t i, tmp, junk;
#ifdef GPS
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
#endif
switch (cmdMSP) {
case MSP_SET_RAW_RC:
@ -413,6 +417,7 @@ static void evaluateCommand(void)
currentProfile.accelerometerTrims.values.roll = read16();
headSerialReply(0);
break;
#ifdef GPS
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
GPS_numSat = read8();
@ -423,6 +428,7 @@ static void evaluateCommand(void)
GPS_update |= 2; // New data signalisation to GPS functions
headSerialReply(0);
break;
#endif
case MSP_SET_PID:
if (currentProfile.pidController == 2) {
for (i = 0; i < 3; i++) {
@ -609,6 +615,7 @@ static void evaluateCommand(void)
for (i = 0; i < rxRuntimeConfig.channelCount; i++)
serialize16(rcData[i]);
break;
#ifdef GPS
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
@ -625,6 +632,7 @@ static void evaluateCommand(void)
serialize16(GPS_directionToHome);
serialize8(GPS_update & 1);
break;
#endif
case MSP_ATTITUDE:
headSerialReply(6);
for (i = 0; i < 2; i++)
@ -723,6 +731,7 @@ static void evaluateCommand(void)
for (i = 0; i < 8; i++)
serialize8(i + 1);
break;
#ifdef GPS
case MSP_WP:
wp_no = read8(); // get the wp number
headSerialReply(18);
@ -766,6 +775,7 @@ static void evaluateCommand(void)
}
headSerialReply(0);
break;
#endif /* GPS */
case MSP_RESET_CONF:
if (!f.ARMED) {
resetEEPROM();
@ -813,6 +823,7 @@ static void evaluateCommand(void)
serialize32(U_ID_1);
serialize32(U_ID_2);
break;
#ifdef GPS
case MSP_GPSSVINFO:
headSerialReply(1 + (GPS_numCh * 4));
serialize8(GPS_numCh);
@ -823,6 +834,7 @@ static void evaluateCommand(void)
serialize8(GPS_svinfo_cno[i]);
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(0);
break;