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Add ascend and descend rate to MSP (#8977)

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Add ascend and descend rate to MSP
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Michael Keller 2019-10-18 03:32:44 +13:00 • committed by GitHub
commit 50ed636e8d
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1 changed files with 8 additions and 0 deletions
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8
src/main/msp/msp.c
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@ -1291,6 +1291,9 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gpsRescueConfig()->throttleHover); sbufWriteU16(dst, gpsRescueConfig()->throttleHover);
sbufWriteU8(dst, gpsRescueConfig()->sanityChecks); sbufWriteU8(dst, gpsRescueConfig()->sanityChecks);
sbufWriteU8(dst, gpsRescueConfig()->minSats); sbufWriteU8(dst, gpsRescueConfig()->minSats);
// Added in API version 1.43
sbufWriteU16(dst, gpsRescueConfig()->ascendRate);
sbufWriteU16(dst, gpsRescueConfig()->descendRate);
break; break;
case MSP_GPS_RESCUE_PIDS: case MSP_GPS_RESCUE_PIDS:
@ -2181,6 +2184,11 @@ 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) >= 4) {
// Added in API version 1.43
gpsRescueConfigMutable()->ascendRate = sbufReadU16(src);
gpsRescueConfigMutable()->descendRate = sbufReadU16(src);
}
break; break;
case MSP_SET_GPS_RESCUE_PIDS: case MSP_SET_GPS_RESCUE_PIDS: