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Merge pull request #5955 from David-VG/master

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MSP for GPS Rescue
This commit is contained in:
Michael Keller 2018-08-18 12:56:12 +12:00 • committed by GitHub
commit 5a2501f3e5
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2 changed files with 53 additions and 0 deletions
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49
src/main/interface/msp.c
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@ -1064,6 +1064,31 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, GPS_svinfo_cno[i]);
}
break;
#ifdef USE_GPS_RESCUE
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
#endif
case MSP_ACC_TRIM:
@ -1717,6 +1742,30 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gpsConfigMutable()->autoConfig = sbufReadU8(src);
gpsConfigMutable()->autoBaud = sbufReadU8(src);
break;
#ifdef USE_GPS_RESCUE
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
#endif
#ifdef USE_MAG