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add ascend and descend rate to MSP

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This commit is contained in:
Nicola De Pasquale 2019-08-31 19:36:53 +02:00
parent fcaa16cd7d
commit 5d86ebffc8
1 changed files with 8 additions and 0 deletions
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8
src/main/msp/msp.c
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@ -1267,6 +1267,9 @@ 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:
@ -2157,6 +2160,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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: