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Code Issues Wiki Activity

Fix GPS Rescue parameters confusion (#13047)

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* Fix GPS Rescue parameters

* Fixes per review

* more renames

* Refactor setReturnAltitude

* Change return altitude to 5 - 1000

* Rename return speed

* Change groundSpeed to groundSpeedCmS
This commit is contained in:
Mark Haslinghuis 2023-08-31 11:50:15 +02:00 • committed by GitHub
parent b7f98b08e6
commit 7780880139
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 69 additions and 65 deletions
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20
src/main/msp/msp.c
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@ -1545,9 +1545,9 @@ case MSP_NAME:
#ifdef USE_GPS_RESCUE
case MSP_GPS_RESCUE:
sbufWriteU16(dst, gpsRescueConfig()->maxRescueAngle);
sbufWriteU16(dst, gpsRescueConfig()->initialAltitudeM);
sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM);
sbufWriteU16(dst, gpsRescueConfig()->descentDistanceM);
sbufWriteU16(dst, gpsRescueConfig()->rescueGroundspeed);
sbufWriteU16(dst, gpsRescueConfig()->groundSpeedCmS);
sbufWriteU16(dst, gpsRescueConfig()->throttleMin);
sbufWriteU16(dst, gpsRescueConfig()->throttleMax);
sbufWriteU16(dst, gpsRescueConfig()->throttleHover);
@ -1560,7 +1560,9 @@ case MSP_NAME:
sbufWriteU8(dst, gpsRescueConfig()->allowArmingWithoutFix);
sbufWriteU8(dst, gpsRescueConfig()->altitudeMode);
// Added in API version 1.44
sbufWriteU16(dst, gpsRescueConfig()->minRescueDth);
sbufWriteU16(dst, gpsRescueConfig()->minStartDistM);
// Added in API version 1.46
sbufWriteU16(dst, gpsRescueConfig()->initialClimbM);
break;
case MSP_GPS_RESCUE_PIDS:
@ -2823,11 +2825,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
#ifdef USE_GPS_RESCUE
case MSP_SET_GPS_RESCUE:
case MSP_SET_GPS_RESCUE:
gpsRescueConfigMutable()->maxRescueAngle = sbufReadU16(src);
gpsRescueConfigMutable()->initialAltitudeM = sbufReadU16(src);
gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src);
gpsRescueConfigMutable()->descentDistanceM = sbufReadU16(src);
gpsRescueConfigMutable()->rescueGroundspeed = sbufReadU16(src);
gpsRescueConfigMutable()->groundSpeedCmS = sbufReadU16(src);
gpsRescueConfigMutable()->throttleMin = sbufReadU16(src);
gpsRescueConfigMutable()->throttleMax = sbufReadU16(src);
gpsRescueConfigMutable()->throttleHover = sbufReadU16(src);
@ -2842,7 +2844,11 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
}
if (sbufBytesRemaining(src) >= 2) {
// Added in API version 1.44
gpsRescueConfigMutable()->minRescueDth = sbufReadU16(src);
gpsRescueConfigMutable()->minStartDistM = sbufReadU16(src);
}
if (sbufBytesRemaining(src) >= 2) {
// Added in API version 1.46
gpsRescueConfigMutable()->initialClimbM = sbufReadU16(src);
}
break;