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Scale MSP altitude back to 1m per lsb as it was before RTH

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AirBreak69 2018-06-18 23:16:52 +02:00 • committed by GitHub
parent 8709ba441d
commit 91ac74ca9c
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1 changed files with 2 additions and 2 deletions
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src/main/interface/msp.c
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@ -1033,7 +1033,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, gpsSol.numSat); sbufWriteU8(dst, gpsSol.numSat);
sbufWriteU32(dst, gpsSol.llh.lat); sbufWriteU32(dst, gpsSol.llh.lat);
sbufWriteU32(dst, gpsSol.llh.lon); sbufWriteU32(dst, gpsSol.llh.lon);
sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.alt / 10, 0, UINT16_MAX)); sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.alt / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again.
sbufWriteU16(dst, gpsSol.groundSpeed); sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse); sbufWriteU16(dst, gpsSol.groundCourse);
break; break;
@ -1899,7 +1899,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gpsSol.numSat = sbufReadU8(src); gpsSol.numSat = sbufReadU8(src);
gpsSol.llh.lat = sbufReadU32(src); gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src); gpsSol.llh.lon = sbufReadU32(src);
gpsSol.llh.alt = sbufReadU16(src) * 10; gpsSol.llh.alt = sbufReadU16(src) * 100; // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. Received MSP altitudes in 1m per lsb have to upscaled.
gpsSol.groundSpeed = sbufReadU16(src); gpsSol.groundSpeed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break; break;