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Fixed GPS rescue MSP.

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This commit is contained in:
mikeller 2018-08-18 14:09:41 +12:00
parent 5a2501f3e5
commit a4a701829c
1 changed files with 34 additions and 33 deletions
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67
src/main/interface/msp.c
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@ -70,6 +70,7 @@
#include "flight/position.h" #include "flight/position.h"
#include "flight/failsafe.h" #include "flight/failsafe.h"
#include "flight/gps_rescue.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "flight/mixer.h" #include "flight/mixer.h"
#include "flight/pid.h" #include "flight/pid.h"
@ -1067,26 +1068,26 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
case MSP_GPS_RESCUE: case MSP_GPS_RESCUE:
sbufWriteU16(dst, gpsRescue()->angle); sbufWriteU16(dst, gpsRescueConfig()->angle);
sbufWriteU16(dst, gpsRescue()->initialAltitude); sbufWriteU16(dst, gpsRescueConfig()->initialAltitude);
sbufWriteU16(dst, gpsRescue()->descentDistance); sbufWriteU16(dst, gpsRescueConfig()->descentDistance);
sbufWriteU16(dst, gpsRescue()->rescueGroundspeed); sbufWriteU16(dst, gpsRescueConfig()->rescueGroundspeed);
sbufWriteU16(dst, gpsRescue()->throttleMin); sbufWriteU16(dst, gpsRescueConfig()->throttleMin);
sbufWriteU16(dst, gpsRescue()->throttleMax); sbufWriteU16(dst, gpsRescueConfig()->throttleMax);
sbufWriteU16(dst, gpsRescue()->throttleHover); sbufWriteU16(dst, gpsRescueConfig()->throttleHover);
sbufWriteU16(dst, gpsRescue()->throttleMax); sbufWriteU16(dst, gpsRescueConfig()->throttleMax);
sbufWriteU8(dst, gpsRescue()->sanityChecks); sbufWriteU8(dst, gpsRescueConfig()->sanityChecks);
sbufWriteU8(dst, gpsRescue()->minSats); sbufWriteU8(dst, gpsRescueConfig()->minSats);
break; break;
case MSP_GPS_RESCUE_PIDS: case MSP_GPS_RESCUE_PIDS:
sbufWriteU16(dst, gpsRescue()->throttleP); sbufWriteU16(dst, gpsRescueConfig()->throttleP);
sbufWriteU16(dst, gpsRescue()->throttleI); sbufWriteU16(dst, gpsRescueConfig()->throttleI);
sbufWriteU16(dst, gpsRescue()->throttleD); sbufWriteU16(dst, gpsRescueConfig()->throttleD);
sbufWriteU16(dst, gpsRescue()->velP); sbufWriteU16(dst, gpsRescueConfig()->velP);
sbufWriteU16(dst, gpsRescue()->velI); sbufWriteU16(dst, gpsRescueConfig()->velI);
sbufWriteU16(dst, gpsRescue()->velD); sbufWriteU16(dst, gpsRescueConfig()->velD);
sbufWriteU16(dst, gpsRescue()->yawP); sbufWriteU16(dst, gpsRescueConfig()->yawP);
break; break;
#endif #endif
#endif #endif
@ -1745,25 +1746,25 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
case MSP_SET_GPS_RESCUE: case MSP_SET_GPS_RESCUE:
gpsRescueMutable()->angle = sbufReadU16(src); gpsRescueConfigMutable()->angle = sbufReadU16(src);
gpsRescueMutable()->initialAltitude = sbufReadU16(src); gpsRescueConfigMutable()->initialAltitude = sbufReadU16(src);
gpsRescueMutable()->descentDistance = sbufReadU16(src); gpsRescueConfigMutable()->descentDistance = sbufReadU16(src);
gpsRescueMutable()->rescueGroundspeed = sbufReadU16(src); gpsRescueConfigMutable()->rescueGroundspeed = sbufReadU16(src);
gpsRescueMutable()->throttleMin = sbufReadU16(src); gpsRescueConfigMutable()->throttleMin = sbufReadU16(src);
gpsRescueMutable()->throttleMax = sbufReadU16(src); gpsRescueConfigMutable()->throttleMax = sbufReadU16(src);
gpsRescueMutable()->throttleHover = sbufReadU16(src); gpsRescueConfigMutable()->throttleHover = sbufReadU16(src);
gpsRescueMutable()->sanityChecks = sbufReadU8(src); gpsRescueConfigMutable()->sanityChecks = sbufReadU8(src);
gpsRescueMutable()->minSats = sbufReadU8(src); gpsRescueConfigMutable()->minSats = sbufReadU8(src);
break; break;
case MSP_SET_GPS_RESCUE_PIDS: case MSP_SET_GPS_RESCUE_PIDS:
gpsRescueMutable()->throttleP = sbufReadU16(src); gpsRescueConfigMutable()->throttleP = sbufReadU16(src);
gpsRescueMutable()->throttleI = sbufReadU16(src); gpsRescueConfigMutable()->throttleI = sbufReadU16(src);
gpsRescueMutable()->throttleD = sbufReadU16(src); gpsRescueConfigMutable()->throttleD = sbufReadU16(src);
gpsRescueMutable()->velP = sbufReadU16(src); gpsRescueConfigMutable()->velP = sbufReadU16(src);
gpsRescueMutable()->velI = sbufReadU16(src); gpsRescueConfigMutable()->velI = sbufReadU16(src);
gpsRescueMutable()->velD = sbufReadU16(src); gpsRescueConfigMutable()->velD = sbufReadU16(src);
gpsRescueMutable()->yawP = sbufReadU16(src); gpsRescueConfigMutable()->yawP = sbufReadU16(src);
break; break;
#endif #endif
#endif #endif