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Better separation between GPS and NAV

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This commit is contained in:
Martin Budden 2017-11-18 07:21:30 +00:00
parent 69ff72e2e9
commit cfc87d1891
17 changed files with 243 additions and 218 deletions
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11
src/main/interface/msp.c
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@ -1251,7 +1251,7 @@ static mspResult_e mspFcProcessOutCommandWithArg(uint8_t cmdMSP, sbuf_t *arg, sb
}
#endif // USE_OSD_SLAVE
#ifdef USE_GPS
#ifdef USE_NAV
static void mspFcWpCommand(sbuf_t *dst, sbuf_t *src)
{
uint8_t wp_no;
@ -1312,7 +1312,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
uint32_t i;
uint8_t value;
const unsigned int dataSize = sbufBytesRemaining(src);
#ifdef USE_GPS
#ifdef USE_NAV
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
#endif
@ -1743,7 +1743,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gpsSol.groundSpeed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;
#endif // USE_GPS
#ifdef USE_NAV
case MSP_SET_WP:
wp_no = sbufReadU8(src); //get the wp number
lat = sbufReadU32(src);
@ -1768,7 +1769,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
}
break;
#endif
#endif // USE_NAV
case MSP_SET_FEATURE_CONFIG:
featureClearAll();
@ -2177,7 +2178,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
mspFc4waySerialCommand(dst, src, mspPostProcessFn);
ret = MSP_RESULT_ACK;
#endif
#ifdef USE_GPS
#ifdef USE_NAV
} else if (cmdMSP == MSP_WP) {
mspFcWpCommand(dst, src);
ret = MSP_RESULT_ACK;