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MSP add GPS min rescue dth

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This commit is contained in:
Hans Christian Olaussen 2021-04-10 23:28:22 +02:00
parent a5d0f7e457
commit e401a0b1ab
1 changed files with 6 additions and 0 deletions
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6
src/main/msp/msp.c
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@ -1451,6 +1451,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, gpsRescueConfig()->descendRate); sbufWriteU16(dst, gpsRescueConfig()->descendRate);
sbufWriteU8(dst, gpsRescueConfig()->allowArmingWithoutFix); sbufWriteU8(dst, gpsRescueConfig()->allowArmingWithoutFix);
sbufWriteU8(dst, gpsRescueConfig()->altitudeMode); sbufWriteU8(dst, gpsRescueConfig()->altitudeMode);
// Added in API version 1.44
sbufWriteU16(dst, gpsRescueConfig()->minRescueDth);
break; break;
case MSP_GPS_RESCUE_PIDS: case MSP_GPS_RESCUE_PIDS:
@ -2451,6 +2453,10 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
gpsRescueConfigMutable()->allowArmingWithoutFix = sbufReadU8(src); gpsRescueConfigMutable()->allowArmingWithoutFix = sbufReadU8(src);
gpsRescueConfigMutable()->altitudeMode = sbufReadU8(src); gpsRescueConfigMutable()->altitudeMode = sbufReadU8(src);
} }
if (sbufBytesRemaining(src) >= 2) {
// Added in API version 1.44
gpsRescueConfigMutable()->minRescueDth = sbufReadU16(src);
}
break; break;
case MSP_SET_GPS_RESCUE_PIDS: case MSP_SET_GPS_RESCUE_PIDS: