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Add MSP support for gyro_cal_on_first_arm (#13626)

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* Add MSP support for gyro_cal_on_first_arm

* Update comment

* Add parameter to MSP

* Fix unit test

* Adjust condition

* Fix unittest instead
This commit is contained in:
Mark Haslinghuis 2024-05-22 16:38:54 +02:00 • committed by GitHub
parent 4ae4a06b16
commit e60224395e
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GPG key ID: B5690EEEBB952194
2 changed files with 8 additions and 4 deletions
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6
src/main/msp/msp.c
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@ -1354,6 +1354,7 @@ case MSP_NAME:
sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, imuConfig()->small_angle);
sbufWriteU8(dst, armingConfig()->gyro_cal_on_first_arm);
break;
case MSP_RC_TUNING:
@ -2698,10 +2699,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#endif
case MSP_SET_ARMING_CONFIG:
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
sbufReadU8(src); // reserved
sbufReadU8(src); // reserved. disarm_kill_switch was removed in #5073
if (sbufBytesRemaining(src)) {
imuConfigMutable()->small_angle = sbufReadU8(src);
}
if (sbufBytesRemaining(src)) {
armingConfigMutable()->gyro_cal_on_first_arm = sbufReadU8(src);
}
break;
case MSP_SET_PID_CONTROLLER: