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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
View file

@ -1354,6 +1354,7 @@ case MSP_NAME:
sbufWriteU8(dst, armingConfig()->auto_disarm_delay); sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU8(dst, imuConfig()->small_angle); sbufWriteU8(dst, imuConfig()->small_angle);
sbufWriteU8(dst, armingConfig()->gyro_cal_on_first_arm);
break; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
@ -2698,10 +2699,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#endif #endif
case MSP_SET_ARMING_CONFIG: case MSP_SET_ARMING_CONFIG:
armingConfigMutable()->auto_disarm_delay = sbufReadU8(src); armingConfigMutable()->auto_disarm_delay = sbufReadU8(src);
sbufReadU8(src); // reserved sbufReadU8(src); // reserved. disarm_kill_switch was removed in #5073
if (sbufBytesRemaining(src)) { if (sbufBytesRemaining(src)) {
imuConfigMutable()->small_angle = sbufReadU8(src); imuConfigMutable()->small_angle = sbufReadU8(src);
} }
if (sbufBytesRemaining(src)) {
armingConfigMutable()->gyro_cal_on_first_arm = sbufReadU8(src);
}
break; break;
case MSP_SET_PID_CONTROLLER: case MSP_SET_PID_CONTROLLER:

6
src/test/unit/huffman_unittest.cc
View file

@ -427,8 +427,8 @@ TEST(HuffmanUnittest, TestHuffmanEncodeStreaming)
// 1110 1101 // 1110 1101
// e d // e d
huffmanState_t state1 = { huffmanState_t state1 = {
.bytesWritten = 0,
.outByte = outBuf, .outByte = outBuf,
.bytesWritten = 0,
.outBufLen = OUTBUF_LEN, .outBufLen = OUTBUF_LEN,
.outBit = 0x80, .outBit = 0x80,
}; };
@ -453,8 +453,8 @@ TEST(HuffmanUnittest, TestHuffmanEncodeStreaming)
// 1110 1100 1100 01 // 1110 1100 1100 01
// e c c 8 // e c c 8
huffmanState_t state2 = { huffmanState_t state2 = {
.bytesWritten = 0,
.outByte = outBuf, .outByte = outBuf,
.bytesWritten = 0,
.outBufLen = OUTBUF_LEN, .outBufLen = OUTBUF_LEN,
.outBit = 0x80, .outBit = 0x80,
}; };
@ -481,8 +481,8 @@ TEST(HuffmanUnittest, TestHuffmanEncodeStreaming)
// 1110 1100 1100 0110 0000 1110 1011 1000 1101 1 // 1110 1100 1100 0110 0000 1110 1011 1000 1101 1
// e c c 6 0 e b 8 d 8 // e c c 6 0 e b 8 d 8
huffmanState_t state3 = { huffmanState_t state3 = {
.bytesWritten = 0,
.outByte = outBuf, .outByte = outBuf,
.bytesWritten = 0,
.outBufLen = OUTBUF_LEN, .outBufLen = OUTBUF_LEN,
.outBit = 0x80, .outBit = 0x80,
}; };