From a09210dcd4cc1ec41fe3ed44e8020d2979566d0a Mon Sep 17 00:00:00 2001 From: dev-fred Date: Wed, 29 Jul 2020 22:44:27 +0200 Subject: [PATCH 1/3] Update msp.c Add hdop in MSP_RAW_GPS https://github.com/betaflight/betaflight/issues/10063 --- src/main/msp/msp.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c index c93268b6a8..c60208c442 100644 --- a/src/main/msp/msp.c +++ b/src/main/msp/msp.c @@ -1371,6 +1371,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst) sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.altCm / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again. sbufWriteU16(dst, gpsSol.groundSpeed); sbufWriteU16(dst, gpsSol.groundCourse); + sbufWriteU16(dst, gpsSol.hdop); break; case MSP_COMP_GPS: From 262356018559f222bd7f8efb334be7a422cea262 Mon Sep 17 00:00:00 2001 From: dev-fred Date: Thu, 30 Jul 2020 11:18:31 +0200 Subject: [PATCH 2/3] add comment: // Added in API version 1.44 --- src/main/msp/msp.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c index c60208c442..da31209ec9 100644 --- a/src/main/msp/msp.c +++ b/src/main/msp/msp.c @@ -1371,7 +1371,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst) sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.altCm / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again. sbufWriteU16(dst, gpsSol.groundSpeed); sbufWriteU16(dst, gpsSol.groundCourse); - sbufWriteU16(dst, gpsSol.hdop); + sbufWriteU16(dst, gpsSol.hdop); // Added in API version 1.44 break; case MSP_COMP_GPS: From ed19e911315c9d74740db5d93d6f41ad597c94e7 Mon Sep 17 00:00:00 2001 From: dev-fred Date: Thu, 30 Jul 2020 11:43:59 +0200 Subject: [PATCH 3/3] // Added in API version 1.44 comment over the change done --- src/main/msp/msp.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c index da31209ec9..cd935aae0f 100644 --- a/src/main/msp/msp.c +++ b/src/main/msp/msp.c @@ -1371,7 +1371,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst) sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.altCm / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again. sbufWriteU16(dst, gpsSol.groundSpeed); sbufWriteU16(dst, gpsSol.groundCourse); - sbufWriteU16(dst, gpsSol.hdop); // Added in API version 1.44 + // Added in API version 1.44 + sbufWriteU16(dst, gpsSol.hdop); break; case MSP_COMP_GPS: