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Merge pull request #1313 from iNavFlight/gps-min-sat-readded-to-msp

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gpsMinSats readded to MSP_POSITION_ESTIMATION_CONFIG frame
This commit is contained in:
Konstantin Sharlaimov 2017-02-20 20:07:08 +10:00 • committed by GitHub
commit 010c960324
1 changed files with 3 additions and 3 deletions
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6
src/main/fc/fc_msp.c
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@ -1204,12 +1204,12 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_POSITION_ESTIMATION_CONFIG:
#ifdef NAV
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, 0); // 1 not used (was inav_gps_min_sats)
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
#else
@ -1681,7 +1681,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
//positionEstimationConfigMutable()->gps_min_sats = constrain(sbufReadU8(src), 5, 10);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1);
#endif
break;