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Fix MSP

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This commit is contained in:
breadoven 2022-08-24 15:44:19 +01:00
parent 7322fbedc8
commit 0598080dc7
2 changed files with 11 additions and 11 deletions
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18
src/main/fc/fc_msp.c
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@ -1580,7 +1580,7 @@ static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
navWaypoint_t msp_wp;
getWaypoint(msp_wp_no + wpMissionStartIndex, &msp_wp);
getWaypoint(msp_wp_no, &msp_wp);
sbufWriteU8(dst, msp_wp_no); // wp_no
sbufWriteU8(dst, msp_wp.action); // action (WAYPOINT)
sbufWriteU32(dst, msp_wp.lat); // lat
@ -3223,7 +3223,7 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
int processedRows = 16;
while (bytesCount < 80) //whole response should be less 155 bytes at worst.
while (bytesCount < 80) //whole response should be less 155 bytes at worst.
{
bool blink1;
uint16_t lastChar;
@ -3290,14 +3290,14 @@ void mspWriteSimulatorOSD(sbuf_t *dst)
else if (count > 2 || cmd !=0 )
{
cmd |= count; //long command for blink/bank switch and symbol repeat
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, cmd);
sbufWriteU8(dst, lastChar & 0xff);
bytesCount += 3;
}
else if (count == 2) //cmd == 0 here
{
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastChar & 0xff);
sbufWriteU8(dst, lastChar & 0xff);
bytesCount+=2;
}
@ -3425,8 +3425,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
else if (!areSensorsCalibrating()) {
if (!ARMING_FLAG(SIMULATOR_MODE)) { // just once
#ifdef USE_BARO
baroStartCalibration();
#endif
baroStartCalibration();
#endif
#ifdef USE_MAG
if (compassConfig()->mag_hardware != MAG_NONE){
sensorsSet(SENSOR_MAG);
@ -3530,7 +3530,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
}
if (simulatorData.flags & SIMU_AIRSPEED) {
simulatorData.airSpeed = sbufReadU16(src);
simulatorData.airSpeed = sbufReadU16(src);
}
}
else {
@ -3548,8 +3548,8 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
simulatorData.debugIndex = 0;
}
tmp_u8 = simulatorData.debugIndex |
((mixerConfig()->platformType == PLATFORM_AIRPLANE) ? 128 : 0) |
tmp_u8 = simulatorData.debugIndex |
((mixerConfig()->platformType == PLATFORM_AIRPLANE) ? 128 : 0) |
(ARMING_FLAG(ARMED) ? 64 : 0) |
(!feature(FEATURE_OSD) ? 32: 0) |
(!isOSDTypeSupportedBySimulator() ? 16: 0);