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Merge pull request #9866 from iNavFlight/dzikuvx-drop-MSP_POSITION_ESTIMATION_CONFIG

Drop MSP_POSITION_ESTIMATION_CONFIG
This commit is contained in:
Paweł Spychalski 2024-04-06 09:54:14 +02:00 committed by GitHub
commit 05e7a31f56
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2 changed files with 0 additions and 28 deletions

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@ -1407,18 +1407,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_POSITION_ESTIMATION_CONFIG:
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, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF
break;
case MSP_REBOOT:
if (!ARMING_FLAG(ARMED)) {
if (mspPostProcessFn) {
@ -2468,19 +2456,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
case MSP_SET_POSITION_ESTIMATION_CONFIG:
if (dataSize == 12) {
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
} else
return MSP_RESULT_ERROR;
break;
case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
suspendRxSignal();

View file

@ -110,9 +110,6 @@
#define MSP_CALIBRATION_DATA 14
#define MSP_SET_CALIBRATION_DATA 15
#define MSP_POSITION_ESTIMATION_CONFIG 16
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17
#define MSP_WP_MISSION_LOAD 18 // Load mission from NVRAM
#define MSP_WP_MISSION_SAVE 19 // Save mission to NVRAM
#define MSP_WP_GETINFO 20