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Merge pull request #9866 from iNavFlight/dzikuvx-drop-MSP_POSITION_ESTIMATION_CONFIG
Drop MSP_POSITION_ESTIMATION_CONFIG
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commit
05e7a31f56
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
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break;
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case MSP_POSITION_ESTIMATION_CONFIG:
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sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
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sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
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sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
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sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
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sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
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sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
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sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF
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break;
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case MSP_REBOOT:
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if (!ARMING_FLAG(ARMED)) {
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if (mspPostProcessFn) {
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@ -2468,19 +2456,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
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return MSP_RESULT_ERROR;
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break;
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case MSP_SET_POSITION_ESTIMATION_CONFIG:
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if (dataSize == 12) {
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positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
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gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
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sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
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} else
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return MSP_RESULT_ERROR;
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break;
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case MSP_RESET_CONF:
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if (!ARMING_FLAG(ARMED)) {
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suspendRxSignal();
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@ -110,9 +110,6 @@
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#define MSP_CALIBRATION_DATA 14
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#define MSP_SET_CALIBRATION_DATA 15
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#define MSP_POSITION_ESTIMATION_CONFIG 16
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#define MSP_SET_POSITION_ESTIMATION_CONFIG 17
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#define MSP_WP_MISSION_LOAD 18 // Load mission from NVRAM
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#define MSP_WP_MISSION_SAVE 19 // Save mission to NVRAM
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#define MSP_WP_GETINFO 20
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