From 661ba24de9a8b52b40c2113aa9933ef9ed29c14c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 27 Mar 2024 20:41:39 +0100 Subject: [PATCH] Drop MSP_POSITION_ESTIMATION_CONFIG --- src/main/fc/fc_msp.c | 25 ------------------------- src/main/msp/msp_protocol.h | 3 --- 2 files changed, 28 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index c076fa88c4..0e2b614bde 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1412,18 +1412,6 @@ 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) { @@ -2481,19 +2469,6 @@ 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(); diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h index b44037f2f8..bd2c864cf0 100644 --- a/src/main/msp/msp_protocol.h +++ b/src/main/msp/msp_protocol.h @@ -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