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Merge branch 'master' into sh_mixer_profile

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This commit is contained in:
shota 2023-07-22 12:23:14 +09:00
commit 1273d862aa
34 changed files with 817 additions and 58 deletions
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16
src/main/fc/fc_msp.c
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@ -2527,6 +2527,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
gpsSol.flags.validVelNE = false;
gpsSol.flags.validVelD = false;
gpsSol.flags.validEPE = false;
gpsSol.flags.validTime = false;
gpsSol.numSat = sbufReadU8(src);
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
@ -3538,6 +3539,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
gpsSol.flags.validVelNE = true;
gpsSol.flags.validVelD = true;
gpsSol.flags.validEPE = true;
gpsSol.flags.validTime = false;
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
@ -3592,7 +3594,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
if (sensors(SENSOR_MAG)) {
mag.magADC[X] = ((int16_t)sbufReadU16(src)) / 20; // 16000 / 20 = 800uT
mag.magADC[Y] = ((int16_t)sbufReadU16(src)) / 20;
mag.magADC[Y] = ((int16_t)sbufReadU16(src)) / 20; //note that mag failure is simulated by setting all readings to zero
mag.magADC[Z] = ((int16_t)sbufReadU16(src)) / 20;
} else {
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
@ -3609,8 +3611,16 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
#endif
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);
}
simulatorData.airSpeed = sbufReadU16(src);
} else {
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
sbufReadU16(src);
}
}
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
simulatorData.flags |= ((uint16_t)sbufReadU8(src)) << 8;
}
} else {
DISABLE_STATE(GPS_FIX);
}