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Scavanger 2022-03-16 10:23:19 +01:00
parent 834a1361b0
commit 1f8c5d88ab
2 changed files with 46 additions and 12 deletions
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34
src/main/fc/fc_msp.c
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@ -534,18 +534,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU8(dst, logicConditions(i)->enabled);
sbufWriteU8(dst, logicConditions(i)->activatorId);
sbufWriteU8(dst, logicConditions(i)->operation);
sbufWriteU8(dst, logicConditions(i)->operandA.type);
sbufWriteU32(dst, logicConditions(i)->operandA.value);
sbufWriteU8(dst, logicConditions(i)->operandB.type);
sbufWriteU32(dst, logicConditions(i)->operandB.value);
sbufWriteU8(dst, logicConditions(i)->flags);
}
break;
case MSP2_INAV_LOGIC_CONDITIONS_STATUS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU32(dst, logicConditionGetValue(i));
@ -1547,6 +1535,23 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
}
}
static mspResult_e mspFcLogicConditionCommand(sbuf_t *dst, sbuf_t *src) {
const uint8_t idx = sbufReadU8(src);
if (idx < MAX_LOGIC_CONDITIONS) {
sbufWriteU8(dst, logicConditions(idx)->enabled);
sbufWriteU8(dst, logicConditions(idx)->activatorId);
sbufWriteU8(dst, logicConditions(idx)->operation);
sbufWriteU8(dst, logicConditions(idx)->operandA.type);
sbufWriteU32(dst, logicConditions(idx)->operandA.value);
sbufWriteU8(dst, logicConditions(idx)->operandB.type);
sbufWriteU32(dst, logicConditions(idx)->operandB.value);
sbufWriteU8(dst, logicConditions(idx)->flags);
return MSP_RESULT_ACK;
} else {
return MSP_RESULT_ERROR;
}
}
static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
{
const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number
@ -3225,6 +3230,11 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
break;
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS:
*ret = mspFcLogicConditionCommand(dst, src);
break;
#endif
case MSP2_INAV_SAFEHOME:
*ret = mspFcSafeHomeOutCommand(dst, src);
break;