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Merge branch 'master' of https://github.com/RomanLut/inav into submit-gps-fix-estimation

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Roman Lut 2023-08-04 00:57:19 +02:00
commit 2b9a5a6a8d
178 changed files with 5846 additions and 2036 deletions
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25
src/main/fc/fc_msp.c
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@ -2482,12 +2482,24 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { //value is band and channel
const uint8_t newBand = (newFrequency / 8) + 1;
const uint8_t newChannel = (newFrequency % 8) + 1;
if(vtxSettingsConfig()->band != newBand || vtxSettingsConfig()->channel != newChannel) {
vtxCommonSetBandAndChannel(vtxDevice, newBand, newChannel);
}
vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel;
}
if (sbufBytesRemaining(src) > 1) {
vtxSettingsConfigMutable()->power = sbufReadU8(src);
uint8_t newPower = sbufReadU8(src);
uint8_t currentPower = 0;
vtxCommonGetPowerIndex(vtxDevice, &currentPower);
if (newPower != currentPower) {
vtxCommonSetPowerByIndex(vtxDevice, newPower);
vtxSettingsConfigMutable()->power = newPower;
}
// Delegate pitmode to vtx directly
const uint8_t newPitmode = sbufReadU8(src);
uint8_t currentPitmode = 0;
@ -3484,7 +3496,9 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
DISABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
#ifdef USE_BARO
if ( requestedSensors[SENSOR_INDEX_BARO] != BARO_NONE ) {
baroStartCalibration();
}
#endif
#ifdef USE_MAG
DISABLE_STATE(COMPASS_CALIBRATED);
@ -3495,10 +3509,15 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
disarm(DISARM_SWITCH); // Disarm to prevent motor output!!!
}
} else if (!areSensorsCalibrating()) {
} else {
if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) { // Just once
#ifdef USE_BARO
baroStartCalibration();
if ( requestedSensors[SENSOR_INDEX_BARO] != BARO_NONE ) {
sensorsSet(SENSOR_BARO);
setTaskEnabled(TASK_BARO, true);
DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
baroStartCalibration();
}
#endif
#ifdef USE_MAG