Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

reverted unrelated changes

Browse source
This commit is contained in:
Roman Lut 2022-07-30 06:12:50 +03:00
parent c36154172e
commit 42a8ce15c1
9 changed files with 15 additions and 42 deletions
Download patch file Download diff file Expand all files Collapse all files

29
src/main/fc/fc_msp.c
View file

@ -607,7 +607,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_ALTITUDE:
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
#if defined(USE_BARO)
sbufWriteU32(dst, baroGetLatestAltitude());
@ -2478,7 +2478,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#ifdef USE_GPS
case MSP_SET_RAW_GPS:
if (dataSize == 14) {
if (sbufReadU8(src)) {
if (sbufReadU8(src)) {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
@ -3395,31 +3395,6 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = mspFcSafeHomeOutCommand(dst, src);
break;
case MSP_TELEMETRY:
sbufWriteU8(dst, ARMING_FLAG(ARMED)); // arming status
sbufWriteU8(dst, 0); // modes
sbufWriteU32(dst, flightModeFlags);
sbufWriteU8(dst, 1); // messages
char buff[50] = {" "};
osdGetSystemMessage(buff, sizeof(buff), false);
const char *c = buff;
while (*c) {
sbufWriteU8(dst, *c++);
}
sbufWriteU8(dst, '\0'); // last symbol
sbufWriteU8(dst, 2); // home position
sbufWriteU16(dst, GPS_distanceToHome);
sbufWriteU16(dst, GPS_directionToHome);
sbufWriteU32(dst, baro.BaroAlt);
sbufWriteU8(dst, 3); // throttle
sbufWriteU8(dst, getThrottlePercent());
sbufWriteU8(dst, 4); // vario
sbufWriteU16(dst, getEstimatedActualVelocity(Z) + 32000);
*ret = MSP_RESULT_ACK;
break;
#ifdef USE_SIMULATOR
case MSP_SIMULATOR:
tmp_u8 = sbufReadU8(src); //MSP_SIMULATOR version