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Implement MSP2_INAV_STATUS as a variation an improved MSP_STATUS_EX,

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providing a 32 bit armingFlags (no other changes).
This commit is contained in:
Jonathan Hudson 2017-11-01 17:36:43 +00:00
parent 733e425045
commit 73b4f3157c
2 changed files with 13 additions and 6 deletions
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6
src/main/fc/fc_msp.c
View file

@ -355,6 +355,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
case MSP2_INAV_STATUS:
case MSP_STATUS_EX:
case MSP_STATUS:
{
@ -371,8 +372,11 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteData(dst, &mspBoxModeFlags, 4);
sbufWriteU8(dst, getConfigProfile());
if (cmdMSP == MSP_STATUS_EX) {
if (cmdMSP != MSP_STATUS) {
sbufWriteU16(dst, averageSystemLoadPercent);
if (cmdMSP == MSP2_INAV_STATUS)
sbufWriteU32(dst, armingFlags);
else
sbufWriteU16(dst, armingFlags);
sbufWriteU8(dst, accGetCalibrationAxisFlags());
}

5
src/main/msp/msp_protocol_v2_inav.h
View file

@ -15,4 +15,7 @@
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
*/
//#define MSP2_INAV_STATUS 0x1000
// iNav specific IDs start from 0x2000
// See https://github.com/iNavFlight/inav/wiki/MSP-V2#msp-v2-message-catalogue
#define MSP2_INAV_STATUS 0x2000