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Added variometer variable

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Add MESSAGES for OSD
This commit is contained in:
Sergey 2022-04-27 16:31:01 +03:00
parent a451c63daf
commit 99b20b66b0
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GPG key ID: 4A7AC190CD92FE01
5 changed files with 45 additions and 19 deletions
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33
src/main/fc/fc_msp.c
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@ -99,6 +99,7 @@
#include "msp/msp_serial.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "navigation/navigation_pos_estimator_private.h"
#include "rx/rx.h"
@ -3244,33 +3245,48 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
sbufWriteU8(dst, ARMING_FLAG(ARMED)); // arming status
sbufWriteU8(dst, 0); // arming status
sbufWriteU32(dst, flightModeFlags);
// "1" for error messages
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;
case MSP_SIMULATOR:
tmp_u8 = sbufReadU8(src);
if (tmp_u8 == 1) {
if (tmp_u8 >= 1) {
if (! ARMING_FLAG(SIMULATOR_MODE)) {
baroStartCalibration(); // just once
}
ENABLE_ARMING_FLAG(SIMULATOR_MODE);
switch (tmp_u8) {
case 0x02: // RST HOME
setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
baroStartCalibration();
break;
case 0x03:
break;
}
} else {
DISABLE_ARMING_FLAG(SIMULATOR_MODE);
}
if (dataSize >= 14) {
gpsSol.fixType = sbufReadU8(src);
if (gpsSol.fixType) {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
}
gpsSol.flags.hasNewData = true;
gpsSol.flags.validVelNE = 0;
gpsSol.flags.validVelD = 0;
@ -3287,8 +3303,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
gpsSol.eph = 100;
gpsSol.epv = 100;
// Feed data to navigation
sensorsSet(SENSOR_GPS);
onNewGPSData();
gpsProcessNewSolutionData();
attitude.values.roll = sbufReadU16(src)-1800;
attitude.values.pitch = sbufReadU16(src)-1800;