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fix WP MSP regression from #6612

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This commit is contained in:
Jonathan Hudson 2021-06-26 12:23:46 +01:00
parent 47f2468f0e
commit 9c6bd6a95f
5 changed files with 19 additions and 19 deletions
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26
src/main/fc/cli.c
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@ -1387,7 +1387,7 @@ static void cliWaypoints(char *cmdline)
} else if (sl_strcasecmp(cmdline, "reset") == 0) { } else if (sl_strcasecmp(cmdline, "reset") == 0) {
resetWaypointList(); resetWaypointList();
} else if (sl_strcasecmp(cmdline, "load") == 0) { } else if (sl_strcasecmp(cmdline, "load") == 0) {
loadNonVolatileWaypointList(); loadNonVolatileWaypointList(true);
} else if (sl_strcasecmp(cmdline, "save") == 0) { } else if (sl_strcasecmp(cmdline, "save") == 0) {
posControl.waypointListValid = false; posControl.waypointListValid = false;
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) { for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
@ -2930,28 +2930,28 @@ static void printImu2Status(void)
cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc); cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc);
cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag); cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag);
cliPrintLine("Calibration gains:"); cliPrintLine("Calibration gains:");
cliPrintLinef( cliPrintLinef(
"Gyro: %d %d %d", "Gyro: %d %d %d",
secondaryImuConfig()->calibrationOffsetGyro[X], secondaryImuConfig()->calibrationOffsetGyro[X],
secondaryImuConfig()->calibrationOffsetGyro[Y], secondaryImuConfig()->calibrationOffsetGyro[Y],
secondaryImuConfig()->calibrationOffsetGyro[Z] secondaryImuConfig()->calibrationOffsetGyro[Z]
); );
cliPrintLinef( cliPrintLinef(
"Acc: %d %d %d", "Acc: %d %d %d",
secondaryImuConfig()->calibrationOffsetAcc[X], secondaryImuConfig()->calibrationOffsetAcc[X],
secondaryImuConfig()->calibrationOffsetAcc[Y], secondaryImuConfig()->calibrationOffsetAcc[Y],
secondaryImuConfig()->calibrationOffsetAcc[Z] secondaryImuConfig()->calibrationOffsetAcc[Z]
); );
cliPrintLinef( cliPrintLinef(
"Mag: %d %d %d", "Mag: %d %d %d",
secondaryImuConfig()->calibrationOffsetMag[X], secondaryImuConfig()->calibrationOffsetMag[X],
secondaryImuConfig()->calibrationOffsetMag[Y], secondaryImuConfig()->calibrationOffsetMag[Y],
secondaryImuConfig()->calibrationOffsetMag[Z] secondaryImuConfig()->calibrationOffsetMag[Z]
); );
cliPrintLinef( cliPrintLinef(
"Radius: %d %d", "Radius: %d %d",
secondaryImuConfig()->calibrationRadiusAcc, secondaryImuConfig()->calibrationRadiusAcc,
secondaryImuConfig()->calibrationRadiusMag secondaryImuConfig()->calibrationRadiusMag
); );
} }

2
src/main/fc/fc_msp.c
View file

@ -2847,7 +2847,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
case MSP_WP_MISSION_LOAD: case MSP_WP_MISSION_LOAD:
sbufReadU8Safe(NULL, src); // Mission ID (reserved) sbufReadU8Safe(NULL, src); // Mission ID (reserved)
if ((dataSize != 1) || (!loadNonVolatileWaypointList())) if ((dataSize != 1) || (!loadNonVolatileWaypointList(false)))
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
break; break;

2
src/main/fc/rc_controls.c
View file

@ -260,7 +260,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
// Load waypoint list // Load waypoint list
if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) { if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
const bool success = loadNonVolatileWaypointList(); const bool success = loadNonVolatileWaypointList(false);
beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL); beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
} }
#endif #endif

6
src/main/navigation/navigation.c
View file

@ -2876,13 +2876,13 @@ int getWaypointCount(void)
} }
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
bool loadNonVolatileWaypointList(void) bool loadNonVolatileWaypointList(bool clearIfLoaded)
{ {
if (ARMING_FLAG(ARMED)) if (ARMING_FLAG(ARMED))
return false; return false;
// if waypoints are already loaded, just unload them. // if forced and waypoints are already loaded, just unload them.
if (posControl.waypointCount > 0) { if (clearIfLoaded && posControl.waypointCount > 0) {
resetWaypointList(); resetWaypointList();
return false; return false;
} }

2
src/main/navigation/navigation.h
View file

@ -467,7 +467,7 @@ bool isWaypointListValid(void);
void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData); void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData);
void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData); void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData);
void resetWaypointList(void); void resetWaypointList(void);
bool loadNonVolatileWaypointList(void); bool loadNonVolatileWaypointList(bool);
bool saveNonVolatileWaypointList(void); bool saveNonVolatileWaypointList(void);
float getFinalRTHAltitude(void); float getFinalRTHAltitude(void);