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separate the nav climb rate settings for fw and mc

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This commit is contained in:
shota 2023-10-29 17:04:56 +09:00
parent 692c61cff9
commit a0f353eb49
7 changed files with 44 additions and 31 deletions
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12
src/main/fc/fc_msp.c
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@ -1310,9 +1310,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_NAV_POSHOLD:
sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
sbufWriteU16(dst, navConfig()->general.max_auto_speed);
sbufWriteU16(dst, navConfig()->general.max_auto_climb_rate);
sbufWriteU16(dst, navConfig()->mc.max_auto_climb_rate);
sbufWriteU16(dst, navConfig()->general.max_manual_speed);
sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
sbufWriteU16(dst, mixerConfig()->platformType != PLATFORM_AIRPLANE ? navConfig()->mc.max_manual_climb_rate:navConfig()->fw.max_manual_climb_rate);
sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
sbufWriteU8(dst, navConfig()->mc.althold_throttle_type);
sbufWriteU16(dst, currentBatteryProfile->nav.mc.hover_throttle);
@ -2321,9 +2321,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize == 13) {
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
navConfigMutable()->mc.max_auto_climb_rate = sbufReadU16(src);
navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
if (mixerConfig()->platformType != PLATFORM_AIRPLANE) {
navConfigMutable()->mc.max_manual_climb_rate = sbufReadU16(src);
}else{
navConfigMutable()->fw.max_manual_climb_rate = sbufReadU16(src);
}
navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
navConfigMutable()->mc.althold_throttle_type = sbufReadU8(src);
currentBatteryProfileMutable->nav.mc.hover_throttle = sbufReadU16(src);