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NAV: Fixed an option to compile out navigation while still having GPS for telemetry and OSD (home position, distance and bearing is calculated correctly)
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parent
dc3e84ea5b
commit
f026603d8b
10 changed files with 117 additions and 40 deletions
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@ -720,7 +720,7 @@ static bool processOutCommand(uint8_t cmdMSP)
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{
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uint32_t i, tmp, junk;
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#ifdef GPS
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#ifdef NAV
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int8_t msp_wp_no;
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navWaypoint_t msp_wp;
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#endif
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@ -1090,6 +1090,7 @@ static bool processOutCommand(uint8_t cmdMSP)
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serialize16(GPS_directionToHome);
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serialize8(GPS_update & 1);
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break;
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#ifdef NAV
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case MSP_NAV_STATUS:
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headSerialReply(7);
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serialize8(NAV_Status.mode);
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@ -1114,6 +1115,7 @@ static bool processOutCommand(uint8_t cmdMSP)
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serialize16(msp_wp.p3); // P3
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serialize8(msp_wp.flag); // flags
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break;
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#endif
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case MSP_GPSSVINFO:
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headSerialReply(1 + (GPS_numCh * 4));
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serialize8(GPS_numCh);
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@ -1327,7 +1329,7 @@ static bool processInCommand(void)
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uint16_t tmp;
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uint8_t rate;
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#ifdef GPS
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#ifdef NAV
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uint8_t msp_wp_no;
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navWaypoint_t msp_wp;
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#endif
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@ -1614,6 +1616,8 @@ static bool processInCommand(void)
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sensorsSet(SENSOR_GPS);
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onNewGPSData(GPS_coord[LAT], GPS_coord[LON], GPS_altitude, 0, 0, 0, false, false, 9999);
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break;
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#endif
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#ifdef NAV
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case MSP_SET_WP:
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msp_wp_no = read8(); // get the wp number
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msp_wp.action = read8(); // action
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