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Merge pull request #1158 from iNavFlight/msp-position-estimation

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MSP_POSITION_ESTIMATION_CONFIG
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Martin Budden 2017-01-24 10:09:18 +00:00 • committed by GitHub
commit fa50058fac
2 changed files with 37 additions and 0 deletions
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34
src/main/fc/fc_msp.c
View file

@ -1201,6 +1201,28 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif #endif
break; break;
case MSP_POSITION_ESTIMATION_CONFIG:
#ifdef NAV
sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, positionEstimationConfig()->gps_min_sats); // 1 inav_gps_min_sats
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
#else
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
case MSP_REBOOT: case MSP_REBOOT:
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
if (mspPostProcessFn) { if (mspPostProcessFn) {
@ -1652,6 +1674,18 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif #endif
break; break;
case MSP_SET_POSITION_ESTIMATION_CONFIG:
#ifdef NAV
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->gps_min_sats = constrain(sbufReadU8(src), 5, 10);
positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1);
#endif
break;
case MSP_RESET_CONF: case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
resetEEPROM(); resetEEPROM();

3
src/main/msp/msp_protocol.h
View file

@ -111,6 +111,9 @@
#define MSP_CALIBRATION_DATA 14 #define MSP_CALIBRATION_DATA 14
#define MSP_SET_CALIBRATION_DATA 15 #define MSP_SET_CALIBRATION_DATA 15
#define MSP_POSITION_ESTIMATION_CONFIG 16
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17
// //
// MSP commands for Cleanflight original features // MSP commands for Cleanflight original features
// //