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MSP command to get radar position of other planes from esp32radar #10571

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MSP command to get radar position of other planes from esp32radar #10571

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17 changes: 12 additions & 5 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1737,6 +1737,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
#endif

case MSP2_COMMON_GET_RADAR_GPS:
for (uint8_t i = 0; i < RADAR_MAX_POIS; i++){
sbufWriteDataSafe(dst, &radar_pois[i].gps, sizeof(gpsLocation_t));
}
break;

default:
return false;
}
Expand Down Expand Up @@ -1820,7 +1827,7 @@ static mspResult_e mspFcGeozoneVerteciesOutCommand(sbuf_t *dst, sbuf_t *src)
return MSP_RESULT_ACK;
} else {
return MSP_RESULT_ERROR;
}
}
} else {
return MSP_RESULT_ERROR;
}
Expand Down Expand Up @@ -3431,13 +3438,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (!sbufReadU8Safe(&geozoneId, src) || geozoneId >= MAX_GEOZONES_IN_CONFIG) {
return MSP_RESULT_ERROR;
}

geozoneResetVertices(geozoneId, -1);
geoZonesConfigMutable(geozoneId)->type = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->type = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->shape = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->minAltitude = sbufReadU32(src);
geoZonesConfigMutable(geozoneId)->maxAltitude = sbufReadU32(src);
geoZonesConfigMutable(geozoneId)->isSealevelRef = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->maxAltitude = sbufReadU32(src);
geoZonesConfigMutable(geozoneId)->isSealevelRef = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->fenceAction = sbufReadU8(src);
geoZonesConfigMutable(geozoneId)->vertexCount = sbufReadU8(src);
} else {
Expand Down
12 changes: 7 additions & 5 deletions src/main/msp/msp_protocol_v2_common.h
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Expand Up @@ -19,21 +19,23 @@
#define MSP2_COMMON_SET_TZ 0x1002 //in message Sets the TZ offset for the local time (args: minutes(i16))
#define MSP2_COMMON_SETTING 0x1003 //in/out message Returns the value for a setting
#define MSP2_COMMON_SET_SETTING 0x1004 //in message Sets the value for a setting

#define MSP2_COMMON_MOTOR_MIXER 0x1005
#define MSP2_COMMON_SET_MOTOR_MIXER 0x1006

#define MSP2_COMMON_SETTING_INFO 0x1007 //in/out message Returns info about a setting (PG, type, flags, min/max, etc..).
#define MSP2_COMMON_PG_LIST 0x1008 //in/out message Returns a list of the PG ids used by the settings

#define MSP2_COMMON_SERIAL_CONFIG 0x1009
#define MSP2_COMMON_SET_SERIAL_CONFIG 0x100A
// radar commands

// radar commands
#define MSP2_COMMON_SET_RADAR_POS 0x100B //SET radar position information
#define MSP2_COMMON_SET_RADAR_ITD 0x100C //SET radar information to display

#define MSP2_COMMON_SET_MSP_RC_LINK_STATS 0x100D //in message Sets the MSP RC stats
#define MSP2_COMMON_SET_MSP_RC_INFO 0x100E //in message Sets the MSP RC info

#define MSP2_COMMON_GET_RADAR_GPS 0x100F //get radar position for other planes

#define MSP2_BETAFLIGHT_BIND 0x3000
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