Revive MSP message for mag declination (#13232)

Add MSP message for mag declination
betaflight · Dec 19, 2023 · 58933f9 · 58933f9
1 parent 15246ee
commit 58933f9
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
@@ -1457,6 +1457,11 @@ case MSP_NAME:
 #endif
         break;
 
+#ifdef USE_MAG
+    case MSP_COMPASS_CONFIG:
+        sbufWriteU16(dst, imuConfig()->mag_declination);
+        break;
+#endif
     // Deprecated in favor of MSP_MOTOR_TELEMETY as of API version 1.42
     // Used by DJI FPV
     case MSP_ESC_SENSOR_DATA:
@@ -2842,7 +2847,15 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
             gpsConfigMutable()->gps_ublox_use_galileo = sbufReadU8(src);
         }
         break;
+#endif
 
+#ifdef USE_MAG
+    case MSP_SET_COMPASS_CONFIG:
+        imuConfigMutable()->mag_declination = sbufReadU16(src);
+        break;
+#endif
+
+#ifdef USE_GPS
 #ifdef USE_GPS_RESCUE
     case MSP_SET_GPS_RESCUE:
         gpsRescueConfigMutable()->maxRescueAngle = sbufReadU16(src);

diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
@@ -280,7 +280,7 @@
 #define MSP_BATTERY_STATE        130    //out message         Connected/Disconnected, Voltage, Current Used
 #define MSP_MOTOR_CONFIG         131    //out message         Motor configuration (min/max throttle, etc)
 #define MSP_GPS_CONFIG           132    //out message         GPS configuration
-//DEPRECATED - #define MSP_COMPASS_CONFIG       133    //out message         Compass configuration
+#define MSP_COMPASS_CONFIG       133    //out message         Compass configuration
 #define MSP_ESC_SENSOR_DATA      134    //out message         Extra ESC data from 32-Bit ESCs (Temperature, RPM)
 #define MSP_GPS_RESCUE           135    //out message         GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
 #define MSP_GPS_RESCUE_PIDS      136    //out message         GPS Rescue throttleP and velocity PIDS + yaw P
@@ -319,7 +319,7 @@
 #define MSP_SET_LED_STRIP_MODECOLOR 221 //in  message         Set LED strip mode_color settings
 #define MSP_SET_MOTOR_CONFIG     222    //out message         Motor configuration (min/max throttle, etc)
 #define MSP_SET_GPS_CONFIG       223    //out message         GPS configuration
-//DEPRECATED - #define MSP_SET_COMPASS_CONFIG   224    //out message         Compass configuration
+#define MSP_SET_COMPASS_CONFIG   224    //out message         Compass configuration
 #define MSP_SET_GPS_RESCUE       225    //in message          GPS Rescue angle, returnAltitude, descentDistance, groundSpeed and sanityChecks
 #define MSP_SET_GPS_RESCUE_PIDS  226    //in message          GPS Rescue throttleP and velocity PIDS + yaw P
 #define MSP_SET_VTXTABLE_BAND    227    //in message          set vtxTable band/channel data (one band at a time)