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SET_ALT fixes and tightening #11491

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SET_ALT fixes and tightening #11491

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4c8d068
change def guard and clean MSP decode
xznhj8129 Feb 26, 2026
6523701
Refine set alt acceptance policy
xznhj8129 Apr 11, 2026
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7 changes: 4 additions & 3 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -4218,14 +4218,15 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
break;
#endif

#ifdef USE_BARO
#ifdef USE_GPS
case MSP2_INAV_SET_ALT_TARGET:
if (dataSize != (sizeof(int32_t) + sizeof(uint8_t))) {
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@qodo-code-review qodo-code-review bot Apr 11, 2026

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2. Msp set_alt gps-gated 🐞 Bug ≡ Correctness

MSP2_INAV_SET_ALT_TARGET is now compiled only when USE_GPS is defined, which removes MSP
altitude-target control from barometer-only builds. This is a functional regression because
navigationSetAltitudeTargetWithDatum() supports NAV_WP_TAKEOFF_DATUM without requiring GPS
origin.
Agent Prompt 
### Issue description
`MSP2_INAV_SET_ALT_TARGET` is now wrapped in `#ifdef USE_GPS`, which disables MSP altitude-target changes for barometer-only builds even though `navigationSetAltitudeTargetWithDatum()` supports `NAV_WP_TAKEOFF_DATUM` without GPS.

### Issue Context
`navigationSetAltitudeTargetWithDatum()` only requires `posControl.gpsOrigin.valid` for the MSL datum path; the takeoff datum path is GPS-independent. Also, altitude estimation can be valid without a GPS fix.

### Fix Focus Areas
- Update the compile guard to allow non-GPS altitude sources (e.g., `#if defined(USE_BARO) || defined(USE_GPS)`), or otherwise ensure the handler is available whenever `navigationSetAltitudeTargetWithDatum()` is linked.

- src/main/fc/fc_msp.c[4221-4236]
- src/main/navigation/navigation.c[5204-5236]

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

*ret = MSP_RESULT_ERROR;
break;
}

if (navigationSetAltitudeTargetWithDatum((geoAltitudeDatumFlag_e)sbufReadU8(src), (int32_t)sbufReadU32(src))) {
uint8_t setAltDatum = (geoAltitudeDatumFlag_e)sbufReadU8(src);
int32_t setNewAlt = sbufReadU32(src);
if (navigationSetAltitudeTargetWithDatum(setAltDatum, setNewAlt)) {
Comment on lines +4227 to +4229
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Action required

1. setnewalt lacks validation 📘 Rule violation ≡ Correctness

The MSP handler assigns sbufReadU32(src) into int32_t setNewAlt without validating it fits in
int32_t, so a crafted payload can trigger implementation-defined signed conversion rather than a
deterministic error. External input fields (setAltDatum, altitude) should be range/enum-validated
before use and rejected with a specific error result.
Agent Prompt 
## Issue description
`MSP2_INAV_SET_ALT_TARGET` reads external payload fields (`datum`, `altitude`) but does not validate that `sbufReadU32()` fits into `int32_t` (deterministic failure) and does not validate `datum` values before calling `navigationSetAltitudeTargetWithDatum`.

## Issue Context
C signed conversion from an out-of-range `uint32_t` to `int32_t` is implementation-defined, which violates the requirement to handle malformed inputs deterministically.

## Fix Focus Areas
- src/main/fc/fc_msp.c[4227-4229]

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

*ret = MSP_RESULT_ACK;
break;
}
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9 changes: 8 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5204,7 +5204,14 @@ bool navigationIsControllingAltitude(void) {
bool navigationSetAltitudeTargetWithDatum(geoAltitudeDatumFlag_e datumFlag, int32_t targetAltitudeCm)
{
const navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
if (!(stateFlags & NAV_CTL_ALT) || (stateFlags & NAV_CTL_LAND) || navigationIsExecutingAnEmergencyLanding() || posControl.flags.estAltStatus == EST_NONE) {
if (!(stateFlags & NAV_CTL_ALT) ||
(stateFlags & NAV_CTL_LAND) ||
navigationIsExecutingAnEmergencyLanding() ||
posControl.flags.estAltStatus == EST_NONE ||
(stateFlags & NAV_MIXERAT) ||
FLIGHT_MODE(NAV_FW_AUTOLAND) ||
FLIGHT_MODE(NAV_SEND_TO) ||
((stateFlags & NAV_AUTO_RTH) && posControl.navState != NAV_STATE_RTH_HEAD_HOME)) {
return false;
}

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2 changes: 1 addition & 1 deletion src/main/telemetry/mavlink.c
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Expand Up @@ -1215,7 +1215,7 @@ static bool handleIncoming_COMMAND_INT(void)
mavlinkSendMessage();
}
} else {
#ifdef USE_BARO
#ifdef USE_GPS
if (msg.command == MAV_CMD_DO_CHANGE_ALTITUDE) {
const float altitudeMeters = msg.param1;
const uint8_t frame = (uint8_t)msg.frame;
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Action required

3. Mavlink set_alt gps-gated 🐞 Bug ≡ Correctness

MAV_CMD_DO_CHANGE_ALTITUDE handling is now compiled only when USE_GPS is defined, causing
barometer-only builds to always respond UNSUPPORTED to altitude-change commands. This breaks the
MAV_FRAME_GLOBAL_RELATIVE_ALT path which maps to takeoff datum and does not require GPS origin.
Agent Prompt 
### Issue description
`MAV_CMD_DO_CHANGE_ALTITUDE` support is now wrapped in `#ifdef USE_GPS`, which disables the command even for takeoff-datum (relative altitude) changes that do not require GPS origin.

### Issue Context
The MAVLink handler maps `MAV_FRAME_GLOBAL_RELATIVE_ALT` / `_INT` to `NAV_WP_TAKEOFF_DATUM` and then calls `navigationSetAltitudeTargetWithDatum()`. That navigation function only requires GPS origin for MSL datum.

### Fix Focus Areas
- Change the compile guard to include barometer-only builds (e.g., `#if defined(USE_BARO) || defined(USE_GPS)`) or otherwise align it with when altitude control is available.

- src/main/telemetry/mavlink.c[1218-1257]
- src/main/navigation/navigation.c[5204-5236]

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools

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