feat(msp): add MSP2_INAV_WIND (0x2231) to expose wind estimator

Author: MartinovEm

src/main/fc/fc_msp.c

@@ -131,6 +131,9 @@
 #include "sensors/opflow.h"
 #include "sensors/temperature.h"
 #include "sensors/esc_sensor.h"
+#ifdef USE_WIND_ESTIMATOR
+#include "flight/wind_estimator.h"
+#endif
 
 #include "telemetry/telemetry.h"
 
@@ -1595,6 +1598,19 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
         break;
 
+    case MSP2_INAV_WIND:
+#ifdef USE_WIND_ESTIMATOR
+        {
+            uint16_t windAngle = 0;
+            sbufWriteU16(dst, (uint16_t)getEstimatedHorizontalWindSpeed(&windAngle));
+            sbufWriteU16(dst, windAngle / 100);
+        }
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
+        break;
+
     case MSP2_INAV_MIXER:
         sbufWriteU8(dst, mixerConfig()->motorDirectionInverted);
         sbufWriteU8(dst, 0);

src/main/msp/msp_protocol_v2_inav.h

@@ -132,4 +132,6 @@
 #define MSP2_INAV_SET_WP_INDEX                  0x2221  //in message  jump to waypoint N during active WP mission; payload: U8 wp_index (0-based, relative to mission start)
 #define MSP2_INAV_SET_CRUISE_HEADING            0x2223  //in message  set heading while in Cruise/Course Hold mode; payload: I32 heading_centidegrees (0-35999)
 
-#define MSP2_INAV_SET_AUX_RC                    0x2230
+#define MSP2_INAV_SET_AUX_RC                    0x2230
+
+#define MSP2_INAV_WIND                          0x2231