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feat(msp): add MSP2_INAV_WIND (0x2231) to expose wind estimator #11508

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feat(msp): add MSP2_INAV_WIND (0x2231) to expose wind estimator #11508

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16 changes: 16 additions & 0 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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"

Expand Down Expand Up @@ -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);
Expand Down
4 changes: 3 additions & 1 deletion src/main/msp/msp_protocol_v2_inav.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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