Add three new MSP2 commands for GCS-initiated flight control#11462
Add three new MSP2 commands for GCS-initiated flight control#11462danarrib wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
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Maintenance 9.x to master
Adds three new write-only MSP2 commands that allow a ground control
station to interact with an active INAV navigation session without
requiring direct RC transmitter input:
MSP2_INAV_SET_WP_INDEX (0x2221)
Jump to a specific waypoint during an active WP mission.
Payload: U8 wp_index (0-based, relative to mission start waypoint).
Preconditions: aircraft must be armed and NAV_WP_MODE must be active.
Transitions any active waypoint FSM state back to PRE_ACTION so
INAV re-initialises navigation for the new target waypoint.
MSP2_INAV_SET_ALT_TARGET (0x2222)
Set a new target altitude while altitude-controlled navigation is active.
Payload: I32 altitude_cm (centimetres, relative to home).
Preconditions: aircraft must be armed and NAV_CTL_ALT must be active.
Calls updateClimbRateToAltitudeController() which works for both
multicopter and fixed-wing platforms.
MSP2_INAV_SET_CRUISE_HEADING (0x2223)
Set the heading target while Cruise or Course Hold mode is active.
Payload: I32 heading_centidegrees (0–35999).
Preconditions: aircraft must be armed and NAV_COURSE_HOLD_MODE must
be active. Sets both posControl.cruise.course and previousCourse to
prevent spurious heading adjustments on the next control cycle.
Implementation details:
- New FSM event NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_JUMP aliases
NAV_FSM_EVENT_STATE_SPECIFIC_4 (safe: WP and RTH states never
overlap so the same underlying integer can be reused in both groups).
- FSM transitions added for PRE_ACTION, IN_PROGRESS, REACHED,
HOLD_TIME and FINISHED states, all routing to PRE_ACTION.
- Three new public functions declared in navigation.h and implemented
in navigation.c: navSetActiveWaypointIndex(), navSetDesiredAltitude(),
navSetCruiseHeading().
- MSP handlers added in fc_msp.c; all return MSP_RESULT_ERROR if the
aircraft is not in a compatible state.
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Just a little bit of context: Bullet GCSS (my internet-based Ground Station System) will have this feature of setting a new altitude, a new course and jump for waypoints during a mission. 
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Test firmware build ready — commit Download firmware for PR #11462 228 targets built. Find your board's
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@stronnag and @xznhj8129 have some deeper knowledge of MSP and any potential traps. Do either of you have any comment? |
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Oh this is awesome work you're doing, but we just did add SET_ALT_TARGET and SET_HEAD in 10.x #11230 |
Ok, that's nice. Yeah, I'm targeting 9.x-maintenance because none of the changes are breaking changes, so they could slip into a minor or patch release just fine. What do you suggest me to do? Should I change this PR to just add the MSP2_INAV_SET_WP_INDEX, and remove the other 2 commands (and then we wait for version 10 to use the feature)? |
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Ah i'm not sure myself, i struggle sometimes to figure out what's breaking or not, i targeted 10 to stay safe; maybe @sensei-hacker could enlighten us? I wonder if we could patch in the 10x part for next update |
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Adds three new write-only MSP2 commands that allow a ground control station to interact with an active INAV navigation session without requiring direct RC transmitter input:
MSP2_INAV_SET_WP_INDEX (0x2221)
Jump to a specific waypoint during an active WP mission.
Payload: U8 wp_index (0-based, relative to mission start waypoint).
Preconditions: aircraft must be armed and NAV_WP_MODE must be active.
Transitions any active waypoint FSM state back to PRE_ACTION so
INAV re-initialises navigation for the new target waypoint.
MSP2_INAV_SET_ALT_TARGET (0x2222)
Set a new target altitude while altitude-controlled navigation is active.
Payload: I32 altitude_cm (centimetres, relative to home).
Preconditions: aircraft must be armed and NAV_CTL_ALT must be active.
Calls updateClimbRateToAltitudeController() which works for both
multicopter and fixed-wing platforms.
MSP2_INAV_SET_CRUISE_HEADING (0x2223)
Set the heading target while Cruise or Course Hold mode is active.
Payload: I32 heading_centidegrees (0–35999).
Preconditions: aircraft must be armed and NAV_COURSE_HOLD_MODE must
be active. Sets both posControl.cruise.course and previousCourse to
prevent spurious heading adjustments on the next control cycle.
Implementation details: