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Drop MSP_POSITION_ESTIMATION_CONFIG #9928

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Drop MSP_POSITION_ESTIMATION_CONFIG #9928

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25 changes: 0 additions & 25 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1381,18 +1381,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF

break;

case MSP_POSITION_ESTIMATION_CONFIG:

sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); // inav_w_z_baro_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100); // 2 inav_w_z_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100); // 2 inav_w_z_gps_v float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF

break;

case MSP_REBOOT:
if (!ARMING_FLAG(ARMED)) {
if (mspPostProcessFn) {
Expand Down Expand Up @@ -2419,19 +2407,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;

case MSP_SET_POSITION_ESTIMATION_CONFIG:
if (dataSize == 12) {
positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
} else
return MSP_RESULT_ERROR;
break;

case MSP_RESET_CONF:
if (!ARMING_FLAG(ARMED)) {
suspendRxSignal();
Expand Down
3 changes: 0 additions & 3 deletions src/main/msp/msp_protocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -110,9 +110,6 @@
#define MSP_CALIBRATION_DATA 14
#define MSP_SET_CALIBRATION_DATA 15

#define MSP_POSITION_ESTIMATION_CONFIG 16
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17

#define MSP_WP_MISSION_LOAD 18 // Load mission from NVRAM
#define MSP_WP_MISSION_SAVE 19 // Save mission to NVRAM
#define MSP_WP_GETINFO 20
Expand Down