MSP2_INAV_SET_GVAR#11146
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sensei-hacker merged 1 commit intoiNavFlight:maintenance-9.xfrom Dec 6, 2025
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High-level Suggestion
Add a safety check to prevent the MSP2_INAV_SET_GVAR command from executing if the aircraft is armed. This avoids unintended flight behavior changes caused by modifying Global Variables mid-flight. [High-level, importance: 9]
Solution Walkthrough:
Before:
case MSP2_INAV_SET_GVAR:
if (dataSize != 5) {
return MSP_RESULT_ERROR;
}
{
uint8_t gvarIndex;
if (!sbufReadU8Safe(&gvarIndex, src)) {
return MSP_RESULT_ERROR;
}
const int32_t gvarValue = (int32_t)sbufReadU32(src);
if (gvarIndex >= MAX_GLOBAL_VARIABLES) {
return MSP_RESULT_ERROR;
}
gvSet(gvarIndex, gvarValue);
}
break;After:
case MSP2_INAV_SET_GVAR:
if (ARMING_FLAG(ARMED)) {
return MSP_RESULT_ERROR;
}
if (dataSize != 5) {
return MSP_RESULT_ERROR;
}
{
uint8_t gvarIndex;
if (!sbufReadU8Safe(&gvarIndex, src)) {
return MSP_RESULT_ERROR;
}
const int32_t gvarValue = (int32_t)sbufReadU32(src);
if (gvarIndex >= MAX_GLOBAL_VARIABLES) {
return MSP_RESULT_ERROR;
}
gvSet(gvarIndex, gvarValue);
}
break;
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That would defeat the point
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This looks like it could be useful. The commit seems to include unrelated changes to docs/development/msp/inav_enums_ref.md ? |
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Author
|
Yeah that's from when you run the gen, it scans the source and if there's any change in the enums it will show it |
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User description
There was no way to set a Global Variable through MSP, which seems like a pretty handy thing to have.
PR Type
Enhancement
Description
Add MSP2_INAV_SET_GVAR command for setting Global Variables
Implement handler with validation for gvar index and data size
Update MSP protocol documentation and enum references
Fix documentation source references for sdcard drivers
Diagram Walkthrough
File Walkthrough
fc_msp.c
Implement MSP2_INAV_SET_GVAR command handlersrc/main/fc/fc_msp.c
MSP2_INAV_SET_GVARcommandgvarIndex(uint8_t) andgvarValue(int32_t) from buffergvarIndexagainstMAX_GLOBAL_VARIABLESlimitgvSet()to set the global variable valuemsp_protocol_v2_inav.h
Define MSP2_INAV_SET_GVAR protocol constantsrc/main/msp/msp_protocol_v2_inav.h
MSP2_INAV_SET_GVARmacro definition with code0x2214MSP2_INAV_SET_GEOZONE_VERTEXin protocol definitionsmsp_messages.checksum
Update message definition checksumdocs/development/msp/msp_messages.checksum
MSP2_INAV_SET_GVARmessage additionmsp_messages.json
Document MSP2_INAV_SET_GVAR message structuredocs/development/msp/msp_messages.json
MSP2_INAV_SET_GVARmessage definition with code 8724gvarIndexandvaluefieldsUSE_PROGRAMMING_FRAMEWORKrequirement and validationmsp_ref.md
Add MSP2_INAV_SET_GVAR to reference documentationdocs/development/msp/msp_ref.md
MSP2_INAV_SET_GVARto message index with code 8724inav_enums_ref.md
Update enum documentation and fix referencesdocs/development/msp/inav_enums_ref.md
DEVHW_W25N01Genum name toDEVHW_W25NLOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSETenum withvalue 49
rev
Bump MSP documentation revisiondocs/development/msp/rev