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SET_ALT fixes and tightening #11491

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SET_ALT fixes and tightening #11491

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4c8d068
change def guard and clean MSP decode
xznhj8129 Feb 26, 2026
6523701
Refine set alt acceptance policy
xznhj8129 Apr 11, 2026
056cf9b
USE_BARO or USE_GPS for guards
xznhj8129 May 20, 2026
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7 changes: 4 additions & 3 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -4218,14 +4218,15 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
break;
#endif

#ifdef USE_BARO
#if defined(USE_BARO) || defined(USE_GPS)
case MSP2_INAV_SET_ALT_TARGET:
if (dataSize != (sizeof(int32_t) + sizeof(uint8_t))) {
*ret = MSP_RESULT_ERROR;
break;
}

if (navigationSetAltitudeTargetWithDatum((geoAltitudeDatumFlag_e)sbufReadU8(src), (int32_t)sbufReadU32(src))) {
uint8_t setAltDatum = (geoAltitudeDatumFlag_e)sbufReadU8(src);
int32_t setNewAlt = sbufReadU32(src);
if (navigationSetAltitudeTargetWithDatum(setAltDatum, setNewAlt)) {
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*ret = MSP_RESULT_ACK;
break;
}
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9 changes: 8 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5204,7 +5204,14 @@ bool navigationIsControllingAltitude(void) {
bool navigationSetAltitudeTargetWithDatum(geoAltitudeDatumFlag_e datumFlag, int32_t targetAltitudeCm)
{
const navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
if (!(stateFlags & NAV_CTL_ALT) || (stateFlags & NAV_CTL_LAND) || navigationIsExecutingAnEmergencyLanding() || posControl.flags.estAltStatus == EST_NONE) {
if (!(stateFlags & NAV_CTL_ALT) ||
(stateFlags & NAV_CTL_LAND) ||
navigationIsExecutingAnEmergencyLanding() ||
posControl.flags.estAltStatus == EST_NONE ||
(stateFlags & NAV_MIXERAT) ||
FLIGHT_MODE(NAV_FW_AUTOLAND) ||
FLIGHT_MODE(NAV_SEND_TO) ||
((stateFlags & NAV_AUTO_RTH) && posControl.navState != NAV_STATE_RTH_HEAD_HOME)) {
return false;
}

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2 changes: 1 addition & 1 deletion src/main/telemetry/mavlink.c
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Expand Up @@ -1215,7 +1215,7 @@ static bool handleIncoming_COMMAND_INT(void)
mavlinkSendMessage();
}
} else {
#ifdef USE_BARO
#if defined(USE_BARO) || defined(USE_GPS)
if (msg.command == MAV_CMD_DO_CHANGE_ALTITUDE) {
const float altitudeMeters = msg.param1;
const uint8_t frame = (uint8_t)msg.frame;
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