MSP2_INAV_SET_GVAR

[xznhj8129]

User description

There was no way to set a Global Variable through MSP, which seems like a pretty handy thing to have.

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PR Type

Enhancement

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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

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Diagram Walkthrough

flowchart LR
  MSP["MSP2_INAV_SET_GVAR<br/>Command 0x2214"]
  Handler["Handler validates<br/>gvarIndex & dataSize"]
  GVSet["gvSet function<br/>sets GVAR value"]
  MSP -->|"5 bytes payload"| Handler
  Handler -->|"index valid"| GVSet
  Handler -->|"invalid"| Error["Return MSP_RESULT_ERROR"]

Loading

File Walkthrough

	Relevant files
Enhancement	fc_msp.c Implement MSP2_INAV_SET_GVAR command handler                          src/main/fc/fc_msp.c Added new case handler for MSP2_INAV_SET_GVAR command Validates payload size is exactly 5 bytes Reads gvarIndex (uint8_t) and gvarValue (int32_t) from buffer Checks gvarIndex against MAX_GLOBAL_VARIABLES limit Calls gvSet() to set the global variable value +17/-0
Configuration changes	msp_protocol_v2_inav.h Define MSP2_INAV_SET_GVAR protocol constant                            src/main/msp/msp_protocol_v2_inav.h Added MSP2_INAV_SET_GVAR macro definition with code 0x2214 Positioned after MSP2_INAV_SET_GEOZONE_VERTEX in protocol definitions Fixed newline at end of file +2/-1      msp_messages.checksum Update message definition checksum                                              docs/development/msp/msp_messages.checksum Updated checksum to reflect new MSP2_INAV_SET_GVAR message addition +1/-1
Documentation	msp_messages.json Document MSP2_INAV_SET_GVAR message structure                        docs/development/msp/msp_messages.json Added complete MSP2_INAV_SET_GVAR message definition with code 8724 Documented request payload with gvarIndex and value fields Added notes about USE_PROGRAMMING_FRAMEWORK requirement and validation Updated checksum to reflect new message definition +23/-0    msp_ref.md Add MSP2_INAV_SET_GVAR to reference documentation                docs/development/msp/msp_ref.md Added MSP2_INAV_SET_GVAR to message index with code 8724 Added detailed documentation section with request/reply payload tables Included notes about requirements and validation behavior Updated JSON file revision from 2 to 3 +16/-1    inav_enums_ref.md Update enum documentation and fix references                          docs/development/msp/inav_enums_ref.md Fixed DEVHW_W25N01G enum name to DEVHW_W25N Added LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET enum with value 49 Corrected sdcard driver source file references (swapped spi/sdio) +4/-3      rev Bump MSP documentation revision                                                    docs/development/msp/rev Incremented MSP documentation revision from 2 to 3 +1/-1

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[qodo-merge-pro]

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[qodo-merge-pro]

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;

[xznhj8129]

That would defeat the point