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Merged
sensei-hacker merged 1 commit into from
Dec 6, 2025
Merged

MSP2_INAV_SET_GVAR #11146

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7 changes: 4 additions & 3 deletions docs/development/msp/inav_enums_ref.md
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Expand Up @@ -1385,7 +1385,7 @@
| `DEVHW_MS4525` | 49 | |
| `DEVHW_DLVR` | 50 | |
| `DEVHW_M25P16` | 51 | |
| `DEVHW_W25N01G` | 52 | |
| `DEVHW_W25N` | 52 | |
| `DEVHW_UG2864` | 53 | |
| `DEVHW_SDCARD` | 54 | |
| `DEVHW_IRLOCK` | 55 | |
Expand Down Expand Up @@ -2843,6 +2843,7 @@
| `LOGIC_CONDITION_OPERAND_FLIGHT_MIN_GROUND_SPEED` | 46 | |
| `LOGIC_CONDITION_OPERAND_FLIGHT_HORIZONTAL_WIND_SPEED` | 47 | |
| `LOGIC_CONDITION_OPERAND_FLIGHT_WIND_DIRECTION` | 48 | |
| `LOGIC_CONDITION_OPERAND_FLIGHT_RELATIVE_WIND_OFFSET` | 49 | |

---
## <a id="enum-logicoperation_e"></a>`logicOperation_e`
Expand Down Expand Up @@ -4740,7 +4741,7 @@
---
## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`

> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c
> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c

| Enumerator | Value | Condition |
|---|---:|---|
Expand All @@ -4751,7 +4752,7 @@
---
## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`

> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c
> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c

| Enumerator | Value | Condition |
|---|---:|---|
Expand Down
2 changes: 1 addition & 1 deletion docs/development/msp/msp_messages.checksum
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@@ -1 +1 @@
ca27e198f4405b721ad8a15719e15e5d
7db80f38dda2265704e7852630a02a83
23 changes: 23 additions & 0 deletions docs/development/msp/msp_messages.json
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Expand Up @@ -10829,6 +10829,29 @@
"notes": "Requires `USE_GEOZONE`. Expects 10 bytes (Polygon) or 14 bytes (Circular). Returns error if indexes invalid or if trying to set vertex beyond `vertexCount` defined in `MSP2_INAV_SET_GEOZONE`. Calls `geozoneSetVertex()`. For circular zones, sets center (vertex 0) and radius (vertex 1's latitude).",
"description": "Sets a specific vertex (or center+radius for circular zones) for a Geozone."
},
"MSP2_INAV_SET_GVAR": {
"code": 8724,
"mspv": 2,
"request": {
"payload": [
{
"name": "gvarIndex",
"ctype": "uint8_t",
"desc": "Index of the Global Variable to set",
"units": "Index"
},
{
"name": "value",
"ctype": "int32_t",
"desc": "New value to store (clamped to configured min/max by `gvSet()`)",
"units": ""
}
]
},
"reply": null,
"notes": "Requires `USE_PROGRAMMING_FRAMEWORK`. Expects 5 bytes. Returns error if index is outside `MAX_GLOBAL_VARIABLES`.",
"description": "Sets the specified Global Variable (GVAR) to the provided value."
},
"MSP2_INAV_FULL_LOCAL_POSE": {
"code": 8736,
"mspv": 2,
Expand Down
17 changes: 16 additions & 1 deletion docs/development/msp/msp_ref.md
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Expand Up @@ -10,7 +10,8 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
For current generation code, see [documentation project](https://github.com/xznhj8129/msp_documentation) (temporary until official implementation)


**JSON file rev: 2**
**JSON file rev: 3
**

**Warning: Verification needed, exercise caution until completely verified for accuracy and cleared, especially for integer signs. Source-based generation/validation is forthcoming. Refer to source for absolute certainty**

Expand Down Expand Up @@ -411,6 +412,7 @@ For current generation code, see [documentation project](https://github.com/xznh
[8721 - MSP2_INAV_SET_GEOZONE](#msp2_inav_set_geozone)
[8722 - MSP2_INAV_GEOZONE_VERTEX](#msp2_inav_geozone_vertex)
[8723 - MSP2_INAV_SET_GEOZONE_VERTEX](#msp2_inav_set_geozone_vertex)
[8724 - MSP2_INAV_SET_GVAR](#msp2_inav_set_gvar)
[8736 - MSP2_INAV_FULL_LOCAL_POSE](#msp2_inav_full_local_pose)
[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)

Expand Down Expand Up @@ -4492,6 +4494,19 @@ For current generation code, see [documentation project](https://github.com/xznh

**Notes:** Requires `USE_GEOZONE`. Expects 10 bytes (Polygon) or 14 bytes (Circular). Returns error if indexes invalid or if trying to set vertex beyond `vertexCount` defined in `MSP2_INAV_SET_GEOZONE`. Calls `geozoneSetVertex()`. For circular zones, sets center (vertex 0) and radius (vertex 1's latitude).

## <a id="msp2_inav_set_gvar"></a>`MSP2_INAV_SET_GVAR (8724 / 0x2214)`
**Description:** Sets the specified Global Variable (GVAR) to the provided value.

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `gvarIndex` | `uint8_t` | 1 | Index | Index of the Global Variable to set |
| `value` | `int32_t` | 4 | - | New value to store (clamped to configured min/max by `gvSet()`) |

**Reply Payload:** **None**

**Notes:** Requires `USE_PROGRAMMING_FRAMEWORK`. Expects 5 bytes. Returns error if index is outside `MAX_GLOBAL_VARIABLES`.

## <a id="msp2_inav_full_local_pose"></a>`MSP2_INAV_FULL_LOCAL_POSE (8736 / 0x2220)`
**Description:** Provides estimates of current attitude, local NEU position, and velocity.

Expand Down
2 changes: 1 addition & 1 deletion docs/development/msp/rev
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2
3
17 changes: 17 additions & 0 deletions src/main/fc/fc_msp.c
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@qodo-code-review qodo-code-review bot Nov 29, 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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@xznhj8129 xznhj8129 Nov 29, 2025

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That would defeat the point

Original file line number Diff line number Diff line change
Expand Up @@ -2340,6 +2340,23 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;

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;
#endif
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);
Expand Down
3 changes: 2 additions & 1 deletion src/main/msp/msp_protocol_v2_inav.h
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Expand Up @@ -122,5 +122,6 @@
#define MSP2_INAV_SET_GEOZONE 0x2211
#define MSP2_INAV_GEOZONE_VERTEX 0x2212
#define MSP2_INAV_SET_GEOZONE_VERTEX 0x2213
#define MSP2_INAV_SET_GVAR 0x2214

#define MSP2_INAV_FULL_LOCAL_POSE 0x2220
#define MSP2_INAV_FULL_LOCAL_POSE 0x2220