From 0d97d05c59150cedf184cc991de50fd167609cc1 Mon Sep 17 00:00:00 2001 From: Emiliyan Martinov Date: Sat, 20 Jun 2026 21:19:20 +0300 Subject: [PATCH] msp: append navDesiredHeading to MSP_NAV_STATUS Append the nav guidance course/track (navDesiredHeading, centidegrees) as a u16 at the end of MSP_NAV_STATUS. It is the flight controller's own desired course output and is not derivable by a client (see PR description). It is an already-maintained exported global, so no new getter is added, and it is appended at the tail, so existing consumers that read the old 7-byte reply are unaffected. Also remove the long-dead commented-out target_bearing write. --- src/main/fc/fc_msp.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index e5cfe7e81e8..239a188a574 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1035,8 +1035,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU8(dst, NAV_Status.activeWpAction); sbufWriteU8(dst, NAV_Status.activeWpNumber); sbufWriteU8(dst, NAV_Status.error); - //sbufWriteU16(dst, (int16_t)(target_bearing/100)); sbufWriteU16(dst, getHeadingHoldTarget()); + sbufWriteU16(dst, navDesiredHeading); // guidance course/track (centideg) break;