Set altitude target functionality

docs/development/msp/inav_enums_ref.md

@@ -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 |  |
@@ -1994,6 +1994,7 @@
 |---|---:|---|
 | `NAV_WP_TAKEOFF_DATUM` | 0 |  |
 | `NAV_WP_MSL_DATUM` | 1 |  |
+| `NAV_WP_TERRAIN_DATUM` | 2 |  |
 
 ---
 ## <a id="enum-geooriginresetmode_e"></a>`geoOriginResetMode_e`
@@ -2843,6 +2844,7 @@
 | `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`
@@ -2908,7 +2910,8 @@
 | `LOGIC_CONDITION_RESET_MAG_CALIBRATION` | 54 |  |
 | `LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY` | 55 |  |
 | `LOGIC_CONDITION_OVERRIDE_MIN_GROUND_SPEED` | 56 |  |
-| `LOGIC_CONDITION_LAST` | 57 |  |
+| `LOGIC_CONDITION_SET_ALTITUDE_TARGET` | 57 |  |
+| `LOGIC_CONDITION_LAST` | 58 |  |
 
 ---
 ## <a id="enum-logicwaypointoperands_e"></a>`logicWaypointOperands_e`
@@ -4740,7 +4743,7 @@
 ---
 ## <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 |
 |---|---:|---|
@@ -4751,7 +4754,7 @@
 ---
 ## <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 |
 |---|---:|---|

docs/development/msp/msp_messages.checksum

@@ -1 +1 @@
-ca27e198f4405b721ad8a15719e15e5d
+7601652331e47d41941de8efdcb0c1e7

docs/development/msp/msp_messages.json

@@ -10829,6 +10829,61 @@
         "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_ALT_TARGET": {
+        "code": 8725,
+        "mspv": 2,
+        "variable_len": true,
+        "variants": {
+            "get": {
+                "description": "Get current altitude target",
+                "request": {
+                    "payload": null
+                },
+                "reply": {
+                    "payload": [
+                        {
+                            "name": "altitudeDatum",
+                            "ctype": "uint8_t",
+                            "desc": "Default internal reference altitude datum `NAV_WP_TAKEOFF_DATUM`",
+                            "units": "",
+                            "enum": "geoAltitudeDatumFlag_e"
+                        },
+                        {
+                            "name": "altitudeTarget",
+                            "ctype": "int32_t",
+                            "desc": "Current altitude target (`posControl.desiredState.pos.z`)",
+                            "units": "cm"
+                        }
+                    ]
+                }
+            },
+            "set": {
+                "description": "Set new altitude target",
+                "request": {
+                    "payload": [
+                        {
+                            "name": "altitudeDatum",
+                            "ctype": "uint8_t",
+                            "desc": "Altitude reference datum flag (`geoAltitudeDatumFlag_e`): `NAV_WP_TAKEOFF_DATUM`, `NAV_WP_MSL_DATUM`, `NAV_WP_TERRAIN_DATUM` (not implemented yet)",
+                            "units": "",
+                            "enum": "geoAltitudeDatumFlag_e"
+                        },
+                        {
+                            "name": "altitudeTarget",
+                            "ctype": "int32_t",
+                            "desc": "Desired altitude target according to reference datum",
+                            "units": "cm"
+                        }
+                    ]
+                },
+                "reply": {
+                    "payload": null
+                }
+            }
+        },
+        "notes": "Empty request payload returns the current altitude target with datum. Sending a 5-byte payload sets a new target: 1 byte datum, 4 bytes altitude. Command is rejected unless altitude control is active, not landing/emergency landing, altitude estimation is valid, and datum is supported (MSL requires valid GPS origin; TERRAIN is reserved and rejected).",
+        "description": "Get or set the active altitude hold target using updateClimbRateToAltitudeController."
+    },
     "MSP2_INAV_FULL_LOCAL_POSE": {
         "code": 8736,
         "mspv": 2,

docs/development/msp/msp_ref.md

@@ -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** 
 
@@ -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)  
+[8725 - MSP2_INAV_ALT_TARGET](#msp2_inav_alt_target)  
 [8736 - MSP2_INAV_FULL_LOCAL_POSE](#msp2_inav_full_local_pose)  
 [12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)  
 
@@ -4492,6 +4494,35 @@ 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_alt_target"></a>`MSP2_INAV_ALT_TARGET (8725 / 0x2215)`
+**Description:** Get or set the active altitude hold target using updateClimbRateToAltitudeController.  
+#### Variant: `get`
+
+**Description:** Get current altitude target  
+
+**Request Payload:** **None**  
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Units|Description|
+|---|---|---|---|---|
+| `altitudeDatum` | `uint8_t` | 1 | [geoAltitudeDatumFlag_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-geoaltitudedatumflag_e) | Default internal reference altitude datum `NAV_WP_TAKEOFF_DATUM` |
+| `altitudeTarget` | `int32_t` | 4 | cm | Current altitude target (`posControl.desiredState.pos.z`) |
+
+#### Variant: `set`
+
+**Description:** Set new altitude target  
+
+**Request Payload:**
+|Field|C Type|Size (Bytes)|Units|Description|
+|---|---|---|---|---|
+| `altitudeDatum` | `uint8_t` | 1 | [geoAltitudeDatumFlag_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-geoaltitudedatumflag_e) | Altitude reference datum flag (`geoAltitudeDatumFlag_e`): `NAV_WP_TAKEOFF_DATUM`, `NAV_WP_MSL_DATUM`, `NAV_WP_TERRAIN_DATUM` (not implemented yet) |
+| `altitudeTarget` | `int32_t` | 4 | cm | Desired altitude target according to reference datum |
+
+**Reply Payload:** **None**  
+
+
+**Notes:** Empty request payload returns the current altitude target with datum. Sending a 5-byte payload sets a new target: 1 byte datum, 4 bytes altitude. Command is rejected unless altitude control is active, not landing/emergency landing, altitude estimation is valid, and datum is supported (MSL requires valid GPS origin; TERRAIN is reserved and rejected).
+
 ## <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.  
 

docs/development/msp/original_msp_ref.md

@@ -2,7 +2,6 @@
 # WARNING: DEPRECATED, OBSOLETE, FULL OF ERRORS, DO NOT USE AS REFERENCE!!!
 # (OBSOLETE) INAV MSP Messages reference
 
-**Warning: Work in progress**\
 **Generated with Gemini 2.5 Pro Preview O3-25 on source code files**\
 **Verification needed, exercise caution until completely verified for accuracy and cleared**\
 **Refer to source for absolute certainty**

docs/development/msp/rev

@@ -1 +1 @@
-2
+3

src/main/fc/fc_msp.c

@@ -4111,6 +4111,35 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
         *ret = mspFcGeozoneVerteciesOutCommand(dst, src);
         break;
 #endif
+
+#ifdef USE_BARO
+    case MSP2_INAV_ALT_TARGET:
+    {
+        if (dataSize == 0) {
+            sbufWriteU8(dst, NAV_WP_TAKEOFF_DATUM);
+            sbufWriteU32(dst, (uint32_t)lrintf(posControl.desiredState.pos.z));
+            *ret = MSP_RESULT_ACK;
+            break;
+        }
+
+        if (dataSize != (sizeof(int32_t) + sizeof(uint8_t))) {
+            *ret = MSP_RESULT_ERROR;
+            break;
+        }
+
+        const uint8_t datumFlag = sbufReadU8(src);
+        const int32_t targetAltitudeCm = (int32_t)sbufReadU32(src);
+
+        if (!navigationSetAltitudeTargetWithDatum((geoAltitudeDatumFlag_e)datumFlag, targetAltitudeCm)) {
+            *ret = MSP_RESULT_ERROR;
+            break;
+        }
+
+        *ret = MSP_RESULT_ACK;
+        break;
+    }
+#endif
+
 #ifdef USE_SIMULATOR
     case MSP_SIMULATOR:
         tmp_u8 = sbufReadU8(src); // Get the Simulator MSP version

src/main/msp/msp_protocol_v2_inav.h

@@ -123,4 +123,6 @@
 #define MSP2_INAV_GEOZONE_VERTEX                0x2212
 #define MSP2_INAV_SET_GEOZONE_VERTEX            0x2213
 
-#define MSP2_INAV_FULL_LOCAL_POSE               0x2220
+#define MSP2_INAV_ALT_TARGET                0x2215
+
+#define MSP2_INAV_FULL_LOCAL_POSE               0x2220

src/main/navigation/navigation.c

@@ -5201,6 +5201,33 @@ bool navigationIsControllingAltitude(void) {
     return (stateFlags & NAV_CTL_ALT);
 }
 
+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) {
+        return false;
+    }
+
+    float targetAltitudeLocalCm;
+    switch (datumFlag) {
+    case NAV_WP_TAKEOFF_DATUM:
+        targetAltitudeLocalCm = (float)targetAltitudeCm;
+        break;
+    case NAV_WP_MSL_DATUM:
+        if (!posControl.gpsOrigin.valid) {
+            return false;
+        }
+        targetAltitudeLocalCm = (float)(targetAltitudeCm - posControl.gpsOrigin.alt);
+        break;
+    case NAV_WP_TERRAIN_DATUM:
+    default:
+        return false;
+    }
+
+    updateClimbRateToAltitudeController(0.0f, targetAltitudeLocalCm, ROC_TO_ALT_TARGET);
+    return true;
+}
+
 bool navigationIsFlyingAutonomousMode(void)
 {
     navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();

src/main/navigation/navigation.h

@@ -729,7 +729,8 @@ typedef enum {
 
 typedef enum {
     NAV_WP_TAKEOFF_DATUM,
-    NAV_WP_MSL_DATUM
+    NAV_WP_MSL_DATUM,
+    NAV_WP_TERRAIN_DATUM
 } geoAltitudeDatumFlag_e;
 
 // geoSetOrigin stores the location provided in llh as a GPS origin in the
@@ -779,6 +780,7 @@ bool isFixedWingAutoThrottleManuallyIncreased(void);
 bool navigationIsFlyingAutonomousMode(void);
 bool navigationIsExecutingAnEmergencyLanding(void);
 bool navigationIsControllingAltitude(void);
+bool navigationSetAltitudeTargetWithDatum(geoAltitudeDatumFlag_e datumFlag, int32_t targetAltitudeCm);
 /* Returns true if navConfig()->general.flags.rth_allow_landing is NAV_RTH_ALLOW_LANDING_ALWAYS
  * or if it's NAV_RTH_ALLOW_LANDING_FAILSAFE and failsafe mode is active.
  */

src/main/programming/logic_condition.c

@@ -471,6 +471,10 @@ static int logicConditionCompute(
             return true;
             break;
 
+        case LOGIC_CONDITION_SET_ALTITUDE_TARGET:
+            return navigationSetAltitudeTargetWithDatum((geoAltitudeDatumFlag_e)operandA, operandB);
+            break;
+
         case LOGIC_CONDITION_FLIGHT_AXIS_ANGLE_OVERRIDE:
             if (operandA >= 0 && operandA <= 2) {
 

src/main/programming/logic_condition.h

@@ -86,6 +86,7 @@ typedef enum {
     LOGIC_CONDITION_RESET_MAG_CALIBRATION       = 54,
     LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY      = 55,
     LOGIC_CONDITION_OVERRIDE_MIN_GROUND_SPEED   = 56,
+    LOGIC_CONDITION_SET_ALTITUDE_TARGET         = 57,
     LOGIC_CONDITION_LAST
 } logicOperation_e;
 

src/main/telemetry/mavlink.c

@@ -1157,7 +1157,6 @@ static bool handleIncoming_MISSION_REQUEST(void)
     return false;
 }
 
-
 static bool handleIncoming_COMMAND_INT(void)
 {
     mavlink_command_int_t msg;
@@ -1226,6 +1225,45 @@ static bool handleIncoming_COMMAND_INT(void)
             mavlinkSendMessage();
         }
         return true;
+#ifdef USE_BARO
+    } else if (msg.command == MAV_CMD_DO_CHANGE_ALTITUDE) {
+        const float altitudeMeters = msg.param1;
+        const uint8_t frame = (uint8_t)msg.frame;
+
+        geoAltitudeDatumFlag_e datum;
+        switch (frame) {
+        case MAV_FRAME_GLOBAL:
+        case MAV_FRAME_GLOBAL_INT:
+            datum = NAV_WP_MSL_DATUM;
+            break;
+        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
+            datum = NAV_WP_TAKEOFF_DATUM;
+            break;
+        default:
+            mavlink_msg_command_ack_pack(mavSystemId, mavComponentId, &mavSendMsg,
+                                         msg.command,
+                                         MAV_RESULT_UNSUPPORTED,
+                                         0,
+                                         0,
+                                         mavRecvMsg.sysid,
+                                         mavRecvMsg.compid);
+            mavlinkSendMessage();
+            return true;
+        }
+
+        const int32_t targetAltitudeCm = (int32_t)lrintf(altitudeMeters * 100.0f);
+        const bool accepted = navigationSetAltitudeTargetWithDatum(datum, targetAltitudeCm);
+        mavlink_msg_command_ack_pack(mavSystemId, mavComponentId, &mavSendMsg,
+                                     msg.command,
+                                     accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_DENIED,
+                                     0,
+                                     0,
+                                     mavRecvMsg.sysid,
+                                     mavRecvMsg.compid);
+        mavlinkSendMessage();
+        return true;
+#endif
     }
     return false;
 }
@@ -1355,7 +1393,7 @@ static bool processMAVLinkIncomingTelemetry(void)
                 //TODO:
                 //case MAVLINK_MSG_ID_COMMAND_LONG; //up to 7 float parameters
                     //return handleIncoming_COMMAND_LONG();
-                
+
                 case MAVLINK_MSG_ID_COMMAND_INT: //7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers
                     return handleIncoming_COMMAND_INT();
                 case MAVLINK_MSG_ID_MISSION_REQUEST: