Merge pull request #1565 from iNavFlight/de_msp_wp_info

Add MSP_WP_GETINFO command to get waypoint capabilities

src/main/fc/fc_msp.c

@@ -1231,6 +1231,19 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         }
         break;
 
+    case MSP_WP_GETINFO:
+#ifdef NAV
+        sbufWriteU8(dst, 0);                        // Reserved for waypoint capabilities
+        sbufWriteU8(dst, NAV_MAX_WAYPOINTS);        // Maximum number of waypoints supported
+        sbufWriteU8(dst, isWaypointListValid());    // Is current mission valid
+        sbufWriteU8(dst, getWaypointCount());       // Number of waypoints in current mission
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+#endif
+        break;
 
 #ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
     case MSP_SET_4WAY_IF:

src/main/msp/msp_protocol.h

@@ -60,7 +60,7 @@
 #define MSP_PROTOCOL_VERSION                0
 
 #define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   24 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   25 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
 
 #define API_VERSION_LENGTH                  2
 
@@ -116,6 +116,7 @@
 
 #define MSP_WP_MISSION_LOAD             18      // Load mission from NVRAM
 #define MSP_WP_MISSION_SAVE             19      // Save mission to NVRAM
+#define MSP_WP_GETINFO                  20
 
 //
 // MSP commands for Cleanflight original features