Fix MSP2_INAV_WIND returning stale non-zero values when invalid

[sensei-hacker]

Summary

Flagged by Qodo's automated review on PR #11761 (a release/9.1 → maintenance-10.x merge PR): MSP2_INAV_WIND's handler in fc_msp.c called getEstimatedHorizontalWindSpeed() unconditionally and only used isEstimatedWindSpeedValid() to set the flags byte, not to gate the actual windSpeed/windAngle values. Confirmed real:

• In wind_estimator.c, estimatedWind[] is written only inside the successful-estimate branch of updateWindEstimator() (the low-pass filter update) — it is never reset when hasValidWindEstimate clears (timeout at 15 min without altitude change, or validityScore decaying to 0 from repeated stale updates).
• So once the estimate goes invalid, getEstimatedHorizontalWindSpeed() keeps returning the last computed value indefinitely, while the flags byte correctly reports invalid.
• This contradicts MSP2_INAV_WIND's own documentation (docs/development/msp/msp_messages.json): "returns zeroes when wind estimation is not compiled in or not yet valid. Check bit 0 of flags before using speed/angle values."
• Every other consumer of this API already follows the "check validity before reading" pattern instead of relying on the estimator to self-zero: io/gps.c, io/osd.c, flight/rth_estimator.c, navigation/navigation.c, flight/imu.c, mavlink/mavlink_streams.c, programming/logic_condition.c, sensors/pitotmeter.c. MSP2_INAV_WIND was the only caller that didn't.

Changes

src/main/fc/fc_msp.c: gate windSpeed/windAngle on isEstimatedWindSpeedValid(), matching the established pattern and the message's documented contract — send 0, 0, flags=0 when invalid, the real values with flags=1 when valid.

Testing

• SITL build (USE_WIND_ESTIMATOR + USE_GPS both active via target/common.h) — compiles cleanly, zero warnings/errors in fc_msp.c or wind_estimator.c.
• Verified by reading wind_estimator.c: estimatedWind[] has exactly one write site (the filter update inside the successful-estimate branch) and no reset path, confirming the staleness is real and not just a theoretical race.
• Grepped every other call site of getEstimatedWindSpeed()/getEstimatedHorizontalWindSpeed()/isEstimatedWindSpeedValid() in src/main to confirm the fix matches the codebase-wide convention rather than introducing a new one.

Targets release/9.1 per this repo's bugfix base-branch convention; will flow forward to maintenance-10.x on the next sync.

[qodo-code-review]

PR Summary by Qodo

MSP2_INAV_WIND: zero wind speed/angle when estimate is invalid

🐞 Bug fix 🕐 10-20 Minutes

AI Description

• Gate MSP2_INAV_WIND speed/angle on wind-estimate validity.
• Return 0/0 with flags=0 when the estimator is invalid.
• Align MSP output with documented message contract and other call sites.

Diagram

graph TD
  A["MSP2_INAV_WIND handler"] --> B{"Wind valid?"}
  B -->|"yes"| C["Read wind estimate"] --> E["Write speed/angle/flags"] --> F["MSP response"]
  B -->|"no"| D["Use zeros"] --> E
  C --> G["Wind estimator"]
  subgraph Legend
    direction LR
    _proc["Process/step"] ~~~ _dec{"Decision"}
  end

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High-Level Assessment

The following are alternative approaches to this PR:

1. Reset estimator outputs when validity clears

• ➕ Eliminates stale reads for any caller that forgets to gate on validity
• ➕ Keeps estimator API safer by default
• ➖ Touches estimator behavior and potentially affects filtering/telemetry semantics
• ➖ Broader regression surface than fixing the single incorrect caller

2. Always compute but force-wire output to zero when invalid (current PR)

• ➕ Matches the MSP message contract directly at the serialization boundary
• ➕ Minimizes scope and aligns with existing codebase convention (check valid before read)
• ➖ Relies on each consumer continuing to gate reads correctly outside MSP

Recommendation: Keep the PR’s approach: gate MSP2_INAV_WIND’s speed/angle on isEstimatedWindSpeedValid() and emit zeros when invalid. It is the smallest change that restores the documented contract and avoids expanding risk into the estimator’s internal lifecycle/state handling.

Files changed (1) +6 / -2

Bug fix (1) +6 / -2

fc_msp.cGate MSP2_INAV_WIND values on validity and zero when invalid +6/-2

Gate MSP2_INAV_WIND values on validity and zero when invalid

• Initializes windSpeed/windFlags to zero and only reads the wind estimator when isEstimatedWindSpeedValid() is true. This prevents MSP2_INAV_WIND from returning stale non-zero values while still indicating invalid via flags.

src/main/fc/fc_msp.c

[qodo-code-review]

Code Review by Qodo

🐞 Bugs (0) 📘 Rule violations (0) 📎 Requirement gaps (0)

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[github-actions]

Test firmware build ready — commit c29dc54

Download firmware for PR #11762

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