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@ -900,6 +900,20 @@ var mspHelper = (function (gui) {
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console.log('NAV_POSHOLD saved');
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break;
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case MSPCodes.MSP_POSITION_ESTIMATION_CONFIG:
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POSITION_ESTIMATOR.w_z_baro_p = data.getUint16(0, true);
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POSITION_ESTIMATOR.w_z_gps_p = data.getUint16(2, true);
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POSITION_ESTIMATOR.w_z_gps_v = data.getUint16(4, true);
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POSITION_ESTIMATOR.w_xy_gps_p = data.getUint16(6, true);
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POSITION_ESTIMATOR.w_xy_gps_v = data.getUint16(8, true);
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POSITION_ESTIMATOR.gps_min_sats = data.getUint8(10);
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POSITION_ESTIMATOR.use_gps_velned = data.getUint8(11);
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break;
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case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
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console.log('POSITION_ESTIMATOR saved');
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break;
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case MSPCodes.MSP_SET_MODE_RANGE:
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console.log('Mode range saved');
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break;
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@ -1219,6 +1233,26 @@ var mspHelper = (function (gui) {
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buffer.push(highByte(NAV_POSHOLD.hoverThrottle));
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break;
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case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
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buffer.push(lowByte(POSITION_ESTIMATOR.w_z_baro_p));
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buffer.push(highByte(POSITION_ESTIMATOR.w_z_baro_p));
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buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_p));
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buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_p));
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buffer.push(lowByte(POSITION_ESTIMATOR.w_z_gps_v));
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buffer.push(highByte(POSITION_ESTIMATOR.w_z_gps_v));
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buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_p));
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buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_p));
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buffer.push(lowByte(POSITION_ESTIMATOR.w_xy_gps_v));
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buffer.push(highByte(POSITION_ESTIMATOR.w_xy_gps_v));
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buffer.push(POSITION_ESTIMATOR.gps_min_sats);
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buffer.push(POSITION_ESTIMATOR.use_gps_velned);
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break;
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case MSPCodes.MSP_SET_FILTER_CONFIG:
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buffer.push(FILTER_CONFIG.gyroSoftLpfHz);
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