diff --git a/src/main/io/msp_protocol.h b/src/main/io/msp_protocol.h new file mode 100644 index 000000000..a1c95c8b5 --- /dev/null +++ b/src/main/io/msp_protocol.h @@ -0,0 +1,289 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +/** + * MSP Guidelines, emphasis is used to clarify. + * + * Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed. + * + * If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier. + * + * NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version + * if the API doesn't match EXACTLY. + * + * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command. + * If no response is obtained then client MAY try the legacy MSP_IDENT command. + * + * API consumers should ALWAYS handle communication failures gracefully and attempt to continue + * without the information if possible. Clients MAY log/display a suitable message. + * + * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION. + * + * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time + * the API client was written and handle command failures gracefully. Clients MAY disable + * functionality that depends on the commands while still leaving other functionality intact. + * that the newer API version may cause problems before using API commands that change FC state. + * + * It is for this reason that each MSP command should be specific as possible, such that changes + * to commands break as little functionality as possible. + * + * API client authors MAY use a compatibility matrix/table when determining if they can support + * a given command from a given flight controller at a given api version level. + * + * Developers MUST NOT create new MSP commands that do more than one thing. + * + * Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools + * that use the API and the users of those tools. + */ + +#pragma once + +/* Protocol numbers used both by the wire format, config system, and + field setters. +*/ + +#define MSP_PROTOCOL_VERSION 0 + +#define API_VERSION_MAJOR 1 // increment when major changes are made +#define API_VERSION_MINOR 20 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR + +#define API_VERSION_LENGTH 2 + +#define MULTIWII_IDENTIFIER "MWII"; +#define CLEANFLIGHT_IDENTIFIER "CLFL" +#define BETAFLIGHT_IDENTIFIER "BTFL" +#define BASEFLIGHT_IDENTIFIER "BAFL"; + +#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4 +extern const char * const flightControllerIdentifier; + +#define FLIGHT_CONTROLLER_VERSION_LENGTH 3 +#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF + +static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; +#define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used. +#define BOARD_HARDWARE_REVISION_LENGTH 2 + +// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version. +#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31) +#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30) + +// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask. +#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31) +#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30) +#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29) +#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28) + +#define CAP_DYNBALANCE ((uint32_t)1 << 2) +#define CAP_FLAPS ((uint32_t)1 << 3) +#define CAP_NAVCAP ((uint32_t)1 << 4) +#define CAP_EXTAUX ((uint32_t)1 << 5) + +#define MSP_API_VERSION 1 //out message +#define MSP_FC_VARIANT 2 //out message +#define MSP_FC_VERSION 3 //out message +#define MSP_BOARD_INFO 4 //out message +#define MSP_BUILD_INFO 5 //out message + +#define MSP_NAME 10 +#define MSP_SET_NAME 11 + + +// +// MSP commands for Cleanflight original features +// +#define MSP_MODE_RANGES 34 //out message Returns all mode ranges +#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range + +#define MSP_FEATURE 36 +#define MSP_SET_FEATURE 37 + +#define MSP_BOARD_ALIGNMENT 38 +#define MSP_SET_BOARD_ALIGNMENT 39 + +#define MSP_CURRENT_METER_CONFIG 40 +#define MSP_SET_CURRENT_METER_CONFIG 41 + +#define MSP_MIXER 42 +#define MSP_SET_MIXER 43 + +#define MSP_RX_CONFIG 44 +#define MSP_SET_RX_CONFIG 45 + +#define MSP_LED_COLORS 46 +#define MSP_SET_LED_COLORS 47 + +#define MSP_LED_STRIP_CONFIG 48 +#define MSP_SET_LED_STRIP_CONFIG 49 + +#define MSP_RSSI_CONFIG 50 +#define MSP_SET_RSSI_CONFIG 51 + +#define MSP_ADJUSTMENT_RANGES 52 +#define MSP_SET_ADJUSTMENT_RANGE 53 + +// private - only to be used by the configurator, the commands are likely to change +#define MSP_CF_SERIAL_CONFIG 54 +#define MSP_SET_CF_SERIAL_CONFIG 55 + +#define MSP_VOLTAGE_METER_CONFIG 56 +#define MSP_SET_VOLTAGE_METER_CONFIG 57 + +#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm] + +#define MSP_PID_CONTROLLER 59 +#define MSP_SET_PID_CONTROLLER 60 + +#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters +#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters + +// +// Baseflight MSP commands (if enabled they exist in Cleanflight) +// +#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total) +#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP + +// FIXME - Provided for backwards compatibility with configurator code until configurator is updated. +// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead. +#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere +#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save + +#define MSP_REBOOT 68 //in message reboot settings + +// DEPRECATED - Use MSP_BUILD_INFO instead +#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion + + +#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip +#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip +#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip + +#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter +#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter + +#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings +#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings + +#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings +#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings + +#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card + +#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings +#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings + +#define MSP_TRANSPONDER_CONFIG 82 //in message Get transponder settings +#define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings + +#define MSP_OSD_CONFIG 84 //in message Get osd settings +#define MSP_SET_OSD_CONFIG 85 //out message Set osd settings + +#define MSP_OSD_CHAR_READ 86 //in message Get osd settings +#define MSP_OSD_CHAR_WRITE 87 //out message Set osd settings + +#define MSP_VTX_CONFIG 88 //in message Get vtx settings +#define MSP_SET_VTX_CONFIG 89 //out message Set vtx settings + +// Betaflight Additional Commands +#define MSP_PID_ADVANCED_CONFIG 90 +#define MSP_SET_PID_ADVANCED_CONFIG 91 + +#define MSP_FILTER_CONFIG 92 +#define MSP_SET_FILTER_CONFIG 93 + +#define MSP_ADVANCED_TUNING 94 +#define MSP_SET_ADVANCED_TUNING 95 + +#define MSP_SENSOR_CONFIG 96 +#define MSP_SET_SENSOR_CONFIG 97 + +#define MSP_SPECIAL_PARAMETERS 98 // Temporary betaflight parameters before cleanup and keep CF compatibility +#define MSP_SET_SPECIAL_PARAMETERS 99 // Temporary betaflight parameters before cleanup and keep CF compatibility + +// +// Multwii original MSP commands +// + +// DEPRECATED - See MSP_API_VERSION and MSP_MIXER +#define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable + + +#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number +#define MSP_RAW_IMU 102 //out message 9 DOF +#define MSP_SERVO 103 //out message servos +#define MSP_MOTOR 104 //out message motors +#define MSP_RC 105 //out message rc channels and more +#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course +#define MSP_COMP_GPS 107 //out message distance home, direction home +#define MSP_ATTITUDE 108 //out message 2 angles 1 heading +#define MSP_ALTITUDE 109 //out message altitude, variometer +#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX +#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID +#define MSP_PID 112 //out message P I D coeff (9 are used currently) +#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup) +#define MSP_MISC 114 //out message powermeter trig +#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI +#define MSP_BOXNAMES 116 //out message the aux switch names +#define MSP_PIDNAMES 117 //out message the PID names +#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold +#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes +#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations. +#define MSP_NAV_STATUS 121 //out message Returns navigation status +#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters +#define MSP_3D 124 //out message Settings needed for reversible ESCs +#define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll +#define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag +#define MSP_LED_STRIP_MODECOLOR 127 //out message Get LED strip mode_color settings + +#define MSP_SET_RAW_RC 200 //in message 8 rc chan +#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed +#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently) +#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup) +#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo +#define MSP_ACC_CALIBRATION 205 //in message no param +#define MSP_MAG_CALIBRATION 206 //in message no param +#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use +#define MSP_RESET_CONF 208 //in message no param +#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags) +#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2) +#define MSP_SET_HEAD 211 //in message define a new heading hold direction +#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings +#define MSP_SET_MOTOR 214 //in message PropBalance function +#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom +#define MSP_SET_3D 217 //in message Settings needed for reversible ESCs +#define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll +#define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults +#define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag +#define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings + +// #define MSP_BIND 240 //in message no param +// #define MSP_ALARMS 242 + +#define MSP_EEPROM_WRITE 250 //in message no param + +#define MSP_DEBUGMSG 253 //out message debug string buffer +#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4 + +// Additional commands that are not compatible with MultiWii +#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc +#define MSP_UID 160 //out message Unique device ID +#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox) +#define MSP_ACC_TRIM 240 //out message get acc angle trim values +#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values +#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration +#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration +#define MSP_SET_4WAY_IF 245 //in message Sets 4way interface diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index ecd9273c8..f0022e57e 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -59,6 +59,7 @@ #include "io/asyncfatfs/asyncfatfs.h" #include "io/osd.h" #include "io/vtx.h" +#include "io/msp_protocol.h" #include "telemetry/telemetry.h" diff --git a/src/main/io/serial_msp.h b/src/main/io/serial_msp.h index 67d06032a..2778da7e2 100644 --- a/src/main/io/serial_msp.h +++ b/src/main/io/serial_msp.h @@ -20,274 +20,6 @@ #include "io/serial.h" #include "drivers/serial.h" -/** - * MSP Guidelines, emphasis is used to clarify. - * - * Each FlightController (FC, Server) MUST change the API version when any MSP command is added, deleted, or changed. - * - * If you fork the FC source code and release your own version, you MUST change the Flight Controller Identifier. - * - * NEVER release a modified copy of this code that shares the same Flight controller IDENT and API version - * if the API doesn't match EXACTLY. - * - * Consumers of the API (API clients) SHOULD first attempt to get a response from the MSP_API_VERSION command. - * If no response is obtained then client MAY try the legacy MSP_IDENT command. - * - * API consumers should ALWAYS handle communication failures gracefully and attempt to continue - * without the information if possible. Clients MAY log/display a suitable message. - * - * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION. - * - * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time - * the API client was written and handle command failures gracefully. Clients MAY disable - * functionality that depends on the commands while still leaving other functionality intact. - * Clients SHOULD operate in READ-ONLY mode and SHOULD present a warning to the user to state - * that the newer API version may cause problems before using API commands that change FC state. - * - * It is for this reason that each MSP command should be specific as possible, such that changes - * to commands break as little client functionality as possible. - * - * API client authors MAY use a compatibility matrix/table when determining if they can support - * a given command from a given flight controller at a given api version level. - * - * Developers MUST NOT create new MSP commands that do more than one thing. - * - * Failure to follow these guidelines will likely invoke the wrath of developers trying to write tools - * that use the API and the users of those tools. - */ - -#define MSP_PROTOCOL_VERSION 0 - -#define API_VERSION_MAJOR 1 // increment when major changes are made -#define API_VERSION_MINOR 20 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR - -#define API_VERSION_LENGTH 2 - -#define MULTIWII_IDENTIFIER "MWII"; -#define CLEANFLIGHT_IDENTIFIER "CLFL" -#define BETAFLIGHT_IDENTIFIER "BTFL" -#define BASEFLIGHT_IDENTIFIER "BAFL"; - -#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4 -extern const char * const flightControllerIdentifier; - -#define FLIGHT_CONTROLLER_VERSION_LENGTH 3 -#define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF - -static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER; -#define BOARD_IDENTIFIER_LENGTH 4 // 4 UPPER CASE alpha numeric characters that identify the board being used. -#define BOARD_HARDWARE_REVISION_LENGTH 2 - -// These are baseflight specific flags but they are useless now since MW 2.3 uses the upper 4 bits for the navigation version. -#define CAP_PLATFORM_32BIT ((uint32_t)1 << 31) -#define CAP_BASEFLIGHT_CONFIG ((uint32_t)1 << 30) - -// MW 2.3 stores NAVI_VERSION in the top 4 bits of the capability mask. -#define CAP_NAVI_VERSION_BIT_4_MSB ((uint32_t)1 << 31) -#define CAP_NAVI_VERSION_BIT_3 ((uint32_t)1 << 30) -#define CAP_NAVI_VERSION_BIT_2 ((uint32_t)1 << 29) -#define CAP_NAVI_VERSION_BIT_1_LSB ((uint32_t)1 << 28) - -#define CAP_DYNBALANCE ((uint32_t)1 << 2) -#define CAP_FLAPS ((uint32_t)1 << 3) -#define CAP_NAVCAP ((uint32_t)1 << 4) -#define CAP_EXTAUX ((uint32_t)1 << 5) - -#define MSP_API_VERSION 1 //out message -#define MSP_FC_VARIANT 2 //out message -#define MSP_FC_VERSION 3 //out message -#define MSP_BOARD_INFO 4 //out message -#define MSP_BUILD_INFO 5 //out message - -#define MSP_NAME 10 -#define MSP_SET_NAME 11 - - -// -// MSP commands for Cleanflight original features -// -#define MSP_MODE_RANGES 34 //out message Returns all mode ranges -#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range - -#define MSP_FEATURE 36 -#define MSP_SET_FEATURE 37 - -#define MSP_BOARD_ALIGNMENT 38 -#define MSP_SET_BOARD_ALIGNMENT 39 - -#define MSP_CURRENT_METER_CONFIG 40 -#define MSP_SET_CURRENT_METER_CONFIG 41 - -#define MSP_MIXER 42 -#define MSP_SET_MIXER 43 - -#define MSP_RX_CONFIG 44 -#define MSP_SET_RX_CONFIG 45 - -#define MSP_LED_COLORS 46 -#define MSP_SET_LED_COLORS 47 - -#define MSP_LED_STRIP_CONFIG 48 -#define MSP_SET_LED_STRIP_CONFIG 49 - -#define MSP_RSSI_CONFIG 50 -#define MSP_SET_RSSI_CONFIG 51 - -#define MSP_ADJUSTMENT_RANGES 52 -#define MSP_SET_ADJUSTMENT_RANGE 53 - -// private - only to be used by the configurator, the commands are likely to change -#define MSP_CF_SERIAL_CONFIG 54 -#define MSP_SET_CF_SERIAL_CONFIG 55 - -#define MSP_VOLTAGE_METER_CONFIG 56 -#define MSP_SET_VOLTAGE_METER_CONFIG 57 - -#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm] - -#define MSP_PID_CONTROLLER 59 -#define MSP_SET_PID_CONTROLLER 60 - -#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters -#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters - -// -// Baseflight MSP commands (if enabled they exist in Cleanflight) -// -#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total) -#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP - -// FIXME - Provided for backwards compatibility with configurator code until configurator is updated. -// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead. -#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere -#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save - -#define MSP_REBOOT 68 //in message reboot settings - -// DEPRECATED - Use MSP_BUILD_INFO instead -#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion - - -#define MSP_DATAFLASH_SUMMARY 70 //out message - get description of dataflash chip -#define MSP_DATAFLASH_READ 71 //out message - get content of dataflash chip -#define MSP_DATAFLASH_ERASE 72 //in message - erase dataflash chip - -#define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter -#define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter - -#define MSP_FAILSAFE_CONFIG 75 //out message Returns FC Fail-Safe settings -#define MSP_SET_FAILSAFE_CONFIG 76 //in message Sets FC Fail-Safe settings - -#define MSP_RXFAIL_CONFIG 77 //out message Returns RXFAIL settings -#define MSP_SET_RXFAIL_CONFIG 78 //in message Sets RXFAIL settings - -#define MSP_SDCARD_SUMMARY 79 //out message Get the state of the SD card - -#define MSP_BLACKBOX_CONFIG 80 //out message Get blackbox settings -#define MSP_SET_BLACKBOX_CONFIG 81 //in message Set blackbox settings - -#define MSP_TRANSPONDER_CONFIG 82 //in message Get transponder settings -#define MSP_SET_TRANSPONDER_CONFIG 83 //out message Set transponder settings - -#define MSP_OSD_CONFIG 84 //in message Get osd settings -#define MSP_SET_OSD_CONFIG 85 //out message Set osd settings - -#define MSP_OSD_CHAR_READ 86 //in message Get osd settings -#define MSP_OSD_CHAR_WRITE 87 //out message Set osd settings - -#define MSP_VTX_CONFIG 88 //in message Get vtx settings -#define MSP_SET_VTX_CONFIG 89 //out message Set vtx settings - -// Betaflight Additional Commands -#define MSP_PID_ADVANCED_CONFIG 90 -#define MSP_SET_PID_ADVANCED_CONFIG 91 - -#define MSP_FILTER_CONFIG 92 -#define MSP_SET_FILTER_CONFIG 93 - -#define MSP_ADVANCED_TUNING 94 -#define MSP_SET_ADVANCED_TUNING 95 - -#define MSP_SENSOR_CONFIG 96 -#define MSP_SET_SENSOR_CONFIG 97 - -#define MSP_SPECIAL_PARAMETERS 98 // Temporary betaflight parameters before cleanup and keep CF compatibility -#define MSP_SET_SPECIAL_PARAMETERS 99 // Temporary betaflight parameters before cleanup and keep CF compatibility - -// -// Multwii original MSP commands -// - -// DEPRECATED - See MSP_API_VERSION and MSP_MIXER -#define MSP_IDENT 100 //out message mixerMode + multiwii version + protocol version + capability variable - - -#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number -#define MSP_RAW_IMU 102 //out message 9 DOF -#define MSP_SERVO 103 //out message servos -#define MSP_MOTOR 104 //out message motors -#define MSP_RC 105 //out message rc channels and more -#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course -#define MSP_COMP_GPS 107 //out message distance home, direction home -#define MSP_ATTITUDE 108 //out message 2 angles 1 heading -#define MSP_ALTITUDE 109 //out message altitude, variometer -#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX -#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID -#define MSP_PID 112 //out message P I D coeff (9 are used currently) -#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup) -#define MSP_MISC 114 //out message powermeter trig -#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI -#define MSP_BOXNAMES 116 //out message the aux switch names -#define MSP_PIDNAMES 117 //out message the PID names -#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold -#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes -#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations. -#define MSP_NAV_STATUS 121 //out message Returns navigation status -#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters -#define MSP_3D 124 //out message Settings needed for reversible ESCs -#define MSP_RC_DEADBAND 125 //out message deadbands for yaw alt pitch roll -#define MSP_SENSOR_ALIGNMENT 126 //out message orientation of acc,gyro,mag -#define MSP_LED_STRIP_MODECOLOR 127 //out message Get LED strip mode_color settings - -#define MSP_SET_RAW_RC 200 //in message 8 rc chan -#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed -#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently) -#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup) -#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo -#define MSP_ACC_CALIBRATION 205 //in message no param -#define MSP_MAG_CALIBRATION 206 //in message no param -#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use -#define MSP_RESET_CONF 208 //in message no param -#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags) -#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2) -#define MSP_SET_HEAD 211 //in message define a new heading hold direction -#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings -#define MSP_SET_MOTOR 214 //in message PropBalance function -#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom -#define MSP_SET_3D 217 //in message Settings needed for reversible ESCs -#define MSP_SET_RC_DEADBAND 218 //in message deadbands for yaw alt pitch roll -#define MSP_SET_RESET_CURR_PID 219 //in message resetting the current pid profile to defaults -#define MSP_SET_SENSOR_ALIGNMENT 220 //in message set the orientation of the acc,gyro,mag -#define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings - -// #define MSP_BIND 240 //in message no param -// #define MSP_ALARMS 242 - -#define MSP_EEPROM_WRITE 250 //in message no param - -#define MSP_DEBUGMSG 253 //out message debug string buffer -#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4 - -// Additional commands that are not compatible with MultiWii -#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, sensor present etc -#define MSP_UID 160 //out message Unique device ID -#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox) -#define MSP_ACC_TRIM 240 //out message get acc angle trim values -#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values -#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration -#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration -#define MSP_SET_4WAY_IF 245 //in message Sets 4way interface - // Each MSP port requires state and a receive buffer, revisit this default if someone needs more than 2 MSP ports. #define MAX_MSP_PORT_COUNT 2