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Merge pull request #789 from gaelj/BFmsp_protocol.h 

extract msp_protocol.h from serial_msp.h
This commit is contained in:
Martin Budden 2016-07-19 06:31:21 +01:00 committed by GitHub
parent 4c3d098531 5ff2ed825b
commit b914cddf15
3 changed files with 290 additions and 268 deletions
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src/main/io/msp_protocol.h Normal file
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@ -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 <http://www.gnu.org/licenses/>.
*/
/**
* 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

1
src/main/io/serial_msp.c
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@ -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"

268
src/main/io/serial_msp.h
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@ -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