/* msp_protocol.h imported from betaflight for use in ArduPilot Many thanks to tbe Cleanflight and Betaflight developers for a great reference implementation of this protocol */ /* * 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 37 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release) #define API_VERSION_LENGTH 2 #define MULTIWII_IDENTIFIER "MWII"; #define BASEFLIGHT_IDENTIFIER "BAFL"; #define BETAFLIGHT_IDENTIFIER "BTFL" #define CLEANFLIGHT_IDENTIFIER "CLFL" #define INAV_IDENTIFIER "INAV" #define RACEFLIGHT_IDENTIFIER "RCFL" #define ARDUPILOT_IDENTIFIER "ARDU" #define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH 4 #define FLIGHT_CONTROLLER_VERSION_LENGTH 3 #define FLIGHT_CONTROLLER_VERSION_MASK 0xFFF #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 //out message Returns user set board name - betaflight #define MSP_SET_NAME 11 //in message Sets board name - betaflight // // MSP commands for Cleanflight original features // #define MSP_BATTERY_CONFIG 32 #define MSP_SET_BATTERY_CONFIG 33 #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_CONFIG 36 #define MSP_SET_FEATURE_CONFIG 37 #define MSP_BOARD_ALIGNMENT_CONFIG 38 #define MSP_SET_BOARD_ALIGNMENT_CONFIG 39 #define MSP_CURRENT_METER_CONFIG 40 #define MSP_SET_CURRENT_METER_CONFIG 41 #define MSP_MIXER_CONFIG 42 #define MSP_SET_MIXER_CONFIG 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 #define MSP_SET_ARMING_CONFIG 62 // // 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 // Use MSP_BUILD_INFO instead // DEPRECATED - #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 // No-longer needed // DEPRECATED - #define MSP_LOOP_TIME 73 //out message Returns FC cycle time i.e looptime parameter // DEPRECATED // DEPRECATED - #define MSP_SET_LOOP_TIME 74 //in message Sets FC cycle time i.e looptime parameter // DEPRECATED #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 //out message Get transponder settings #define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings #define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight #define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight #define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight #define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight #define MSP_VTX_CONFIG 88 //out message Get vtx settings - betaflight #define MSP_SET_VTX_CONFIG 89 //in message Set vtx settings - betaflight // Betaflight Additional Commands #define MSP_ADVANCED_CONFIG 90 #define MSP_SET_ADVANCED_CONFIG 91 #define MSP_FILTER_CONFIG 92 #define MSP_SET_FILTER_CONFIG 93 #define MSP_PID_ADVANCED 94 #define MSP_SET_PID_ADVANCED 95 #define MSP_SENSOR_CONFIG 96 #define MSP_SET_SENSOR_CONFIG 97 #define MSP_CAMERA_CONTROL 98 #define MSP_SET_ARMING_DISABLED 99 // // OSD specific // #define MSP_OSD_VIDEO_CONFIG 180 #define MSP_SET_OSD_VIDEO_CONFIG 181 // External OSD displayport mode messages #define MSP_DISPLAYPORT 182 #define MSP_COPY_PROFILE 183 #define MSP_BEEPER_CONFIG 184 #define MSP_SET_BEEPER_CONFIG 185 #define MSP_SET_TX_INFO 186 // in message Used to send runtime information from TX lua scripts to the firmware #define MSP_TX_INFO 187 // out message Used by TX lua scripts to read information from the firmware // // Multwii original MSP commands // // See MSP_API_VERSION and MSP_MIXER_CONFIG //DEPRECATED - #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) // Legacy Multiicommand that was never used. //DEPRECATED - #define MSP_BOX 113 //out message BOX setup (number is dependant of your setup) // Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead. //DEPRECATED - #define MSP_MISC 114 //out message powermeter trig // Legacy Multiicommand that was never used and always wrong //DEPRECATED - #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_MOTOR_3D_CONFIG 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_VOLTAGE_METERS 128 //out message Voltage (per meter) #define MSP_CURRENT_METERS 129 //out message Amperage (per meter) #define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used #define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc) #define MSP_GPS_CONFIG 132 //out message GPS configuration #define MSP_COMPASS_CONFIG 133 //out message Compass configuration #define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM) #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) // Legacy multiiwii command that was never used. //DEPRECATED - #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 // Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead. //DEPRECATED - #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_HEADING 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_MOTOR_3D_CONFIG 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_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc) #define MSP_SET_GPS_CONFIG 223 //out message GPS configuration #define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration // #define MSP_BIND 240 //in message no param // #define MSP_ALARMS 242 #define MSP_EEPROM_WRITE 250 //in message no param #define MSP_RESERVE_1 251 //reserved for system usage #define MSP_RESERVE_2 252 //reserved for system usage #define MSP_DEBUGMSG 253 //out message debug string buffer #define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4 #define MSP_RESERVE_3 255 //reserved for system usage // 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_GPSSTATISTICS 166 //out message get GPS debugging data #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 #define MSP_SET_RTC 246 //in message Sets the RTC clock #define MSP_RTC 247 //out message Gets the RTC clock