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Tidy up MSP protocol header (#14166)

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Steve Evans 2025-01-18 02:08:47 +00:00 • committed by GitHub
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src/main/msp/msp_protocol.h
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@ -55,15 +55,11 @@
#pragma once #pragma once
/* Protocol numbers used both by the wire format, config system, and // Protocol numbers used both by the wire format, config system, and field setters.
field setters.
*/
#define MSP_PROTOCOL_VERSION 0 #define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made #define API_VERSION_MAJOR 1
#define API_VERSION_MINOR 47 // 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_MINOR 47
#define API_VERSION_LENGTH 2 #define API_VERSION_LENGTH 2
#define MULTIWII_IDENTIFIER "MWII"; #define MULTIWII_IDENTIFIER "MWII";
@ -95,258 +91,188 @@
#define CAP_NAVCAP ((uint32_t)1 << 4) #define CAP_NAVCAP ((uint32_t)1 << 4)
#define CAP_EXTAUX ((uint32_t)1 << 5) #define CAP_EXTAUX ((uint32_t)1 << 5)
#define MSP_API_VERSION 1 //out message #define MSP_API_VERSION 1 // out message: Get API version
#define MSP_FC_VARIANT 2 //out message #define MSP_FC_VARIANT 2 // out message: Get flight controller variant
#define MSP_FC_VERSION 3 //out message #define MSP_FC_VERSION 3 // out message: Get flight controller version
#define MSP_BOARD_INFO 4 //out message #define MSP_BOARD_INFO 4 // out message: Get board information
#define MSP_BUILD_INFO 5 //out message #define MSP_BUILD_INFO 5 // out message: Get build information
#define MSP_NAME 10 //out message Returns user set board name - betaflight #define MSP_NAME 10 // out message: Returns user set board name - betaflight
#define MSP_SET_NAME 11 //in message Sets board name - betaflight #define MSP_SET_NAME 11 // in message: Sets board name - betaflight
// // Cleanflight original features (32-62)
// MSP commands for Cleanflight original features #define MSP_BATTERY_CONFIG 32 // out message: Get battery configuration
// #define MSP_SET_BATTERY_CONFIG 33 // in message: Set battery configuration
#define MSP_BATTERY_CONFIG 32 #define MSP_MODE_RANGES 34 // out message: Returns all mode ranges
#define MSP_SET_BATTERY_CONFIG 33 #define MSP_SET_MODE_RANGE 35 // in message: Sets a single mode range
#define MSP_FEATURE_CONFIG 36 // out message: Get feature configuration
#define MSP_SET_FEATURE_CONFIG 37 // in message: Set feature configuration
#define MSP_BOARD_ALIGNMENT_CONFIG 38 // out message: Get board alignment configuration
#define MSP_SET_BOARD_ALIGNMENT_CONFIG 39 // in message: Set board alignment configuration
#define MSP_CURRENT_METER_CONFIG 40 // out message: Get current meter configuration
#define MSP_SET_CURRENT_METER_CONFIG 41 // in message: Set current meter configuration
#define MSP_MIXER_CONFIG 42 // out message: Get mixer configuration
#define MSP_SET_MIXER_CONFIG 43 // in message: Set mixer configuration
#define MSP_RX_CONFIG 44 // out message: Get RX configuration
#define MSP_SET_RX_CONFIG 45 // in message: Set RX configuration
#define MSP_LED_COLORS 46 // out message: Get LED colors
#define MSP_SET_LED_COLORS 47 // in message: Set LED colors
#define MSP_LED_STRIP_CONFIG 48 // out message: Get LED strip configuration
#define MSP_SET_LED_STRIP_CONFIG 49 // in message: Set LED strip configuration
#define MSP_RSSI_CONFIG 50 // out message: Get RSSI configuration
#define MSP_SET_RSSI_CONFIG 51 // in message: Set RSSI configuration
#define MSP_ADJUSTMENT_RANGES 52 // out message: Get adjustment ranges
#define MSP_SET_ADJUSTMENT_RANGE 53 // in message: Set adjustment range
#define MSP_CF_SERIAL_CONFIG 54 // out message: Get Cleanflight serial configuration
#define MSP_SET_CF_SERIAL_CONFIG 55 // in message: Set Cleanflight serial configuration
#define MSP_VOLTAGE_METER_CONFIG 56 // out message: Get voltage meter configuration
#define MSP_SET_VOLTAGE_METER_CONFIG 57 // in message: Set voltage meter configuration
#define MSP_SONAR_ALTITUDE 58 // out message: Get sonar altitude [cm]
#define MSP_PID_CONTROLLER 59 // out message: Get PID controller
#define MSP_SET_PID_CONTROLLER 60 // in message: Set PID controller
#define MSP_ARMING_CONFIG 61 // out message: Get arming configuration
#define MSP_SET_ARMING_CONFIG 62 // in message: Set arming configuration
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges // Baseflight MSP commands (64-89)
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range #define MSP_RX_MAP 64 // out message: Get RX 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
#define MSP_REBOOT 68 // in message: Reboot settings
#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_FAILSAFE_CONFIG 75 // out message: Get failsafe settings
#define MSP_SET_FAILSAFE_CONFIG 76 // in message: Set failsafe settings
#define MSP_RXFAIL_CONFIG 77 // out message: Get RX failsafe settings
#define MSP_SET_RXFAIL_CONFIG 78 // in message: Set RX failsafe settings
#define MSP_SDCARD_SUMMARY 79 // out message: Get SD card state
#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
#define MSP_SET_OSD_CONFIG 85 // in message: Set OSD settings
#define MSP_OSD_CHAR_READ 86 // out message: Get OSD characters
#define MSP_OSD_CHAR_WRITE 87 // in message: Set OSD characters
#define MSP_VTX_CONFIG 88 // out message: Get VTX settings
#define MSP_SET_VTX_CONFIG 89 // in message: Set VTX settings
#define MSP_FEATURE_CONFIG 36 // Betaflight Additional Commands (90-99)
#define MSP_SET_FEATURE_CONFIG 37 #define MSP_ADVANCED_CONFIG 90 // out message: Get advanced configuration
#define MSP_SET_ADVANCED_CONFIG 91 // in message: Set advanced configuration
#define MSP_FILTER_CONFIG 92 // out message: Get filter configuration
#define MSP_SET_FILTER_CONFIG 93 // in message: Set filter configuration
#define MSP_PID_ADVANCED 94 // out message: Get advanced PID settings
#define MSP_SET_PID_ADVANCED 95 // in message: Set advanced PID settings
#define MSP_SENSOR_CONFIG 96 // out message: Get sensor configuration
#define MSP_SET_SENSOR_CONFIG 97 // in message: Set sensor configuration
#define MSP_CAMERA_CONTROL 98 // in/out message: Camera control
#define MSP_SET_ARMING_DISABLED 99 // in message: Enable/disable arming
#define MSP_BOARD_ALIGNMENT_CONFIG 38 // Multiwii original MSP commands (101-139)
#define MSP_SET_BOARD_ALIGNMENT_CONFIG 39 #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_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_GPS_RESCUE 135 // out message: GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
#define MSP_GPS_RESCUE_PIDS 136 // out message: GPS Rescue throttleP and velocity PIDS + yaw P
#define MSP_VTXTABLE_BAND 137 // out message: VTX table band/channel data
#define MSP_VTXTABLE_POWERLEVEL 138 // out message: VTX table powerLevel data
#define MSP_MOTOR_TELEMETRY 139 // out message: Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
#define MSP_CURRENT_METER_CONFIG 40 // Simplified tuning commands (140-145)
#define MSP_SET_CURRENT_METER_CONFIG 41 #define MSP_SIMPLIFIED_TUNING 140 // out message: Get simplified tuning values and enabled state
#define MSP_SET_SIMPLIFIED_TUNING 141 // in message: Set simplified tuning positions and apply calculated tuning
#define MSP_CALCULATE_SIMPLIFIED_PID 142 // out message: Calculate PID values based on sliders without saving
#define MSP_CALCULATE_SIMPLIFIED_GYRO 143 // out message: Calculate gyro filter values based on sliders without saving
#define MSP_CALCULATE_SIMPLIFIED_DTERM 144 // out message: Calculate D term filter values based on sliders without saving
#define MSP_VALIDATE_SIMPLIFIED_TUNING 145 // out message: Returns array of true/false showing which simplified tuning groups match values
#define MSP_MIXER_CONFIG 42 // Additional non-MultiWii commands (150-166)
#define MSP_SET_MIXER_CONFIG 43 #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_RX_CONFIG 44 // OSD specific commands (180-189)
#define MSP_SET_RX_CONFIG 45 #define MSP_OSD_VIDEO_CONFIG 180 // out message: Get OSD video settings
#define MSP_SET_OSD_VIDEO_CONFIG 181 // in message: Set OSD video settings
#define MSP_DISPLAYPORT 182 // out message: External OSD displayport mode
#define MSP_COPY_PROFILE 183 // in message: Copy settings between profiles
#define MSP_BEEPER_CONFIG 184 // out message: Get beeper configuration
#define MSP_SET_BEEPER_CONFIG 185 // in message: Set beeper configuration
#define MSP_SET_TX_INFO 186 // in message: Set runtime information from TX lua scripts
#define MSP_TX_INFO 187 // out message: Get runtime information for TX lua scripts
#define MSP_SET_OSD_CANVAS 188 // in message: Set OSD canvas size COLSxROWS
#define MSP_OSD_CANVAS 189 // out message: Get OSD canvas size COLSxROWS
#define MSP_LED_COLORS 46 // Set commands (200-229)
#define MSP_SET_LED_COLORS 47 #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_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 - calibrate accelerometer
#define MSP_MAG_CALIBRATION 206 // in message: No param - calibrate magnetometer
#define MSP_RESET_CONF 208 // in message: No param - reset settings
#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
#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: Reset current PID profile to defaults
#define MSP_SET_SENSOR_ALIGNMENT 220 // in message: Set the orientation of acc,gyro,mag
#define MSP_SET_LED_STRIP_MODECOLOR 221 // in message: Set LED strip mode_color settings
#define MSP_SET_MOTOR_CONFIG 222 // in message: Motor configuration (min/max throttle, etc)
#define MSP_SET_GPS_CONFIG 223 // in message: GPS configuration
#define MSP_SET_COMPASS_CONFIG 224 // in message: Compass configuration
#define MSP_SET_GPS_RESCUE 225 // in message: Set GPS Rescue parameters
#define MSP_SET_GPS_RESCUE_PIDS 226 // in message: Set GPS Rescue PID values
#define MSP_SET_VTXTABLE_BAND 227 // in message: Set vtxTable band/channel data
#define MSP_SET_VTXTABLE_POWERLEVEL 228 // in message: Set vtxTable powerLevel data
#define MSP_LED_STRIP_CONFIG 48 // Multiple MSP and special commands (230-255)
#define MSP_SET_LED_STRIP_CONFIG 49 #define MSP_MULTIPLE_MSP 230 // out message: Request multiple MSPs in one request
#define MSP_MODE_RANGES_EXTRA 238 // out message: Extra mode range data
#define MSP_RSSI_CONFIG 50 #define MSP_SET_ACC_TRIM 239 // in message: Set acc angle trim values
#define MSP_SET_RSSI_CONFIG 51 #define MSP_ACC_TRIM 240 // out message: Get acc angle trim values
#define MSP_SERVO_MIX_RULES 241 // out message: Get servo mixer configuration
#define MSP_ADJUSTMENT_RANGES 52 #define MSP_SET_SERVO_MIX_RULE 242 // in message: Set servo mixer configuration
#define MSP_SET_ADJUSTMENT_RANGE 53 #define MSP_SET_PASSTHROUGH 245 // in message: Set passthrough to peripherals
#define MSP_SET_RTC 246 // in message: Set the RTC clock
// private - only to be used by the configurator, the commands are likely to change #define MSP_RTC 247 // out message: Get the RTC clock
#define MSP_CF_SERIAL_CONFIG 54 #define MSP_SET_BOARD_INFO 248 // in message: Set the board information
#define MSP_SET_CF_SERIAL_CONFIG 55 #define MSP_SET_SIGNATURE 249 // in message: Set the signature of the board and serial number
#define MSP_EEPROM_WRITE 250 // in message: Write settings to EEPROM
#define MSP_VOLTAGE_METER_CONFIG 56 #define MSP_RESERVE_1 251 // reserved for system usage
#define MSP_SET_VOLTAGE_METER_CONFIG 57 #define MSP_RESERVE_2 252 // reserved for system usage
#define MSP_DEBUGMSG 253 // out message: debug string buffer
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm] #define MSP_DEBUG 254 // out message: debug1,debug2,debug3,debug4
#define MSP_V2_FRAME 255 // MSPv2 payload indicator
#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
// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
// DEPRECATED - #define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
// DEPRECATED - #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
#define MSP_SET_OSD_CANVAS 188 // in message Set osd canvas size COLSxROWS
#define MSP_OSD_CANVAS 189 // out message Get osd canvas size COLSxROWS
//
// 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_GPS_RESCUE 135 //out message GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescue throttleP and velocity PIDS + yaw P
#define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
#define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
#define MSP_MOTOR_TELEMETRY 139 //out message Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
#define MSP_SIMPLIFIED_TUNING 140 //out message Simplified tuning values and enabled state
#define MSP_SET_SIMPLIFIED_TUNING 141 //in message Set simplified tuning positions and apply the calculated tuning
#define MSP_CALCULATE_SIMPLIFIED_PID 142 //out message Requests calculations of PID values based on sliders. Sends the calculated values back. But don't save anything to the firmware
#define MSP_CALCULATE_SIMPLIFIED_GYRO 143 //out message Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
#define MSP_CALCULATE_SIMPLIFIED_DTERM 144 //out message Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
#define MSP_VALIDATE_SIMPLIFIED_TUNING 145 //out message Returns an array of true/false showing which simpligfied tuning groups are matching with value and which are not
#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_SET_GPS_RESCUE 225 //in message GPS Rescue angle, returnAltitude, descentDistance, groundSpeed and sanityChecks
#define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescue throttleP and velocity PIDS + yaw P
#define MSP_SET_VTXTABLE_BAND 227 //in message set vtxTable band/channel data (one band at a time)
#define MSP_SET_VTXTABLE_POWERLEVEL 228 //in message set vtxTable powerLevel data (one powerLevel at a time)
// #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_V2_FRAME 255 //MSPv2 payload indicator
// Additional commands that are not compatible with MultiWii
#define MSP_STATUS_EX 150 //out message cycletime, errors_count, CPU load, CPU temperature, 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_MULTIPLE_MSP 230 //out message request multiple MSPs in one request - limit is the TX buffer; returns each MSP in the order they were requested starting with length of MSP; MSPs with input arguments are not supported
#define MSP_MODE_RANGES_EXTRA 238 //out message Reads the extra mode range 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_PASSTHROUGH 245 //in message Sets up passthrough to different peripherals (4way interface, uart, etc...)
#define MSP_SET_RTC 246 //in message Sets the RTC clock
#define MSP_RTC 247 //out message Gets the RTC clock
#define MSP_SET_BOARD_INFO 248 //in message Sets the board information for this board
#define MSP_SET_SIGNATURE 249 //in message Sets the signature of the board and serial number