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Betaflight Cleanup targets / docs
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# MSP Extensions
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Cleanflight includes a number of extensions to the MultiWii Serial Protocol (MSP). This document describes
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those extensions in order that 3rd party tools may identify cleanflight firmware and react appropriately.
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Issue the MSP_API_VERSION command to find out if the firmware supports them.
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## Mode Ranges
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### MSP\_MODE\_RANGES
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The MSP\_MODE\_RANGES returns the current auxiliary mode settings from the flight controller. It should be invoked
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before any modification is made to the configuration.
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The message returns a group of 4 unsigned bytes for each 'slot' available in the flight controller. The number of
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slots should be calculated from the size of the returned message.
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| Command | Msg Id | Direction | Notes |
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|---------|--------|-----------|-------|
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| MSP\_MODE\_RANGES | 34 | to FC | Following this command, the FC returns a block of 4 bytes for each auxiliary mode 'slot'|
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Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
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| Data | Type | Notes |
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|------|------|-------|
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| auxChannelIndex | uint8 | The Aux switch number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
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### MSP\_SET\_MODE\_RANGE
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The MSP\_SET\_MODE\_RANGE is used to inform the flight controller of
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auxiliary mode settings. The client *must* return all auxiliary
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elements, including those that have been disabled or are undefined, by
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sending this message for all auxiliary slots.
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| Command | Msg Id | Direction |
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|---------|--------|-----------|
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| MSP\_SET\_MODE\_RANGE | 35 | to FC |
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| Data | Type | Notes |
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|------|------|-------|
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| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| permanentId | uint8 | See Modes.md for a definition of the permanent ids |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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### Implementation Notes
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* The client should make no assumptions about the number of slots available. Rather, the number should be computed
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from the size of the MSP\_MODE\_RANGES message divided by the size of the returned data element (4 bytes);
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* The client should ensure that all changed items are returned to the flight controller, including those where a
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switch or range has been disabled;
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* A 'null' return, with all values other than the sequence id set to 0, must be made for all unused slots, up to
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the maximum number of slots calculated from the initial message.
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## Adjustment Ranges
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### MSP\_ADJUSTMENT\_RANGES
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The MSP\_ADJUSTMENT\_RANGES returns the current adjustment range settings from
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the flight controller. It should be invoked before any modification is
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made to the configuration.
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The message returns a group of 6 unsigned bytes for each 'slot'
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available in the flight controller. The number of slots should be
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calculated from the size of the returned message.
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| Command | Msg Id | Direction | Notes |
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|---------|--------|-----------|-------|
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| MSP\_ADJUSTMENT\_RANGES | 52 | to FC | Following this command, the FC returns a block of 6 bytes for each adjustment range 'slot'|
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Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the following fields.
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| Data | Type | Notes |
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|------|------|-------|
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| adjustmentStateIndex | uint8 | See below |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) used to activate the adjustment |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| adjustmentFunction | uint8 | See below |
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| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
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Thus, for a cleanflight firmware with 12 slots 72 bytes would be returned in response to MSP\_ADJUSTMENT\_RANGES,
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### MSP\_SET\_ADJUSTMENT\_RANGE
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The MSP\_SET\_ADJUSTMENT\_RANGE is used to inform the flight controller of
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adjustment range settings. The client *must* return all adjustment range
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elements, including those that have been disabled or are undefined, by
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sending this message for all adjustment range slots.
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| Command | Msg Id | Direction |
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|---------|--------|-----------|
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| MSP\_SET\_ADJUSTMENT\_RANGE | 53 | to FC |
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| Data | Type | Notes |
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|------|------|-------|
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| sequence id | uint8 | A monotonically increasing ID, from 0 to the number of slots -1 |
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| adjustmentStateIndex | uint8 | See below |
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| auxChannelIndex | uint8 | The Aux channel number (indexed from 0) |
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| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
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| adjustmentFunction | uint8 | See below |
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| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
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### MSP\_SET\_1WIRE
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The MSP\_SET\_1WIRE is used to enable serial1wire passthrough
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note: it would be ideal to disable this when armed
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| Command | Msg Id | Direction |
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|---------|--------|-----------|
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| MSP\_SET\_1WIRE | 243 | to FC |
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| Data | Type | Notes |
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|------|------|-------|
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| esc id | uint8 | A monotonically increasing ID, from 0 to the number of escs -1 |
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#### AdjustmentIndex
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The FC maintains internal state for each adjustmentStateIndex, currently 4 simultaneous adjustment states are maintained. Multiple adjustment ranges
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can be configured to use the same state but care should be taken not to send multiple adjustment ranges that when active would confict.
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e.g. Configuring two identical adjustment ranges using the same slot would conflict, but configuring two adjustment ranges that used
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only one half of the possible channel range each but used the same adjustmentStateIndex would not conflict.
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The FC does NOT check for conflicts.
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#### AdjustmentFunction
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There are many adjustments that can be made, the numbers of them and their use is found in the documentation of the cli `adjrange` command in the 'Inflight Adjustents' section.
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### Implementation Notes
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* The client should make no assumptions about the number of slots available. Rather, the number should be computed
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from the size of the MSP\_ADJUSTMENT\_RANGES message divided by the size of the returned data element (6 bytes);
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* The client should ensure that all changed items are returned to the flight controller, including those where a
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switch or range has been disabled;
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* A 'null' return, with all values except for the sequence id set to 0, must be made for all unused slots,
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up to the maximum number of slots calculated from the initial message.
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## Deprecated MSP
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The following MSP commands are replaced by the MSP\_MODE\_RANGES and
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MSP\_SET\_MODE\_RANGE extensions, and are not recognised by
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cleanflight.
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* MSP\_BOX
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* MSP\_SET\_BOX
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See also
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--------
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Modes.md describes the user visible implementation for the cleanflight
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modes extension.
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