MSP2 frame for getting and setting new mixer properties

src/main/fc/fc_msp.c

@@ -1295,6 +1295,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
         break;
 
+    case MSP2_INAV_MIXER:
+        sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
+        sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
+        sbufWriteU8(dst, mixerConfig()->platformType);
+        sbufWriteU8(dst, mixerConfig()->hasFlaps);
+        sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
+        break;
+
     default:
         return false;
     }
@@ -2368,6 +2376,15 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
+    case MSP2_INAV_SET_MIXER:
+        mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
+        mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
+        mixerConfigMutable()->platformType = sbufReadU8(src);
+        mixerConfigMutable()->hasFlaps = sbufReadU8(src);
+        mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
+        mixerUpdateStateFlags();
+        break;
+
     default:
         return MSP_RESULT_ERROR;
     }

src/main/flight/mixer.c

@@ -74,7 +74,8 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .yaw_motor_direction = 1,
     .yaw_jump_prevention_limit = 200,
     .platformType = PLATFORM_MULTIROTOR,
-    .hasFlaps = false
+    .hasFlaps = false,
+    appliedMixerPreset = -1 //This flag is not available in CLI and used by Configurator only
 );
 
 #ifdef BRUSHED_MOTORS

src/main/flight/mixer.h

@@ -59,6 +59,7 @@ typedef struct mixerConfig_s {
     uint16_t yaw_jump_prevention_limit;      // make limit configurable (original fixed value was 100)
     uint8_t platformType;
     bool hasFlaps;
+    int appliedMixerPreset;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);

src/main/msp/msp_protocol.h

@@ -60,7 +60,7 @@
 #define MSP_PROTOCOL_VERSION                0   // Same version over MSPv1 & MSPv2 - message format didn't change and it backward compatible
 
 #define API_VERSION_MAJOR                   2   // increment when major changes are made
-#define API_VERSION_MINOR                   1   // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   2   // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
 
 #define API_VERSION_LENGTH                  2
 

src/main/msp/msp_protocol_v2_inav.h

@@ -28,3 +28,6 @@
 #define MSP2_INAV_RATE_PROFILE                  0x2007
 #define MSP2_INAV_SET_RATE_PROFILE              0x2008
 #define MSP2_INAV_AIR_SPEED                     0x2009
+
+#define MSP2_INAV_MIXER                         0x2010
+#define MSP2_INAV_SET_MIXER                     0x2011