msp_protocol.h File Reference

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Macros
#define	MSP_PROTOCOL_VERSION   0
#define	API_VERSION_MAJOR   1
#define	API_VERSION_MINOR   19
#define	API_VERSION_LENGTH   2
#define	MULTIWII_IDENTIFIER   "MWII";
#define	CLEANFLIGHT_IDENTIFIER   "CLFL"
#define	BASEFLIGHT_IDENTIFIER   "BAFL";
#define	FLIGHT_CONTROLLER_IDENTIFIER_LENGTH   4
#define	FLIGHT_CONTROLLER_VERSION_LENGTH   3
#define	FLIGHT_CONTROLLER_VERSION_MASK   0xFFF
#define	BOARD_IDENTIFIER_LENGTH   4
#define	BOARD_HARDWARE_REVISION_LENGTH   2
#define	CAP_PLATFORM_32BIT   ((uint32_t)1 << 31)
#define	CAP_BASEFLIGHT_CONFIG   ((uint32_t)1 << 30)
#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
#define	MSP_FC_VARIANT   2
#define	MSP_FC_VERSION   3
#define	MSP_BOARD_INFO   4
#define	MSP_BUILD_INFO   5
#define	MSP_MODE_RANGES   34
#define	MSP_SET_MODE_RANGE   35
#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
#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
#define	MSP_PID_CONTROLLER   59
#define	MSP_SET_PID_CONTROLLER   60
#define	MSP_ARMING_CONFIG   61
#define	MSP_SET_ARMING_CONFIG   62
#define	MSP_DATAFLASH_SUMMARY   70
#define	MSP_DATAFLASH_READ   71
#define	MSP_DATAFLASH_ERASE   72
#define	MSP_LOOP_TIME   73
#define	MSP_SET_LOOP_TIME   74
#define	MSP_FAILSAFE_CONFIG   75
#define	MSP_SET_FAILSAFE_CONFIG   76
#define	MSP_RXFAIL_CONFIG   77
#define	MSP_SET_RXFAIL_CONFIG   78
#define	MSP_SDCARD_SUMMARY   79
#define	MSP_BLACKBOX_CONFIG   80
#define	MSP_SET_BLACKBOX_CONFIG   81
#define	MSP_TRANSPONDER_CONFIG   82
#define	MSP_SET_TRANSPONDER_CONFIG   83
#define	MSP_LED_STRIP_MODECOLOR   86
#define	MSP_SET_LED_STRIP_MODECOLOR   87
#define	MSP_RX_MAP   64
#define	MSP_SET_RX_MAP   65
#define	MSP_BF_CONFIG   66
#define	MSP_SET_BF_CONFIG   67
#define	MSP_REBOOT   68
#define	MSP_BF_BUILD_INFO   69
#define	MSP_IDENT   100
#define	MSP_STATUS   101
#define	MSP_RAW_IMU   102
#define	MSP_SERVO   103
#define	MSP_MOTOR   104
#define	MSP_RC   105
#define	MSP_RAW_GPS   106
#define	MSP_COMP_GPS   107
#define	MSP_ATTITUDE   108
#define	MSP_ALTITUDE   109
#define	MSP_ANALOG   110
#define	MSP_RC_TUNING   111
#define	MSP_PID   112
#define	MSP_BOX   113
#define	MSP_MISC   114
#define	MSP_MOTOR_PINS   115
#define	MSP_BOXNAMES   116
#define	MSP_PIDNAMES   117
#define	MSP_WP   118
#define	MSP_BOXIDS   119
#define	MSP_SERVO_CONFIGURATIONS   120
#define	MSP_NAV_STATUS   121
#define	MSP_NAV_CONFIG   122
#define	MSP_3D   124
#define	MSP_RC_DEADBAND   125
#define	MSP_SENSOR_ALIGNMENT   126
#define	MSP_SET_RAW_RC   200
#define	MSP_SET_RAW_GPS   201
#define	MSP_SET_PID   202
#define	MSP_SET_BOX   203
#define	MSP_SET_RC_TUNING   204
#define	MSP_ACC_CALIBRATION   205
#define	MSP_MAG_CALIBRATION   206
#define	MSP_SET_MISC   207
#define	MSP_RESET_CONF   208
#define	MSP_SET_WP   209
#define	MSP_SELECT_SETTING   210
#define	MSP_SET_HEAD   211
#define	MSP_SET_SERVO_CONFIGURATION   212
#define	MSP_SET_MOTOR   214
#define	MSP_SET_NAV_CONFIG   215
#define	MSP_SET_3D   217
#define	MSP_SET_RC_DEADBAND   218
#define	MSP_SET_RESET_CURR_PID   219
#define	MSP_SET_SENSOR_ALIGNMENT   220
#define	MSP_EEPROM_WRITE   250
#define	MSP_DEBUGMSG   253
#define	MSP_DEBUG   254
#define	MSP_STATUS_EX   150
#define	MSP_UID   160
#define	MSP_GPSSVINFO   164
#define	MSP_ACC_TRIM   240
#define	MSP_SET_ACC_TRIM   239
#define	MSP_SERVO_MIX_RULES   241
#define	MSP_SET_SERVO_MIX_RULE   242
#define	MSP_SET_4WAY_IF   245

Macro Definition Documentation

#define API_VERSION_LENGTH   2

#define API_VERSION_MAJOR   1

#define API_VERSION_MINOR   19

#define BASEFLIGHT_IDENTIFIER   "BAFL";

#define BOARD_HARDWARE_REVISION_LENGTH   2

#define BOARD_IDENTIFIER_LENGTH   4

#define CAP_BASEFLIGHT_CONFIG   ((uint32_t)1 << 30)

#define CAP_DYNBALANCE   ((uint32_t)1 << 2)

#define CAP_EXTAUX   ((uint32_t)1 << 5)

#define CAP_FLAPS   ((uint32_t)1 << 3)

#define CAP_NAVCAP   ((uint32_t)1 << 4)

#define CAP_NAVI_VERSION_BIT_1_LSB   ((uint32_t)1 << 28)

#define CAP_NAVI_VERSION_BIT_2   ((uint32_t)1 << 29)

#define CAP_NAVI_VERSION_BIT_3   ((uint32_t)1 << 30)

#define CAP_NAVI_VERSION_BIT_4_MSB   ((uint32_t)1 << 31)

#define CAP_PLATFORM_32BIT   ((uint32_t)1 << 31)

#define CLEANFLIGHT_IDENTIFIER   "CLFL"

#define FLIGHT_CONTROLLER_IDENTIFIER_LENGTH   4

#define FLIGHT_CONTROLLER_VERSION_LENGTH   3

#define FLIGHT_CONTROLLER_VERSION_MASK   0xFFF

#define MSP_3D   124

#define MSP_ACC_CALIBRATION   205

#define MSP_ACC_TRIM   240

#define MSP_ADJUSTMENT_RANGES   52

#define MSP_ALTITUDE   109

#define MSP_ANALOG   110

#define MSP_API_VERSION   1

#define MSP_ARMING_CONFIG   61

#define MSP_ATTITUDE   108

#define MSP_BF_BUILD_INFO   69

#define MSP_BF_CONFIG   66

#define MSP_BLACKBOX_CONFIG   80

#define MSP_BOARD_ALIGNMENT   38

#define MSP_BOARD_INFO   4

#define MSP_BOX   113

#define MSP_BOXIDS   119

#define MSP_BOXNAMES   116

#define MSP_BUILD_INFO   5

#define MSP_CF_SERIAL_CONFIG   54

#define MSP_COMP_GPS   107

#define MSP_CURRENT_METER_CONFIG   40

#define MSP_DATAFLASH_ERASE   72

#define MSP_DATAFLASH_READ   71

#define MSP_DATAFLASH_SUMMARY   70

#define MSP_DEBUG   254

#define MSP_DEBUGMSG   253

#define MSP_EEPROM_WRITE   250

#define MSP_FAILSAFE_CONFIG   75

#define MSP_FC_VARIANT   2

#define MSP_FC_VERSION   3

#define MSP_FEATURE   36

#define MSP_GPSSVINFO   164

#define MSP_IDENT   100

#define MSP_LED_COLORS   46

#define MSP_LED_STRIP_CONFIG   48

#define MSP_LED_STRIP_MODECOLOR   86

#define MSP_LOOP_TIME   73

#define MSP_MAG_CALIBRATION   206

#define MSP_MISC   114

#define MSP_MIXER   42

#define MSP_MODE_RANGES   34

#define MSP_MOTOR   104

#define MSP_MOTOR_PINS   115

#define MSP_NAV_CONFIG   122

#define MSP_NAV_STATUS   121

#define MSP_PID   112

#define MSP_PID_CONTROLLER   59

#define MSP_PIDNAMES   117

#define MSP_PROTOCOL_VERSION   0

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.

#define MSP_RAW_GPS   106

#define MSP_RAW_IMU   102

#define MSP_RC   105

#define MSP_RC_DEADBAND   125

#define MSP_RC_TUNING   111

#define MSP_REBOOT   68

#define MSP_RESET_CONF   208

#define MSP_RSSI_CONFIG   50

#define MSP_RX_CONFIG   44

#define MSP_RX_MAP   64

#define MSP_RXFAIL_CONFIG   77

#define MSP_SDCARD_SUMMARY   79

#define MSP_SELECT_SETTING   210

#define MSP_SENSOR_ALIGNMENT   126

#define MSP_SERVO   103

#define MSP_SERVO_CONFIGURATIONS   120

#define MSP_SERVO_MIX_RULES   241

#define MSP_SET_3D   217

#define MSP_SET_4WAY_IF   245

#define MSP_SET_ACC_TRIM   239

#define MSP_SET_ADJUSTMENT_RANGE   53

#define MSP_SET_ARMING_CONFIG   62

#define MSP_SET_BF_CONFIG   67

#define MSP_SET_BLACKBOX_CONFIG   81

#define MSP_SET_BOARD_ALIGNMENT   39

#define MSP_SET_BOX   203

#define MSP_SET_CF_SERIAL_CONFIG   55

#define MSP_SET_CURRENT_METER_CONFIG   41

#define MSP_SET_FAILSAFE_CONFIG   76

#define MSP_SET_FEATURE   37

#define MSP_SET_HEAD   211

#define MSP_SET_LED_COLORS   47

#define MSP_SET_LED_STRIP_CONFIG   49

#define MSP_SET_LED_STRIP_MODECOLOR   87

#define MSP_SET_LOOP_TIME   74

#define MSP_SET_MISC   207

#define MSP_SET_MIXER   43

#define MSP_SET_MODE_RANGE   35

#define MSP_SET_MOTOR   214

#define MSP_SET_NAV_CONFIG   215

#define MSP_SET_PID   202

#define MSP_SET_PID_CONTROLLER   60

#define MSP_SET_RAW_GPS   201

#define MSP_SET_RAW_RC   200

#define MSP_SET_RC_DEADBAND   218

#define MSP_SET_RC_TUNING   204

#define MSP_SET_RESET_CURR_PID   219

#define MSP_SET_RSSI_CONFIG   51

#define MSP_SET_RX_CONFIG   45

#define MSP_SET_RX_MAP   65

#define MSP_SET_RXFAIL_CONFIG   78

#define MSP_SET_SENSOR_ALIGNMENT   220

#define MSP_SET_SERVO_CONFIGURATION   212

#define MSP_SET_SERVO_MIX_RULE   242

#define MSP_SET_TRANSPONDER_CONFIG   83

#define MSP_SET_VOLTAGE_METER_CONFIG   57

#define MSP_SET_WP   209

#define MSP_SONAR_ALTITUDE   58

#define MSP_STATUS   101

#define MSP_STATUS_EX   150

#define MSP_TRANSPONDER_CONFIG   82

#define MSP_UID   160

#define MSP_VOLTAGE_METER_CONFIG   56

#define MSP_WP   118

#define MULTIWII_IDENTIFIER   "MWII";