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PX4-Autopilot/src/drivers/osd/msp_osd/msp_defines.h
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/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
// requests & replies
#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_CALIBRATION_DATA 14
#define MSP_FEATURE 36
#define MSP_BOARD_ALIGNMENT 38
#define MSP_CURRENT_METER_CONFIG 40
#define MSP_RX_CONFIG 44
#define MSP_SONAR_ALTITUDE 58
#define MSP_ARMING_CONFIG 61
#define MSP_RX_MAP 64 // get channel map (also returns number of channels total)
#define MSP_LOOP_TIME 73 // FC cycle time i.e looptime parameter
#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 // distance home, direction home
#define MSP_ATTITUDE 108
#define MSP_ALTITUDE 109
#define MSP_ANALOG 110
#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 // P I D coeff
#define MSP_MISC 114
#define MSP_SERVO_CONFIGURATIONS 120
#define MSP_NAV_STATUS 121 // navigation status
#define MSP_SENSOR_ALIGNMENT 126 // orientation of acc,gyro,mag
#define MSP_ESC_SENSOR_DATA 134
#define MSP_MOTOR_TELEMETRY 139
#define MSP_STATUS_EX 150
#define MSP_SENSOR_STATUS 151
#define MSP_BOXIDS 119
#define MSP_UID 160 // Unique device ID
#define MSP_GPSSVINFO 164 // get Signal Strength (only U-Blox)
#define MSP_GPSSTATISTICS 166 // get GPS debugging data
#define MSP_SET_PID 202 // set P I D coeff
// commands
#define MSP_SET_HEAD 211 // define a new heading hold direction
#define MSP_SET_RAW_RC 200 // 8 rc chan
#define MSP_SET_RAW_GPS 201 // fix, numsat, lat, lon, alt, speed
#define MSP_SET_WP 209 // sets a given WP (WP#, lat, lon, alt, flags)
// bits of getActiveModes() return value
#define MSP_MODE_ARM 0
#define MSP_MODE_ANGLE 1
#define MSP_MODE_HORIZON 2
#define MSP_MODE_NAVALTHOLD 3 /* cleanflight BARO */
#define MSP_MODE_MAG 4
#define MSP_MODE_HEADFREE 5
#define MSP_MODE_HEADADJ 6
#define MSP_MODE_CAMSTAB 7
#define MSP_MODE_NAVRTH 8 /* cleanflight GPSHOME */
#define MSP_MODE_NAVPOSHOLD 9 /* cleanflight GPSHOLD */
#define MSP_MODE_PASSTHRU 10
#define MSP_MODE_BEEPERON 11
#define MSP_MODE_LEDLOW 12
#define MSP_MODE_LLIGHTS 13
#define MSP_MODE_OSD 14
#define MSP_MODE_TELEMETRY 15
#define MSP_MODE_GTUNE 16
#define MSP_MODE_SONAR 17
#define MSP_MODE_BLACKBOX 18
#define MSP_MODE_FAILSAFE 19
#define MSP_MODE_NAVWP 20 /* cleanflight AIRMODE */
#define MSP_MODE_AIRMODE 21 /* cleanflight DISABLE3DSWITCH */
#define MSP_MODE_HOMERESET 22 /* cleanflight FPVANGLEMIX */
#define MSP_MODE_GCSNAV 23 /* cleanflight BLACKBOXERASE */
#define MSP_MODE_HEADINGLOCK 24
#define MSP_MODE_SURFACE 25
#define MSP_MODE_FLAPERON 26
#define MSP_MODE_TURNASSIST 27
#define MSP_MODE_NAVLAUNCH 28
#define MSP_MODE_AUTOTRIM 29
struct msp_esc_sensor_data_t {
uint8_t motor_count;
uint8_t temperature;
uint16_t rpm;
} __attribute__((packed));
struct msp_esc_sensor_data_dji_t {
uint8_t temperature;
uint16_t rpm;
} __attribute__((packed));
struct msp_motor_telemetry_t {
uint8_t motor_count;
uint32_t rpm;
uint16_t invalid_percent;
uint8_t temperature;
uint16_t voltage;
uint16_t current;
uint16_t consumption;
} __attribute__((packed));
// MSP_API_VERSION reply
struct msp_api_version_t {
uint8_t protocolVersion;
uint8_t APIMajor;
uint8_t APIMinor;
} __attribute__((packed));
// MSP_FC_VARIANT reply
struct msp_fc_variant_t {
char flightControlIdentifier[4];
} __attribute__((packed));
// MSP_FC_VERSION reply
struct msp_fc_version_t {
uint8_t versionMajor;
uint8_t versionMinor;
uint8_t versionPatchLevel;
} __attribute__((packed));
// MSP_BOARD_INFO reply
struct msp_board_info_t {
char boardIdentifier[4];
uint16_t hardwareRevision;
} __attribute__((packed));
// MSP_BUILD_INFO reply
struct msp_build_info_t {
char buildDate[11];
char buildTime[8];
char shortGitRevision[7];
} __attribute__((packed));
// MSP_RAW_IMU reply
struct msp_raw_imu_t {
int16_t acc[3]; // x, y, z
int16_t gyro[3]; // x, y, z
int16_t mag[3]; // x, y, z
} __attribute__((packed));
// flags for msp_status_ex_t.sensor and msp_status_t.sensor
#define MSP_STATUS_SENSOR_ACC 1
#define MSP_STATUS_SENSOR_BARO 2
#define MSP_STATUS_SENSOR_MAG 4
#define MSP_STATUS_SENSOR_GPS 8
#define MSP_STATUS_SENSOR_SONAR 16
// MSP_STATUS_EX reply
//HHH I B HH BB I B
struct msp_status_ex_t {
uint16_t cycleTime;
uint16_t i2cErrorCounter;
uint16_t sensor; // MSP_STATUS_SENSOR_...
uint32_t flightModeFlags; // see getActiveModes()
uint8_t nop_1;
uint16_t system_load; // 0...100
uint16_t gyro_time;
uint8_t nop_2;
uint32_t nop_3;
uint8_t extra;
} __attribute__((packed));
// MSP_STATUS
struct msp_status_t {
uint16_t cycleTime;
uint16_t i2cErrorCounter;
uint16_t sensor; // MSP_STATUS_SENSOR_...
uint32_t flightModeFlags; // see getActiveModes()
uint8_t configProfileIndex;
uint16_t gyroCycleTime;
} __attribute__((packed));
// MSP_SENSOR_STATUS reply
struct msp_sensor_status_t {
uint8_t isHardwareHealthy; // 0...1
uint8_t hwGyroStatus;
uint8_t hwAccelerometerStatus;
uint8_t hwCompassStatus;
uint8_t hwBarometerStatus;
uint8_t hwGPSStatus;
uint8_t hwRangefinderStatus;
uint8_t hwPitotmeterStatus;
uint8_t hwOpticalFlowStatus;
} __attribute__((packed));
#define MSP_MAX_SUPPORTED_SERVOS 8
// MSP_SERVO reply
struct msp_servo_t {
uint16_t servo[MSP_MAX_SUPPORTED_SERVOS];
} __attribute__((packed));
// MSP_SERVO_CONFIGURATIONS reply
struct msp_servo_configurations_t {
__attribute__((packed)) struct {
uint16_t min;
uint16_t max;
uint16_t middle;
uint8_t rate;
uint8_t angleAtMin;
uint8_t angleAtMax;
uint8_t forwardFromChannel;
uint32_t reversedSources;
} conf[MSP_MAX_SUPPORTED_SERVOS];
} __attribute__((packed));
/*#define MSP_MAX_SERVO_RULES (2 * MSP_MAX_SUPPORTED_SERVOS)
// MSP_SERVO_MIX_RULES reply
struct msp_servo_mix_rules_t {
__attribute__ ((packed)) struct {
uint8_t targetChannel;
uint8_t inputSource;
uint8_t rate;
uint8_t speed;
uint8_t min;
uint8_t max;
} mixRule[MSP_MAX_SERVO_RULES];
} __attribute__ ((packed));*/
#define MSP_MAX_SUPPORTED_MOTORS 8
// MSP_MOTOR reply
struct msp_motor_t {
uint16_t motor[MSP_MAX_SUPPORTED_MOTORS];
} __attribute__((packed));
#define MSP_MAX_SUPPORTED_CHANNELS 16
// MSP_RC reply
struct msp_rc_t {
uint16_t channelValue[MSP_MAX_SUPPORTED_CHANNELS];
} __attribute__((packed));
// MSP_ATTITUDE reply
struct msp_attitude_t {
int16_t roll;
int16_t pitch;
int16_t yaw;
} __attribute__((packed));
// MSP_ALTITUDE reply
struct msp_altitude_t {
int32_t estimatedActualPosition; // cm
int16_t estimatedActualVelocity; // cm/s
int32_t baroLatestAltitude;
} __attribute__((packed));
// MSP_SONAR_ALTITUDE reply
struct msp_sonar_altitude_t {
int32_t altitude;
} __attribute__((packed));
// MSP_ANALOG reply
struct msp_analog_t {
uint8_t vbat; // 0...255
uint16_t mAhDrawn; // milliamp hours drawn from battery
uint16_t rssi; // 0..1023
int16_t amperage; // send amperage in 0.01 A steps, range is -320A to 320A
} __attribute__((packed));
// MSP_ARMING_CONFIG reply
struct msp_arming_config_t {
uint8_t auto_disarm_delay;
uint8_t disarm_kill_switch;
} __attribute__((packed));
// MSP_LOOP_TIME reply
struct msp_loop_time_t {
uint16_t looptime;
} __attribute__((packed));
// MSP_RC_TUNING reply
struct msp_rc_tuning_t {
uint8_t rcRate8; // no longer used
uint8_t rcExpo8;
uint8_t rates[3]; // R,P,Y
uint8_t dynThrPID;
uint8_t thrMid8;
uint8_t thrExpo8;
uint16_t tpa_breakpoint;
uint8_t rcYawExpo8;
} __attribute__((packed));
// MSP_PID reply
struct msp_pid_t {
uint8_t roll[3]; // 0=P, 1=I, 2=D
uint8_t pitch[3]; // 0=P, 1=I, 2=D
uint8_t yaw[3]; // 0=P, 1=I, 2=D
uint8_t pos_z[3]; // 0=P, 1=I, 2=D
uint8_t pos_xy[3]; // 0=P, 1=I, 2=D
uint8_t vel_xy[3]; // 0=P, 1=I, 2=D
uint8_t surface[3]; // 0=P, 1=I, 2=D
uint8_t level[3]; // 0=P, 1=I, 2=D
uint8_t heading[3]; // 0=P, 1=I, 2=D
uint8_t vel_z[3]; // 0=P, 1=I, 2=D
} __attribute__((packed));
// MSP_MISC reply
struct msp_misc_t {
uint16_t midrc;
uint16_t minthrottle;
uint16_t maxthrottle;
uint16_t mincommand;
uint16_t failsafe_throttle;
uint8_t gps_provider;
uint8_t gps_baudrate;
uint8_t gps_ubx_sbas;
uint8_t multiwiiCurrentMeterOutput;
uint8_t rssi_channel;
uint8_t dummy;
uint16_t mag_declination;
uint8_t vbatscale;
uint8_t vbatmincellvoltage;
uint8_t vbatmaxcellvoltage;
uint8_t vbatwarningcellvoltage;
} __attribute__((packed));
// values for msp_raw_gps_t.fixType
#define MSP_GPS_NO_FIX 0
#define MSP_GPS_FIX_2D 1
#define MSP_GPS_FIX_3D 2
// MSP_RAW_GPS reply
struct msp_raw_gps_t {
uint8_t fixType; // MSP_GPS_NO_FIX, MSP_GPS_FIX_2D, MSP_GPS_FIX_3D
uint8_t numSat;
int32_t lat; // 1 / 10000000 deg
int32_t lon; // 1 / 10000000 deg
int16_t alt; // centimeters since MSP API 1.39, meters before
int16_t groundSpeed; // cm/s
int16_t groundCourse; // unit: degree x 100, centidegrees
uint16_t hdop;
} __attribute__((packed));
// MSP_COMP_GPS reply
struct msp_comp_gps_t {
int16_t distanceToHome; // distance to home in meters
int16_t directionToHome; // direction to home in degrees
uint8_t heartbeat; // toggles 0 and 1 for each change
} __attribute__((packed));
// values for msp_nav_status_t.mode
#define MSP_NAV_STATUS_MODE_NONE 0
#define MSP_NAV_STATUS_MODE_HOLD 1
#define MSP_NAV_STATUS_MODE_RTH 2
#define MSP_NAV_STATUS_MODE_NAV 3
#define MSP_NAV_STATUS_MODE_EMERG 15
// values for msp_nav_status_t.state
#define MSP_NAV_STATUS_STATE_NONE 0 // None
#define MSP_NAV_STATUS_STATE_RTH_START 1 // RTH Start
#define MSP_NAV_STATUS_STATE_RTH_ENROUTE 2 // RTH Enroute
#define MSP_NAV_STATUS_STATE_HOLD_INFINIT 3 // PosHold infinit
#define MSP_NAV_STATUS_STATE_HOLD_TIMED 4 // PosHold timed
#define MSP_NAV_STATUS_STATE_WP_ENROUTE 5 // WP Enroute
#define MSP_NAV_STATUS_STATE_PROCESS_NEXT 6 // Process next
#define MSP_NAV_STATUS_STATE_DO_JUMP 7 // Jump
#define MSP_NAV_STATUS_STATE_LAND_START 8 // Start Land
#define MSP_NAV_STATUS_STATE_LAND_IN_PROGRESS 9 // Land in Progress
#define MSP_NAV_STATUS_STATE_LANDED 10 // Landed
#define MSP_NAV_STATUS_STATE_LAND_SETTLE 11 // Settling before land
#define MSP_NAV_STATUS_STATE_LAND_START_DESCENT 12 // Start descent
// values for msp_nav_status_t.activeWpAction, msp_set_wp_t.action
#define MSP_NAV_STATUS_WAYPOINT_ACTION_WAYPOINT 0x01
#define MSP_NAV_STATUS_WAYPOINT_ACTION_RTH 0x04
// values for msp_nav_status_t.error
#define MSP_NAV_STATUS_ERROR_NONE 0 // All systems clear
#define MSP_NAV_STATUS_ERROR_TOOFAR 1 // Next waypoint distance is more than safety distance
#define MSP_NAV_STATUS_ERROR_SPOILED_GPS 2 // GPS reception is compromised - Nav paused - copter is adrift !
#define MSP_NAV_STATUS_ERROR_WP_CRC 3 // CRC error reading WP data from EEPROM - Nav stopped
#define MSP_NAV_STATUS_ERROR_FINISH 4 // End flag detected, navigation finished
#define MSP_NAV_STATUS_ERROR_TIMEWAIT 5 // Waiting for poshold timer
#define MSP_NAV_STATUS_ERROR_INVALID_JUMP 6 // Invalid jump target detected, aborting
#define MSP_NAV_STATUS_ERROR_INVALID_DATA 7 // Invalid mission step action code, aborting, copter is adrift
#define MSP_NAV_STATUS_ERROR_WAIT_FOR_RTH_ALT 8 // Waiting to reach RTH Altitude
#define MSP_NAV_STATUS_ERROR_GPS_FIX_LOST 9 // Gps fix lost, aborting mission
#define MSP_NAV_STATUS_ERROR_DISARMED 10 // NAV engine disabled due disarm
#define MSP_NAV_STATUS_ERROR_LANDING 11 // Landing
// MSP_NAV_STATUS reply
struct msp_nav_status_t {
uint8_t mode; // one of MSP_NAV_STATUS_MODE_XXX
uint8_t state; // one of MSP_NAV_STATUS_STATE_XXX
uint8_t activeWpAction; // combination of MSP_NAV_STATUS_WAYPOINT_ACTION_XXX
uint8_t activeWpNumber;
uint8_t error; // one of MSP_NAV_STATUS_ERROR_XXX
int16_t magHoldHeading;
} __attribute__((packed));
// MSP_GPSSVINFO reply
struct msp_gpssvinfo_t {
uint8_t dummy1;
uint8_t dummy2;
uint8_t dummy3;
uint8_t dummy4;
uint8_t HDOP;
} __attribute__((packed));
// MSP_GPSSTATISTICS reply
struct msp_gpsstatistics_t {
uint16_t lastMessageDt;
uint32_t errors;
uint32_t timeouts;
uint32_t packetCount;
uint16_t hdop;
uint16_t eph;
uint16_t epv;
} __attribute__((packed));
// MSP_UID reply
struct msp_uid_t {
uint32_t uid0;
uint32_t uid1;
uint32_t uid2;
} __attribute__((packed));
// MSP_FEATURE mask
#define MSP_FEATURE_RX_PPM (1 << 0)
#define MSP_FEATURE_VBAT (1 << 1)
#define MSP_FEATURE_UNUSED_1 (1 << 2)
#define MSP_FEATURE_RX_SERIAL (1 << 3)
#define MSP_FEATURE_MOTOR_STOP (1 << 4)
#define MSP_FEATURE_SERVO_TILT (1 << 5)
#define MSP_FEATURE_SOFTSERIAL (1 << 6)
#define MSP_FEATURE_GPS (1 << 7)
#define MSP_FEATURE_UNUSED_3 (1 << 8) // was FEATURE_FAILSAFE
#define MSP_FEATURE_UNUSED_4 (1 << 9) // was FEATURE_SONAR
#define MSP_FEATURE_TELEMETRY (1 << 10)
#define MSP_FEATURE_CURRENT_METER (1 << 11)
#define MSP_FEATURE_3D (1 << 12)
#define MSP_FEATURE_RX_PARALLEL_PWM (1 << 13)
#define MSP_FEATURE_RX_MSP (1 << 14)
#define MSP_FEATURE_RSSI_ADC (1 << 15)
#define MSP_FEATURE_LED_STRIP (1 << 16)
#define MSP_FEATURE_DASHBOARD (1 << 17)
#define MSP_FEATURE_UNUSED_2 (1 << 18)
#define MSP_FEATURE_BLACKBOX (1 << 19)
#define MSP_FEATURE_CHANNEL_FORWARDING (1 << 20)
#define MSP_FEATURE_TRANSPONDER (1 << 21)
#define MSP_FEATURE_AIRMODE (1 << 22)
#define MSP_FEATURE_SUPEREXPO_RATES (1 << 23)
#define MSP_FEATURE_VTX (1 << 24)
#define MSP_FEATURE_RX_SPI (1 << 25)
#define MSP_FEATURE_SOFTSPI (1 << 26)
#define MSP_FEATURE_PWM_SERVO_DRIVER (1 << 27)
#define MSP_FEATURE_PWM_OUTPUT_ENABLE (1 << 28)
#define MSP_FEATURE_OSD (1 << 29)
// MSP_FEATURE reply
struct msp_feature_t {
uint32_t featureMask; // combination of MSP_FEATURE_XXX
} __attribute__((packed));
// MSP_BOARD_ALIGNMENT reply
struct msp_board_alignment_t {
int16_t rollDeciDegrees;
int16_t pitchDeciDegrees;
int16_t yawDeciDegrees;
} __attribute__((packed));
// values for msp_current_meter_config_t.currentMeterType
#define MSP_CURRENT_SENSOR_NONE 0
#define MSP_CURRENT_SENSOR_ADC 1
#define MSP_CURRENT_SENSOR_VIRTUAL 2
#define MSP_CURRENT_SENSOR_MAX CURRENT_SENSOR_VIRTUAL
// MSP_CURRENT_METER_CONFIG reply
struct msp_current_meter_config_t {
int16_t currentMeterScale;
int16_t currentMeterOffset;
uint8_t currentMeterType; // MSP_CURRENT_SENSOR_XXX
uint16_t batteryCapacity;
} __attribute__((packed));
// msp_rx_config_t.serialrx_provider
#define MSP_SERIALRX_SPEKTRUM1024 0
#define MSP_SERIALRX_SPEKTRUM2048 1
#define MSP_SERIALRX_SBUS 2
#define MSP_SERIALRX_SUMD 3
#define MSP_SERIALRX_SUMH 4
#define MSP_SERIALRX_XBUS_MODE_B 5
#define MSP_SERIALRX_XBUS_MODE_B_RJ01 6
#define MSP_SERIALRX_IBUS 7
#define MSP_SERIALRX_JETIEXBUS 8
#define MSP_SERIALRX_CRSF 9
// msp_rx_config_t.rx_spi_protocol values
#define MSP_SPI_PROT_NRF24RX_V202_250K 0
#define MSP_SPI_PROT_NRF24RX_V202_1M 1
#define MSP_SPI_PROT_NRF24RX_SYMA_X 2
#define MSP_SPI_PROT_NRF24RX_SYMA_X5C 3
#define MSP_SPI_PROT_NRF24RX_CX10 4
#define MSP_SPI_PROT_NRF24RX_CX10A 5
#define MSP_SPI_PROT_NRF24RX_H8_3D 6
#define MSP_SPI_PROT_NRF24RX_INAV 7
// MSP_RX_CONFIG reply
struct msp_rx_config_t {
uint8_t serialrx_provider; // one of MSP_SERIALRX_XXX values
uint16_t maxcheck;
uint16_t midrc;
uint16_t mincheck;
uint8_t spektrum_sat_bind;
uint16_t rx_min_usec;
uint16_t rx_max_usec;
uint8_t dummy1;
uint8_t dummy2;
uint16_t dummy3;
uint8_t rx_spi_protocol; // one of MSP_SPI_PROT_XXX values
uint32_t rx_spi_id;
uint8_t rx_spi_rf_channel_count;
} __attribute__((packed));
#define MSP_MAX_MAPPABLE_RX_INPUTS 8
// MSP_RX_MAP reply
struct msp_rx_map_t {
uint8_t rxmap[MSP_MAX_MAPPABLE_RX_INPUTS]; // [0]=roll channel, [1]=pitch channel, [2]=yaw channel, [3]=throttle channel, [3+n]=aux n channel, etc...
} __attribute__((packed));
// values for msp_sensor_alignment_t.gyro_align, acc_align, mag_align
#define MSP_SENSOR_ALIGN_CW0_DEG 1
#define MSP_SENSOR_ALIGN_CW90_DEG 2
#define MSP_SENSOR_ALIGN_CW180_DEG 3
#define MSP_SENSOR_ALIGN_CW270_DEG 4
#define MSP_SENSOR_ALIGN_CW0_DEG_FLIP 5
#define MSP_SENSOR_ALIGN_CW90_DEG_FLIP 6
#define MSP_SENSOR_ALIGN_CW180_DEG_FLIP 7
#define MSP_SENSOR_ALIGN_CW270_DEG_FLIP 8
// MSP_SENSOR_ALIGNMENT reply
struct msp_sensor_alignment_t {
uint8_t gyro_align; // one of MSP_SENSOR_ALIGN_XXX
uint8_t acc_align; // one of MSP_SENSOR_ALIGN_XXX
uint8_t mag_align; // one of MSP_SENSOR_ALIGN_XXX
} __attribute__((packed));
// MSP_CALIBRATION_DATA reply
struct msp_calibration_data_t {
int16_t accZeroX;
int16_t accZeroY;
int16_t accZeroZ;
int16_t accGainX;
int16_t accGainY;
int16_t accGainZ;
int16_t magZeroX;
int16_t magZeroY;
int16_t magZeroZ;
} __attribute__((packed));
// MSP_SET_HEAD command
struct msp_set_head_t {
int16_t magHoldHeading; // degrees
} __attribute__((packed));
// MSP_SET_RAW_RC command
struct msp_set_raw_rc_t {
uint16_t channel[MSP_MAX_SUPPORTED_CHANNELS];
} __attribute__((packed));
// MSP_SET_PID command
typedef msp_pid_t msp_set_pid_t;
// MSP_SET_RAW_GPS command
struct msp_set_raw_gps_t {
uint8_t fixType; // MSP_GPS_NO_FIX, MSP_GPS_FIX_2D, MSP_GPS_FIX_3D
uint8_t numSat;
int32_t lat; // 1 / 10000000 deg
int32_t lon; // 1 / 10000000 deg
int16_t alt; // meters
int16_t groundSpeed; // cm/s
} __attribute__((packed));
// MSP_SET_WP command
// Special waypoints are 0 and 255. 0 is the RTH position, 255 is the POSHOLD position (lat, lon, alt).
struct msp_set_wp_t {
uint8_t waypointNumber;
uint8_t action; // one of MSP_NAV_STATUS_WAYPOINT_ACTION_XXX
int32_t lat; // decimal degrees latitude * 10000000
int32_t lon; // decimal degrees longitude * 10000000
int32_t alt; // altitude (cm)
int16_t p1; // speed (cm/s) when action is MSP_NAV_STATUS_WAYPOINT_ACTION_WAYPOINT, or "land" (value 1) when action is MSP_NAV_STATUS_WAYPOINT_ACTION_RTH
int16_t p2; // not used
int16_t p3; // not used
uint8_t flag; // 0xa5 = last, otherwise set to 0
} __attribute__((packed));
#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
#define MSP_NAME 10
#define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used
struct msp_osd_config_t {
uint8_t osdflags;
uint8_t video_system;
uint8_t units;
uint8_t rssi_alarm;
uint16_t cap_alarm;
uint8_t old_timer_alarm;
uint8_t osd_item_count; //56
uint16_t alt_alarm;
uint16_t osd_rssi_value_pos;
uint16_t osd_main_batt_voltage_pos;
uint16_t osd_crosshairs_pos;
uint16_t osd_artificial_horizon_pos;
uint16_t osd_horizon_sidebars_pos;
uint16_t osd_item_timer_1_pos;
uint16_t osd_item_timer_2_pos;
uint16_t osd_flymode_pos;
uint16_t osd_craft_name_pos;
uint16_t osd_throttle_pos_pos;
uint16_t osd_vtx_channel_pos;
uint16_t osd_current_draw_pos;
uint16_t osd_mah_drawn_pos;
uint16_t osd_gps_speed_pos;
uint16_t osd_gps_sats_pos;
uint16_t osd_altitude_pos;
uint16_t osd_roll_pids_pos;
uint16_t osd_pitch_pids_pos;
uint16_t osd_yaw_pids_pos;
uint16_t osd_power_pos;
uint16_t osd_pidrate_profile_pos;
uint16_t osd_warnings_pos;
uint16_t osd_avg_cell_voltage_pos;
uint16_t osd_gps_lon_pos;
uint16_t osd_gps_lat_pos;
uint16_t osd_debug_pos;
uint16_t osd_pitch_angle_pos;
uint16_t osd_roll_angle_pos;
uint16_t osd_main_batt_usage_pos;
uint16_t osd_disarmed_pos;
uint16_t osd_home_dir_pos;
uint16_t osd_home_dist_pos;
uint16_t osd_numerical_heading_pos;
uint16_t osd_numerical_vario_pos;
uint16_t osd_compass_bar_pos;
uint16_t osd_esc_tmp_pos;
uint16_t osd_esc_rpm_pos;
uint16_t osd_remaining_time_estimate_pos;
uint16_t osd_rtc_datetime_pos;
uint16_t osd_adjustment_range_pos;
uint16_t osd_core_temperature_pos;
uint16_t osd_anti_gravity_pos;
uint16_t osd_g_force_pos;
uint16_t osd_motor_diag_pos;
uint16_t osd_log_status_pos;
uint16_t osd_flip_arrow_pos;
uint16_t osd_link_quality_pos;
uint16_t osd_flight_dist_pos;
uint16_t osd_stick_overlay_left_pos;
uint16_t osd_stick_overlay_right_pos;
uint16_t osd_display_name_pos;
uint16_t osd_esc_rpm_freq_pos;
uint16_t osd_rate_profile_name_pos;
uint16_t osd_pid_profile_name_pos;
uint16_t osd_profile_name_pos;
uint16_t osd_rssi_dbm_value_pos;
uint16_t osd_rc_channels_pos;
uint8_t osd_stat_count; //24
uint8_t osd_stat_rtc_date_time;
uint8_t osd_stat_timer_1;
uint8_t osd_stat_timer_2;
uint8_t osd_stat_max_speed;
uint8_t osd_stat_max_distance;
uint8_t osd_stat_min_battery;
uint8_t osd_stat_end_battery;
uint8_t osd_stat_battery;
uint8_t osd_stat_min_rssi;
uint8_t osd_stat_max_current;
uint8_t osd_stat_used_mah;
uint8_t osd_stat_max_altitude;
uint8_t osd_stat_blackbox;
uint8_t osd_stat_blackbox_number;
uint8_t osd_stat_max_g_force;
uint8_t osd_stat_max_esc_temp;
uint8_t osd_stat_max_esc_rpm;
uint8_t osd_stat_min_link_quality;
uint8_t osd_stat_flight_distance;
uint8_t osd_stat_max_fft;
uint8_t osd_stat_total_flights;
uint8_t osd_stat_total_time;
uint8_t osd_stat_total_dist;
uint8_t osd_stat_min_rssi_dbm;
uint16_t osd_timer_count;
uint16_t osd_timer_1;
uint16_t osd_timer_2;
uint16_t enabledwarnings;
uint8_t osd_warning_count; // 16
uint32_t enabledwarnings_1_41_plus;
uint8_t osd_profile_count; // 1
uint8_t osdprofileindex; // 1
uint8_t overlay_radio_mode; // 0
} __attribute__((packed));
struct msp_name_t {
char craft_name[15]; //15 characters max possible displayed in the goggles
} __attribute__((packed));
struct msp_battery_state_t {
uint8_t batteryCellCount;
uint16_t batteryCapacity;
uint8_t legacyBatteryVoltage;
uint16_t mAhDrawn;
uint16_t amperage;
uint8_t batteryState;
uint16_t batteryVoltage;
} __attribute__((packed));
// MSP_STATUS reply customized for BF/DJI
struct msp_status_BF_t {
uint16_t task_delta_time;
uint16_t i2c_error_count;
uint16_t sensor_status;
uint32_t flight_mode_flags;
uint8_t pid_profile;
uint16_t system_load;
uint16_t gyro_cycle_time;
uint8_t box_mode_flags;
uint8_t arming_disable_flags_count;
uint32_t arming_disable_flags;
uint8_t extra_flags;
} __attribute__((packed));
////ArduPlane
enum arduPlaneModes_e {
MANUAL = 0,
CIRCLE = 1,
STABILIZE = 2,
TRAINING = 3,
ACRO = 4,
FLY_BY_WIRE_A = 5,
FLY_BY_WIRE_B = 6,
CRUISE = 7,
AUTOTUNE = 8,
AUTO = 10,
RTL = 11,
LOITER = 12,
TAKEOFF = 13,
AVOID_ADSB = 14,
GUIDED = 15,
INITIALISING = 16,
QSTABILIZE = 17,
QHOVER = 18,
QLOITER = 19,
QLAND = 20,
QRTL = 21,
QAUTOTUNE = 22,
QACRO = 23,
};
enum betaflightDJIModesMask_e {
ARM_ACRO_BF = (1 << 0),
STAB_BF = (1 << 1),
HOR_BF = (1 << 2),
HEAD_BF = (1 << 3),
FS_BF = (1 << 4),
RESC_BF = (1 << 5)
};
//DJI supported flightModeFlags
// 0b00000001 acro/arm
// 0b00000010 stab
// 0b00000100 hor
// 0b00001000 head
// 0b00010000 !fs!
// 0b00100000 resc
// 0b01000000 acro
// 0b10000000 acro
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