INAV-MSP-frames-changelog.md

   1 ## MSP API Version 2.3
   2
   3 ### MSP2_INAV_MC_BRAKING / MSP2_INAV_SET_MC_BRAKING
   4
   5 New MSP frames used to setup mixer properties.
   6
   7 Frame IDs:
   8
   9 * MSP2_INAV_MC_BRAKING, Frame ID _0x200B_
  10 * MSP2_INAV_SET_MC_BRAKING, Frame ID _0x200C_
  11
  12 | Length        | Setting                       | Notes                         |
  13 | -----         | -----                         | -----                         |
  14 | 2 | `nav_mc_braking_speed_threshold` | |
  15 | 2 | `nav_mc_braking_disengage_speed` | |
  16 | 2 | `nav_mc_braking_timeout` | |
  17 | 1 | `nav_mc_braking_boost_factor` | |
  18 | 2 | `nav_mc_braking_boost_timeout` | |
  19 | 2 | `nav_mc_braking_boost_speed_threshold` | |
  20 | 2 | `nav_mc_braking_boost_disengage_speed` | |
  21 | 1 | `nav_mc_braking_bank_angle` | |
  22
  23
  24 ## MSP API Version 2.2
  25
  26 Since `mixerMode` is no longer used, legacy MSP frames will return always **mixer mode** *3 (QuadX)* and attempt to set mixer mode via MSP will be ignored. This affects following MSP frames:
  27
  28 1. MSP_IDENT
  29 1. MSP_MIXER
  30 1. MSP_BF_CONFIG
  31 1. MSP_SET_MIXER
  32 1. MSP_SET_BF_CONFIG
  33
  34 ### MSP2_INAV_MIXER / MSP2_INAV_SET_MIXER
  35
  36 New MSP frames used to setup mixer properties.
  37
  38 Frame IDs:
  39
  40 * MSP2_INAV_MIXER, Frame ID _0x2010_
  41 * MSP2_INAV_SET_MIXER, Frame ID _0x2011_
  42
  43 | Length        | Setting                       | Notes                         |
  44 | -----         | -----                         | -----                         |
  45 | 1 | `yaw_motor_direction` | |
  46 | 2 | `yaw_jump_prevention_limit` | |
  47 | 1 | `platform_type` | |
  48 | 1 | `has_flaps` | |
  49
  50 ## INAV 1.9 MSP Version 2.1
  51
  52 ### MSP2_COMMON_MOTOR_MIXER / MSP2_COMMON_SET_MOTOR_MIXER
  53
  54 Frame IDs:
  55
  56 * MMSP2_COMMON_MOTOR_MIXER, Frame ID _0x1005_
  57 * MSP2_COMMON_SET_MOTOR_MIXER, Frame ID _0x1006_
  58
  59 ## INAV 1.7.1 MSP API Version 1.26
  60
  61 ### MSP_FW_CONFIG / MSP_SET_FW_CONFIG
  62
  63 Get and set Fixed Wing options
  64
  65 Frame IDs:
  66
  67 * MSP_FW_CONFIG, Frame ID _23_
  68 * MSP_SET_FW_CONFIG, Frame ID _24_
  69
  70 | Length        | Setting                       | Notes                         |
  71 | -----         | -----                         | -----                         |
  72 | 2 | `nav_fw_cruise_thr` | |
  73 | 2 | `nav_fw_min_thr` | |
  74 | 2 | `nav_fw_max_thr` | |
  75 | 1 | `nav_fw_bank_angle` | |
  76 | 1 | `nav_fw_climb_angle` | |
  77 | 1 | `nav_fw_dive_angle` | |
  78 | 1 | `nav_fw_pitch2thr` | |
  79 | 2 | `nav_fw_loiter_radius` | |
  80
  81 ### MSP_RTH_AND_LAND_CONFIG / MSP_SET_RTH_AND_LAND_CONFIG
  82
  83 Get and set Return-To-Home and Land options
  84
  85 Frame IDs:
  86
  87 * MSP_RTH_AND_LAND_CONFIG, Frame ID _21_
  88 * MSP_SET_RTH_AND_LAND_CONFIG, Frame ID _22_
  89
  90 | Length        | Setting                       | Notes                         |
  91 | -----         | -----                         | -----                         |
  92 | 2             | `nav_min_rth_distance`             |         |
  93 | 1             | `nav_rth_climb_first`             | _boolean_    |
  94 | 1             | `nav_rth_climb_ignore_emerg`             |  _boolean_       |
  95 | 1             | `nav_rth_tail_first`             | _boolean_         |
  96 | 1             | `nav_rth_allow_landing`             | _boolean_        |
  97 | 1             | `nav_rth_alt_mode`             | _dictionary_        |
  98 | 2             | `nav_rth_abort_threshold`             |         |
  99 | 2             | `nav_rth_altitude`             |         |
 100 | 2             | `nav_landing_speed`             |         |
 101 | 2             | `nav_land_slowdown_minalt`             |         |
 102 | 2             | `nav_land_slowdown_maxalt`             |         |
 103 | 2             | `nav_emerg_landing_speed`            |         |
 104
 105 ## INAV 1.6 MSP API Version 1.24
 106
 107 ### MSP_WP_MISSION_LOAD / MSP_WP_MISSION_SAVE
 108
 109 Load/save waypoint mission to non-volatile storage
 110
 111 Frame IDs:
 112
 113 * MSP_WP_MISSION_LOAD, Frame ID _18_
 114 * MSP_WP_MISSION_SAVE, Frame ID _19_
 115
 116 | Length        | Notes                         |
 117 | -----         | -----                         |
 118 | 1             | Mission ID (reserved)         |
 119
 120
 121 ### MSP_POSITION_ESTIMATION_CONFIG
 122
 123 Frame IDs:
 124
 125 * MSP_POSITION_ESTIMATION_CONFIG, Frame ID _16_
 126 * MSP_SET_POSITION_ESTIMATION_CONFIG, Frame ID _17_
 127
 128 | Length        | Setting                       | Notes                         |
 129 | -----         | -----                         | -----                         |
 130 | 2             | `inav_w_z_baro_p`             | float as `value * 100`        |
 131 | 2             | `inav_w_z_gps_p`              | float as `value * 100`        |
 132 | 2             | `inav_w_z_gps_v`              | float as `value * 100`        |
 133 | 2             | `inav_w_xy_gps_p`             | float as `value * 100`        |
 134 | 2             | `inav_w_xy_gps_v`             | float as `value * 100`        |
 135 | 1             | `inav_gps_min_sats`           | |
 136 | 1             | `inav_use_gps_velned`         | ON/OFF |
 137 | 6             | `reserved`                    |         |
 138
 139
 140 ### MSP_CALIBRATION_DATA
 141
 142 Sensors calibration data
 143
 144 | Length        | Setting                       | Notes                         |
 145 | -----         | -----                         | -----                         |
 146 | 2             | `acczero_x`                   |                               |
 147 | 2             | `acczero_y`                   |                               |
 148 | 2             | `acczero_z`                   |                               |
 149 | 2             | `accgain_x`                   |                               |
 150 | 2             | `accgain_y`                   |                               |
 151 | 2             | `accgain_z`                   |                               |
 152 | 2             | `magzero_x`                   |                               |
 153 | 2             | `magzero_y`                   |                               |
 154 | 2             | `magzero_z`                   |                               |
 155 | 8             | _reserved_                    |                               |
 156
 157 Frame IDs:
 158
 159 * MSP_CALIBRATION_DATA, Frame ID _14_
 160 * MSP_SET_CALIBRATION_DATA, Frame ID _15_
 161
 162 ### MSP_NAV_POSHOLD
 163
 164 Basic position hold settings. Mostly, but not only, for multirotor
 165
 166 Frame IDs:
 167
 168 * MSP_NAV_POSHOLD, Frame ID _12_
 169 * MSP_SET_NAV_POSHOLD, Frame ID _13_
 170
 171 | Length        | Setting                       | Notes                         |
 172 | -----         | -----                         | -----                         |
 173 | 1             | `nav_user_control_mode`       | dictionary                    |
 174 | 2             | `nav_max_speed`               |                               |
 175 | 2             | `nav_max_climb_rate`          |                               |
 176 | 2             | `nav_manual_speed`            |                               |
 177 | 2             | `nav_manual_climb_rate`       |                               |
 178 | 1             | `nav_mc_bank_angle`           |                               |
 179 | 1             | `nav_use_midthr_for_althold`  | ON/OFF                        |
 180 | 2             | `nav_mc_hover_thr`            |                               |
 181 | 8             | _reserved_                    |                               |
 182
 183 ## INAV 1.5 MSP API Version 1.23
 184
 185 For INAV 1.5 and later, the MSP_STATUS/sensor field reports sensor failure. This updates MSP_SENSOR (see http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol) in a backwards compatible manner to report additional sensors and sensor health. The sensor field is reported as:
 186
 187 | Bit | Usage |
 188 | ---- | ----- |
 189 | 0 | Set if ACC present |
 190 | 1 | Set if BARO present |
 191 | 2 | Set if MAG present |
 192 | 3 | Set if GPS present |
 193 | 4 | Set if SONAR present |
 194 | 5 | Reserved for OPFLOW (not implemented) |
 195 | 6 | Set if PITOT present |
 196 | 15 | Set on sensor failure |
 197
 198 The sensor hardware failure indication is backwards compatible with versions prior to 1.5 (and other Multiwii / Cleanflight derivatives).
 199
 200 ### MSP_SENSOR_CONFIG
 201
 202 Frame IDs:
 203
 204 * MSP_SENSOR_CONFIG, Frame ID _96_
 205 * MSP_SET_SENSOR_CONFIG, Frame ID _97_
 206
 207 | length    | setting                       | Notes                         |
 208 | ----      | ----                          | ----                          |
 209 | 1         | `acc_hardware`                  |                               |
 210 | 1         | `baro_hardware`                  |                               |
 211 | 1         | `mag_hardware`                  |                               |
 212 | 1         | `pitot_hardware`                  |                               |
 213 | 1         | Reserved for rangefinder      | not yet implemented |
 214 | 1         | Reserved for OpFlow      | not yet implemented |
 215
 216 ## INAV 1.4 MSP API Version 1.22
 217
 218 ### MSP_INAV_PID
 219
 220 Frame IDs:
 221
 222 * MSP_INAV_PID, Frame ID _6_
 223 * MSP_SET_INAV_PID, Frame ID _7_
 224
 225 | length    | setting                       | Notes                         |
 226 | ----      | ----                          | ----                          |
 227 | 1         | `async_mode`                  |                               |
 228 | 2         | `acc_task_frequency`          |                               |
 229 | 2         | `attitude_task_frequency`     |                               |
 230 | 1         | `mag_hold_rate_limit`         |                               |
 231 | 1         | MAG_HOLD_ERROR_LPF_FREQ       | not implemented yet as configurable     |
 232 | 2         | `yaw_jump_prevention_limit`   |                               |
 233 | 1         | `gyro_lpf`                    |                               |
 234 | 1         | `acc_soft_lpf_hz`             |                               |
 235 | 4         | _reserved_                    | reserved for further usage    |
 236
 237 ## MSP_FILTER_CONFIG
 238
 239 Compatible with Betaflight
 240
 241 Frame IDs:
 242
 243 * MSP_FILTER_CONFIG Frame ID _92_
 244 * MSP_SET_FILTER_CONFIG Frame ID _93_
 245
 246 | length    | setting                       | Notes                         |
 247 | ----      | ----                          | ----                          |
 248 | 1         | `gyro_soft_lpf_hz`            |   |
 249 | 2         | `dterm_lpf_hz`                |   |
 250 | 2         | `yaw_lpf_hz`                  |   |
 251 | 2         | `gyro_soft_notch_hz_1`        | Since INAV 1.6 |
 252 | 2         | `gyro_soft_notch_cutoff_1`    | Since INAV 1.6 |
 253 | 2         | `dterm_soft_notch_hz`         | Since INAV 1.6 |
 254 | 2         | `dterm_soft_notch_cutoff`     | Since INAV 1.6 |
 255 | 2         | `gyro_soft_notch_hz_2`        | Since INAV 1.6 |
 256 | 2         | `gyro_soft_notch_cutoff_2`    | Since INAV 1.6 |
 257
 258 ## MSP_PID_ADVANCED
 259
 260 Compatible with Betaflight
 261
 262 Frame IDs:
 263
 264 * MSP_PID_ADVANCED Frame ID _94_
 265 * MSP_SET_PID_ADVANCED Frame ID _95_
 266
 267 | length    | setting                       | Notes                         |
 268 | ----      | ----                          | ----                          |
 269 | 2         | `rollPitchItermIgnoreRate`    |                               |
 270 | 2         | `yawItermIgnoreRate`          |                               |
 271 | 2         | `yaw_p_limit`                 |                               |
 272 | 1         | _not used_                    | Betaflight `deltaMethod`      |
 273 | 1         | _not used_                    | Betaflight `vbatPidCompensation` |
 274 | 1         | _not used_                    | Betaflight `setpointRelaxRatio`  |
 275 | 1         | `dterm_setpoint_weight`       | Since INAV 1.6 |
 276 | 2         | `pidsum_limit`                | Since INAV 1.6                 |
 277 | 1         | _not used_                    | Betaflight `itermThrottleGain`    |
 278 | 2         | `rate_accel_limit_roll_pitch` | divided by `10`    |
 279 | 2         | `rate_accel_limit_yaw`        | divided by `10`    |
 280
 281 ## INAV 1.3 MSP API 1.21
 282
 283 ### case MSP_ADVANCED_CONFIG:
 284
 285 Frame IDs:
 286
 287 * MSP_ADVANCED_CONFIG, Frame ID _90_
 288 * MSP_SET_ADVANCED_CONFIG, Frame ID _91_
 289
 290 | length    | setting                       | Notes               |
 291 | ----      | ----                          | ----                |
 292 | 1         | `gyro_sync_denom`             |                     |
 293 | 1         | _not used_                    | Betaflight `masterConfig.pid_process_denom` |
 294 | 1         | _not used_                    | Betaflight `masterConfig.motorConfig.useUnsyncedPwm`  |
 295 | 1         | `motor_pwm_protocol`          | _dictionary_  |
 296 | 2         | `motor_pwm_rate`              |   |
 297 | 2         | `servo_pwm_rate`              |   |
 298 | 1         | `gyro_sync`                   | _boolean_  |
 299
 300 ##Change log:
 301
 302 * 2016-11-20 - scaling of `rate_accel_limit_roll_pitch` and `rate_accel_limit_yaw` in **MSP_PID_ADVANCED** changed from 1000 to 10
 303 * 2016-12-11 - added MSP_STATUS update for INAV 1.5
 304 * 2017-01-15 - added dterm_setpoint_weight added to MSP_PID_ADVANCED frame
 305 * 2017-01-15 - MSP_CALIBRATION_DATA
 306 * 2017-01-18 - `pidsum_limit` in `MSP_PID_ADVANCED`
 307 * 2017-01-23 - MSP_POSITION_ESTIMATOR