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Add MSP2 link stats message + fix missing msp-set-wp-index-and-altitu… #11496

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56 changes: 35 additions & 21 deletions docs/development/msp/README.md
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Expand Up @@ -9,7 +9,8 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i



**JSON file rev: 4**
**JSON file rev: 5
**

**Warning: Verification needed, exercise caution until completely verified for accuracy and cleared, especially for integer signs. Source-based generation/validation is forthcoming. Refer to source for absolute certainty**

Expand Down Expand Up @@ -66,6 +67,7 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
**variable_len**: Optional boolean, if true, message does not have a predefined fixed length and needs appropriate handling\
**variants**: Optional special case, message has different cases of reply/request. Key/description is not a strict expression or code; just a readable condition\
**not_implemented**: Optional special case, message is not implemented (never or deprecated)\
**replaced_by**: Optional array of MSP message names that replace this command. Present when a command is deprecated and scheduled for removal. Empty array if no replacement is needed\
**notes**: String with details of message

## Data dict fields:
Expand Down Expand Up @@ -403,6 +405,7 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
[8448 - MSP2_INAV_CUSTOM_OSD_ELEMENTS](#msp2_inav_custom_osd_elements)
[8449 - MSP2_INAV_CUSTOM_OSD_ELEMENT](#msp2_inav_custom_osd_element)
[8450 - MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS](#msp2_inav_set_custom_osd_elements)
[8451 - MSP2_INAV_GET_LINK_STATS](#msp2_inav_get_link_stats)
[8461 - MSP2_INAV_OUTPUT_MAPPING_EXT2](#msp2_inav_output_mapping_ext2)
[8704 - MSP2_INAV_SERVO_CONFIG](#msp2_inav_servo_config)
[8705 - MSP2_INAV_SET_SERVO_CONFIG](#msp2_inav_set_servo_config)
Expand All @@ -411,11 +414,11 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
[8722 - MSP2_INAV_GEOZONE_VERTEX](#msp2_inav_geozone_vertex)
[8723 - MSP2_INAV_SET_GEOZONE_VERTEX](#msp2_inav_set_geozone_vertex)
[8724 - MSP2_INAV_SET_GVAR](#msp2_inav_set_gvar)
[8736 - MSP2_INAV_FULL_LOCAL_POSE](#msp2_inav_full_local_pose)
[8737 - MSP2_INAV_SET_WP_INDEX](#msp2_inav_set_wp_index)
[8739 - MSP2_INAV_SET_CRUISE_HEADING](#msp2_inav_set_cruise_heading)
[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)
[12289 - MSP2_RX_BIND](#msp2_rx_bind)
[8736 - MSP2_INAV_FULL_LOCAL_POSE](#msp2_inav_full_local_pose)
[8737 - MSP2_INAV_SET_WP_INDEX](#msp2_inav_set_wp_index)
[8739 - MSP2_INAV_SET_CRUISE_HEADING](#msp2_inav_set_cruise_heading)
[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)
[12289 - MSP2_RX_BIND](#msp2_rx_bind)

## <a id="msp_api_version"></a>`MSP_API_VERSION (1 / 0x1)`
**Description:** Provides the MSP protocol version and the INAV API version.
Expand Down Expand Up @@ -2208,7 +2211,7 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
| `armingFlags` | `uint16_t` | 2 | Bitmask | Bitmask: Flight controller arming flags (`armingFlags`). Note: Truncated to 16 bits |
| `accCalibAxisFlags` | `uint8_t` | 1 | Bitmask | Bitmask: Accelerometer calibrated axes flags (`accGetCalibrationAxisFlags()`) |

**Notes:** Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements.
**Notes:** Superseded by `MSP2_INAV_STATUS` which provides the full 32-bit `armingFlags` and other enhancements. The `accCalibAxisFlags` field is not present in `MSP2_INAV_STATUS` but is available via `MSP_CALIBRATION_DATA`.

## <a id="msp_sensor_status"></a>`MSP_SENSOR_STATUS (151 / 0x97)`
**Description:** Provides the hardware status for each individual sensor system.
Expand Down Expand Up @@ -2275,6 +2278,7 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
| `hdop` | `uint16_t` | 2 | HDOP * 100 | Horizontal Dilution of Precision (`gpsSol.hdop`) |
| `eph` | `uint16_t` | 2 | cm | Estimated Horizontal Position Accuracy (`gpsSol.eph`) |
| `epv` | `uint16_t` | 2 | cm | Estimated Vertical Position Accuracy (`gpsSol.epv`) |
| `hwVersion` | `uint32_t` | 4 | Version code | GPS hardware version (`gpsState.hwVersion`). Values: 500=UBLOX5, 600=UBLOX6, 700=UBLOX7, 800=UBLOX8, 900=UBLOX9, 1000=UBLOX10, 0=UNKNOWN |

**Notes:** Requires `USE_GPS`.

Expand Down Expand Up @@ -4357,6 +4361,20 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i

**Notes:** Payload length must be (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) + (CUSTOM_ELEMENTS_PARTS * 3) + 4 bytes including elementIndex. elementIndex must be < MAX_CUSTOM_ELEMENTS. Each partType must be < CUSTOM_ELEMENT_TYPE_END. Firmware NUL-terminates elementText internally.

## <a id="msp2_inav_get_link_stats"></a>`MSP2_INAV_GET_LINK_STATS (8451 / 0x2103)`
**Description:** Provides uplink RC link statistics for monitoring on a GCS.

**Request Payload:** **None**

**Reply Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `uplinkRSSI_dBm` | `uint8_t` | 1 | -dBm | Uplink RSSI in dBm, sent as a positive magnitude (`getRSSI()`). For example, 70 means -70dBm. |
| `uplinkLQ` | `uint8_t` | 1 | % | Uplink Link Quality (`rxLinkStatistics.uplinkLQ`) |
| `uplinkSNR` | `int8_t` | 1 | dB | Uplink Signal-to-Noise Ratio (`rxLinkStatistics.uplinkSNR`) |

**Notes:** Useful for GCS monitoring of the active RC link quality and signal margin.

## <a id="msp2_inav_output_mapping_ext2"></a>`MSP2_INAV_OUTPUT_MAPPING_EXT2 (8461 / 0x210d)`
**Description:** Retrieves the full extended output mapping configuration (timer ID, full 32-bit usage flags, and pin label). Supersedes `MSP2_INAV_OUTPUT_MAPPING_EXT`.

Expand Down Expand Up @@ -4529,33 +4547,29 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
**Notes:** All attitude angles are in deci-degrees.

## <a id="msp2_inav_set_wp_index"></a>`MSP2_INAV_SET_WP_INDEX (8737 / 0x2221)`
**Description:** Jumps to a specific waypoint during an active waypoint mission, causing the aircraft to immediately begin navigating toward the new target waypoint.

**Description:** Jumps to a specific waypoint during an active waypoint mission, causing the aircraft to immediately begin navigating toward the new target waypoint.
**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `wp_index` | `uint8_t` | 1 | - | 0-based waypoint index to jump to, relative to the mission start waypoint (`posControl.startWpIndex`) |

**Reply Payload:** **None**
**Reply Payload:** **None**

**Notes:** Returns error if the aircraft is not armed, `NAV_WP_MODE` is not active, or the index is outside the valid mission range (`startWpIndex` to `startWpIndex + waypointCount - 1`). On success, sets `posControl.activeWaypointIndex` to the requested index and fires `NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_JUMP`, transitioning the navigation FSM back to `NAV_STATE_WAYPOINT_PRE_ACTION` so the flight controller re-initialises navigation for the new target.

---

## <a id="msp2_inav_set_cruise_heading"></a>`MSP2_INAV_SET_CRUISE_HEADING (8739 / 0x2223)`
**Description:** Sets the course heading target while Cruise or Course Hold mode is active, causing the aircraft to turn to and maintain the new heading.

**Description:** Sets the course heading target while Cruise or Course Hold mode is active, causing the aircraft to turn to and maintain the new heading.
**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `heading_centidegrees` | `int32_t` | 4 | centidegrees | Target heading in centidegrees (0–35999). Values are wrapped modulo 36000 before being applied. |
| `heading_centidegrees` | `int32_t` | 4 | centidegrees | Target heading in centidegrees (0-35999). Values are wrapped modulo 36000 before being applied. |

**Reply Payload:** **None**
**Reply Payload:** **None**

**Notes:** Returns error if the aircraft is not armed or `NAV_COURSE_HOLD_MODE` is not active. On success, sets both `posControl.cruise.course` and `posControl.cruise.previousCourse` to the normalised value, preventing spurious heading adjustments from `getCruiseHeadingAdjustment()` on the next control cycle.

---

## <a id="msp2_betaflight_bind"></a>`MSP2_BETAFLIGHT_BIND (12288 / 0x3000)`
**Description:** Initiates the receiver binding procedure for supported serial protocols (CRSF, SRXL2).

Expand All @@ -4566,14 +4580,14 @@ For list of enums, see [Enum documentation page](https://github.com/iNavFlight/i
**Notes:** Requires `rxConfig()->receiverType == RX_TYPE_SERIAL`. Requires `USE_SERIALRX_CRSF` or `USE_SERIALRX_SRXL2`. Calls `crsfBind()` or `srxl2Bind()` respectively. Returns error if receiver type or provider is not supported for binding.

## <a id="msp2_rx_bind"></a>`MSP2_RX_BIND (12289 / 0x3001)`
**Description:** Initiates binding for MSP receivers (mLRS).

**Description:** Initiates binding for MSP receivers (mLRS).
**Request Payload:**
|Field|C Type|Size (Bytes)|Description|
|---|---|---|---|
| `port_id` | `uint8_t` | 1 | Port ID |
| `reserved_for_custom_use` | `uint8_t[3]` | 3 | Reserved for custom use |

**Reply Payload:**
|Field|C Type|Size (Bytes)|Description|
|---|---|---|---|
Expand Down
2 changes: 1 addition & 1 deletion docs/development/msp/gen_docs.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ expected="$(awk '{print $1}' msp_messages.checksum)"
echo "Hash:" $actual
if [[ "$actual" != "$expected" ]]; then
n="$(cat rev)"
printf '%d' "$(n + 1)" > rev
printf '%d' "$((n + 1))" > rev
echo "File changed, incrementing revision"
echo $actual > msp_messages.checksum
fi
Expand Down
121 changes: 65 additions & 56 deletions docs/development/msp/inav_enums.json
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,8 @@
"ACC_ICM42605": "8",
"ACC_BMI270": "9",
"ACC_LSM6DXX": "10",
"ACC_FAKE": "11",
"ACC_ICM45686": "11",
"ACC_FAKE": "12",
"ACC_MAX": "ACC_FAKE"
},
"accEvent_t": {
Expand Down Expand Up @@ -736,6 +737,9 @@
"CRSF_FRAMETYPE_VARIO_SENSOR": "7",
"CRSF_FRAMETYPE_BATTERY_SENSOR": "8",
"CRSF_FRAMETYPE_BAROMETER_ALTITUDE": "9",
"CRSF_FRAMETYPE_AIRSPEED_SENSOR": "10",
"CRSF_FRAMETYPE_RPM": "12",
"CRSF_FRAMETYPE_TEMP": "13",
"CRSF_FRAMETYPE_LINK_STATISTICS": "20",
"CRSF_FRAMETYPE_RC_CHANNELS_PACKED": "22",
"CRSF_FRAMETYPE_ATTITUDE": "30",
Expand All @@ -760,6 +764,9 @@
"CRSF_FRAME_GPS_INDEX": "",
"CRSF_FRAME_VARIO_SENSOR_INDEX": "",
"CRSF_FRAME_BAROMETER_ALTITUDE_INDEX": "",
"CRSF_FRAME_TEMP_INDEX": "",
"CRSF_FRAME_RPM_INDEX": "",
"CRSF_FRAME_AIRSPEED_INDEX": "",
"CRSF_SCHEDULE_COUNT_MAX": ""
},
"crsrRfMode_e": {
Expand Down Expand Up @@ -801,53 +808,54 @@
"DEVHW_ICM42605": "7",
"DEVHW_BMI270": "8",
"DEVHW_LSM6D": "9",
"DEVHW_MPU9250": "10",
"DEVHW_BMP085": "11",
"DEVHW_BMP280": "12",
"DEVHW_MS5611": "13",
"DEVHW_MS5607": "14",
"DEVHW_LPS25H": "15",
"DEVHW_SPL06": "16",
"DEVHW_BMP388": "17",
"DEVHW_DPS310": "18",
"DEVHW_B2SMPB": "19",
"DEVHW_HMC5883": "20",
"DEVHW_AK8963": "21",
"DEVHW_AK8975": "22",
"DEVHW_IST8310_0": "23",
"DEVHW_IST8310_1": "24",
"DEVHW_IST8308": "25",
"DEVHW_QMC5883": "26",
"DEVHW_QMC5883P": "27",
"DEVHW_MAG3110": "28",
"DEVHW_LIS3MDL": "29",
"DEVHW_RM3100": "30",
"DEVHW_VCM5883": "31",
"DEVHW_MLX90393": "32",
"DEVHW_LM75_0": "33",
"DEVHW_LM75_1": "34",
"DEVHW_LM75_2": "35",
"DEVHW_LM75_3": "36",
"DEVHW_LM75_4": "37",
"DEVHW_LM75_5": "38",
"DEVHW_LM75_6": "39",
"DEVHW_LM75_7": "40",
"DEVHW_DS2482": "41",
"DEVHW_MAX7456": "42",
"DEVHW_SRF10": "43",
"DEVHW_VL53L0X": "44",
"DEVHW_VL53L1X": "45",
"DEVHW_US42": "46",
"DEVHW_TOF10120_I2C": "47",
"DEVHW_TERARANGER_EVO_I2C": "48",
"DEVHW_MS4525": "49",
"DEVHW_DLVR": "50",
"DEVHW_M25P16": "51",
"DEVHW_W25N": "52",
"DEVHW_UG2864": "53",
"DEVHW_SDCARD": "54",
"DEVHW_IRLOCK": "55",
"DEVHW_PCF8574": "56"
"DEVHW_ICM45686": "10",
"DEVHW_MPU9250": "11",
"DEVHW_BMP085": "12",
"DEVHW_BMP280": "13",
"DEVHW_MS5611": "14",
"DEVHW_MS5607": "15",
"DEVHW_LPS25H": "16",
"DEVHW_SPL06": "17",
"DEVHW_BMP388": "18",
"DEVHW_DPS310": "19",
"DEVHW_B2SMPB": "20",
"DEVHW_HMC5883": "21",
"DEVHW_AK8963": "22",
"DEVHW_AK8975": "23",
"DEVHW_IST8310_0": "24",
"DEVHW_IST8310_1": "25",
"DEVHW_IST8308": "26",
"DEVHW_QMC5883": "27",
"DEVHW_QMC5883P": "28",
"DEVHW_MAG3110": "29",
"DEVHW_LIS3MDL": "30",
"DEVHW_RM3100": "31",
"DEVHW_VCM5883": "32",
"DEVHW_MLX90393": "33",
"DEVHW_LM75_0": "34",
"DEVHW_LM75_1": "35",
"DEVHW_LM75_2": "36",
"DEVHW_LM75_3": "37",
"DEVHW_LM75_4": "38",
"DEVHW_LM75_5": "39",
"DEVHW_LM75_6": "40",
"DEVHW_LM75_7": "41",
"DEVHW_DS2482": "42",
"DEVHW_MAX7456": "43",
"DEVHW_SRF10": "44",
"DEVHW_VL53L0X": "45",
"DEVHW_VL53L1X": "46",
"DEVHW_US42": "47",
"DEVHW_TOF10120_I2C": "48",
"DEVHW_TERARANGER_EVO_I2C": "49",
"DEVHW_MS4525": "50",
"DEVHW_DLVR": "51",
"DEVHW_M25P16": "52",
"DEVHW_W25N": "53",
"DEVHW_UG2864": "54",
"DEVHW_SDCARD": "55",
"DEVHW_IRLOCK": "56",
"DEVHW_PCF8574": "57"
},
"deviceFlags_e": {
"_source": "inav/src/main/drivers/bus.h",
Expand Down Expand Up @@ -1527,7 +1535,8 @@
"GYRO_ICM42605": "8",
"GYRO_BMI270": "9",
"GYRO_LSM6DXX": "10",
"GYRO_FAKE": "11"
"GYRO_ICM45686": "11",
"GYRO_FAKE": "12"
},
"HardwareMotorTypes_e": {
"_source": "inav/src/main/drivers/pwm_esc_detect.h",
Expand Down Expand Up @@ -1861,7 +1870,8 @@
"LED_MODE_ANGLE": "3",
"LED_MODE_MAG": "4",
"LED_MODE_BARO": "5",
"LED_SPECIAL": "6"
"LED_MODE_LOITER": "6",
"LED_SPECIAL": "7"
},
"ledOverlayId_e": {
"_source": "inav/src/main/io/ledstrip.h",
Expand Down Expand Up @@ -2325,8 +2335,7 @@
"MULTI_FUNC_3": "3",
"MULTI_FUNC_4": "4",
"MULTI_FUNC_5": "5",
"MULTI_FUNC_6": "6",
"MULTI_FUNC_END": "7"
"MULTI_FUNC_END": "6"
},
"multiFunctionFlags_e": {
"_source": "inav/src/main/fc/multifunction.h",
Expand Down Expand Up @@ -2407,6 +2416,7 @@
"NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_HOLD_TIME": "NAV_FSM_EVENT_STATE_SPECIFIC_1",
"NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_RTH_LAND": "NAV_FSM_EVENT_STATE_SPECIFIC_2",
"NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED": "NAV_FSM_EVENT_STATE_SPECIFIC_3",
"NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_JUMP": "NAV_FSM_EVENT_STATE_SPECIFIC_4",
"NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE": "NAV_FSM_EVENT_STATE_SPECIFIC_1",
"NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK": "NAV_FSM_EVENT_STATE_SPECIFIC_2",
"NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME": "NAV_FSM_EVENT_STATE_SPECIFIC_3",
Expand Down Expand Up @@ -3291,9 +3301,8 @@
"_source": "inav/src/main/io/displayport_msp_osd.c",
"SD_3016": "0",
"HD_5018": "1",
"HD_3016": "2",
"HD_6022": "3",
"HD_5320": "4"
"HD_6022": "2",
"HD_5320": "3"
},
"resourceOwner_e": {
"_source": "inav/src/main/drivers/resource.h",
Expand Down Expand Up @@ -3829,7 +3838,7 @@
"THR_HI": "(2 << (2 * THROTTLE))"
},
"systemState_e": {
"_source": "inav/src/main/fc/fc_init.c",
"_source": "inav/src/main/fc/fc_init.h",
"SYSTEM_STATE_INITIALISING": "0",
"SYSTEM_STATE_CONFIG_LOADED": "(1 << 0)",
"SYSTEM_STATE_SENSORS_READY": "(1 << 1)",
Expand Down
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