BaseFlight CLI Command - FabLabSeoul/WingProject GitHub Wiki

BaseFlight CLI 명령어는 serial.c 소스에 선언되어 있다.

#define MSP_IDENT                100    //out message         multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU              102    //out message         9 DOF
#define MSP_SERVO                103    //out message         8 servos
#define MSP_MOTOR                104    //out message         8 motors
#define MSP_RC                   105    //out message         8 rc chan and more
#define MSP_RAW_GPS              106    //out message         fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS             107    //out message         distance home, direction home
#define MSP_ATTITUDE             108    //out message         2 angles 1 heading
#define MSP_ALTITUDE             109    //out message         altitude, variometer
#define MSP_ANALOG               110    //out message         vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING            111    //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID                  112    //out message         P I D coeff (9 are used currently)
#define MSP_BOX                  113    //out message         BOX setup (number is dependant of your setup)
#define MSP_MISC                 114    //out message         powermeter trig
#define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES             116    //out message         the aux switch names
#define MSP_PIDNAMES             117    //out message         the PID names
#define MSP_WP                   118    //out message         get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
#define MSP_SERVO_CONF           120    //out message         Servo settings
#define MSP_NAV_STATUS           121    //out message         Returns navigation status
#define MSP_NAV_CONFIG           122    //out message         Returns navigation parameters
#define MSP_FW_CONFIG            123    //out message         Returns parameters specific to Flying Wing mode

#define MSP_SET_RAW_RC           200    //in message          8 rc chan
#define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID              202    //in message          P I D coeff (9 are used currently)
#define MSP_SET_BOX              203    //in message          BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING        204    //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACC_CALIBRATION      205    //in message          no param
#define MSP_MAG_CALIBRATION      206    //in message          no param
#define MSP_SET_MISC             207    //in message          powermeter trig + 8 free for future use
#define MSP_RESET_CONF           208    //in message          no param
#define MSP_SET_WP               209    //in message          sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING       210    //in message          Select Setting Number (0-2)
#define MSP_SET_HEAD             211    //in message          define a new heading hold direction
#define MSP_SET_SERVO_CONF       212    //in message          Servo settings
#define MSP_SET_MOTOR            214    //in message          PropBalance function
#define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
#define MSP_SET_FW_CONFIG        216    //in message          Sets parameters specific to Flying Wing mode

// #define MSP_BIND                 240    //in message          no param

#define MSP_EEPROM_WRITE         250    //in message          no param

#define MSP_DEBUGMSG             253    //out message         debug string buffer
#define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4

// Additional commands that are not compatible with MultiWii
#define MSP_UID                  160    //out message         Unique device ID
#define MSP_ACC_TRIM             240    //out message         get acc angle trim values
#define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
#define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
#define MSP_GPSDEBUGINFO         166    //out message         get GPS debugging data (only U-Blox)
#define MSP_SERVOMIX_CONF        241    //out message         Returns servo mixer configuration
#define MSP_SET_SERVOMIX_CONF    242    //in message          Sets servo mixer configuration

// Additional private MSP for baseflight configurator
#define MSP_RCMAP                64     //out message         get channel map (also returns number of channels total)
#define MSP_SET_RCMAP            65     //in message          set rc map, numchannels to set comes from MSP_RCMAP
#define MSP_CONFIG               66     //out message         baseflight-specific settings that aren't covered elsewhere
#define MSP_SET_CONFIG           67     //in message          baseflight-specific settings save
#define MSP_REBOOT               68     //in message          reboot settings
#define MSP_BUILDINFO            69     //out message         build date as well as some space for future expansion

#define INBUF_SIZE 128