INAV MSP Messages reference

This page is auto-generated from the Master INAV-MSP definition file

For details on the structure of MSP, see The wiki page

For list of enums, see Enum documentation page

For current generation code, see documentation project (temporary until official implementation)

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

Note: A handful of complex, variable-payload messages have not been fully parsed, their documentation is temporary.

Guide:

• MSP Versions:
  • MSPv1: The original protocol. Uses command IDs from 0 to 254.
  • MSPv2: An extended version. Uses command IDs from 0x1000 onwards.
• Request Payload: The request payload sent to the destination (usually the flight controller). May be empty or hold data for setting or requesting data from the FC.
• Reply Payload: The reply sent from the FC to the sender. May be empty or hold data.
• Notes: Pay attention to message notes and description.

---

Index

MSPv1

1 - MSP_API_VERSION
2 - MSP_FC_VARIANT
3 - MSP_FC_VERSION
4 - MSP_BOARD_INFO
5 - MSP_BUILD_INFO
6 - MSP_INAV_PID
7 - MSP_SET_INAV_PID
10 - MSP_NAME
11 - MSP_SET_NAME
12 - MSP_NAV_POSHOLD
13 - MSP_SET_NAV_POSHOLD
14 - MSP_CALIBRATION_DATA
15 - MSP_SET_CALIBRATION_DATA
16 - MSP_POSITION_ESTIMATION_CONFIG
17 - MSP_SET_POSITION_ESTIMATION_CONFIG
18 - MSP_WP_MISSION_LOAD
19 - MSP_WP_MISSION_SAVE
20 - MSP_WP_GETINFO
21 - MSP_RTH_AND_LAND_CONFIG
22 - MSP_SET_RTH_AND_LAND_CONFIG
23 - MSP_FW_CONFIG
24 - MSP_SET_FW_CONFIG
34 - MSP_MODE_RANGES
35 - MSP_SET_MODE_RANGE
36 - MSP_FEATURE
37 - MSP_SET_FEATURE
38 - MSP_BOARD_ALIGNMENT
39 - MSP_SET_BOARD_ALIGNMENT
40 - MSP_CURRENT_METER_CONFIG
41 - MSP_SET_CURRENT_METER_CONFIG
42 - MSP_MIXER
43 - MSP_SET_MIXER
44 - MSP_RX_CONFIG
45 - MSP_SET_RX_CONFIG
46 - MSP_LED_COLORS
47 - MSP_SET_LED_COLORS
48 - MSP_LED_STRIP_CONFIG
49 - MSP_SET_LED_STRIP_CONFIG
50 - MSP_RSSI_CONFIG
51 - MSP_SET_RSSI_CONFIG
52 - MSP_ADJUSTMENT_RANGES
53 - MSP_SET_ADJUSTMENT_RANGE
54 - MSP_CF_SERIAL_CONFIG
55 - MSP_SET_CF_SERIAL_CONFIG
56 - MSP_VOLTAGE_METER_CONFIG
57 - MSP_SET_VOLTAGE_METER_CONFIG
58 - MSP_SONAR_ALTITUDE
64 - MSP_RX_MAP
65 - MSP_SET_RX_MAP
68 - MSP_REBOOT
70 - MSP_DATAFLASH_SUMMARY
71 - MSP_DATAFLASH_READ
72 - MSP_DATAFLASH_ERASE
73 - MSP_LOOP_TIME
74 - MSP_SET_LOOP_TIME
75 - MSP_FAILSAFE_CONFIG
76 - MSP_SET_FAILSAFE_CONFIG
79 - MSP_SDCARD_SUMMARY
80 - MSP_BLACKBOX_CONFIG
81 - MSP_SET_BLACKBOX_CONFIG
82 - MSP_TRANSPONDER_CONFIG
83 - MSP_SET_TRANSPONDER_CONFIG
84 - MSP_OSD_CONFIG
85 - MSP_SET_OSD_CONFIG
86 - MSP_OSD_CHAR_READ
87 - MSP_OSD_CHAR_WRITE
88 - MSP_VTX_CONFIG
89 - MSP_SET_VTX_CONFIG
90 - MSP_ADVANCED_CONFIG
91 - MSP_SET_ADVANCED_CONFIG
92 - MSP_FILTER_CONFIG
93 - MSP_SET_FILTER_CONFIG
94 - MSP_PID_ADVANCED
95 - MSP_SET_PID_ADVANCED
96 - MSP_SENSOR_CONFIG
97 - MSP_SET_SENSOR_CONFIG
98 - MSP_SPECIAL_PARAMETERS
99 - MSP_SET_SPECIAL_PARAMETERS
100 - MSP_IDENT
101 - MSP_STATUS
102 - MSP_RAW_IMU
103 - MSP_SERVO
104 - MSP_MOTOR
105 - MSP_RC
106 - MSP_RAW_GPS
107 - MSP_COMP_GPS
108 - MSP_ATTITUDE
109 - MSP_ALTITUDE
110 - MSP_ANALOG
111 - MSP_RC_TUNING
113 - MSP_ACTIVEBOXES
114 - MSP_MISC
116 - MSP_BOXNAMES
117 - MSP_PIDNAMES
118 - MSP_WP
119 - MSP_BOXIDS
120 - MSP_SERVO_CONFIGURATIONS
121 - MSP_NAV_STATUS
122 - MSP_NAV_CONFIG
124 - MSP_3D
125 - MSP_RC_DEADBAND
126 - MSP_SENSOR_ALIGNMENT
127 - MSP_LED_STRIP_MODECOLOR
130 - MSP_BATTERY_STATE
137 - MSP_VTXTABLE_BAND
138 - MSP_VTXTABLE_POWERLEVEL
150 - MSP_STATUS_EX
151 - MSP_SENSOR_STATUS
160 - MSP_UID
164 - MSP_GPSSVINFO
166 - MSP_GPSSTATISTICS
180 - MSP_OSD_VIDEO_CONFIG
181 - MSP_SET_OSD_VIDEO_CONFIG
182 - MSP_DISPLAYPORT
186 - MSP_SET_TX_INFO
187 - MSP_TX_INFO
200 - MSP_SET_RAW_RC
201 - MSP_SET_RAW_GPS
203 - MSP_SET_BOX
204 - MSP_SET_RC_TUNING
205 - MSP_ACC_CALIBRATION
206 - MSP_MAG_CALIBRATION
207 - MSP_SET_MISC
208 - MSP_RESET_CONF
209 - MSP_SET_WP
210 - MSP_SELECT_SETTING
211 - MSP_SET_HEAD
212 - MSP_SET_SERVO_CONFIGURATION
214 - MSP_SET_MOTOR
215 - MSP_SET_NAV_CONFIG
217 - MSP_SET_3D
218 - MSP_SET_RC_DEADBAND
219 - MSP_SET_RESET_CURR_PID
220 - MSP_SET_SENSOR_ALIGNMENT
221 - MSP_SET_LED_STRIP_MODECOLOR
239 - MSP_SET_ACC_TRIM
240 - MSP_ACC_TRIM
241 - MSP_SERVO_MIX_RULES
242 - MSP_SET_SERVO_MIX_RULE
245 - MSP_SET_PASSTHROUGH
246 - MSP_RTC
247 - MSP_SET_RTC
250 - MSP_EEPROM_WRITE
251 - MSP_RESERVE_1
252 - MSP_RESERVE_2
253 - MSP_DEBUGMSG
254 - MSP_DEBUG

MSPv2

4097 - MSP2_COMMON_TZ
4098 - MSP2_COMMON_SET_TZ
4099 - MSP2_COMMON_SETTING
4100 - MSP2_COMMON_SET_SETTING
4101 - MSP2_COMMON_MOTOR_MIXER
4102 - MSP2_COMMON_SET_MOTOR_MIXER
4103 - MSP2_COMMON_SETTING_INFO
4104 - MSP2_COMMON_PG_LIST
4105 - MSP2_COMMON_SERIAL_CONFIG
4106 - MSP2_COMMON_SET_SERIAL_CONFIG
4107 - MSP2_COMMON_SET_RADAR_POS
4108 - MSP2_COMMON_SET_RADAR_ITD
4109 - MSP2_COMMON_SET_MSP_RC_LINK_STATS
4110 - MSP2_COMMON_SET_MSP_RC_INFO
4111 - MSP2_COMMON_GET_RADAR_GPS
7937 - MSP2_SENSOR_RANGEFINDER
7938 - MSP2_SENSOR_OPTIC_FLOW
7939 - MSP2_SENSOR_GPS
7940 - MSP2_SENSOR_COMPASS
7941 - MSP2_SENSOR_BAROMETER
7942 - MSP2_SENSOR_AIRSPEED
7943 - MSP2_SENSOR_HEADTRACKER
8192 - MSP2_INAV_STATUS
8193 - MSP2_INAV_OPTICAL_FLOW
8194 - MSP2_INAV_ANALOG
8195 - MSP2_INAV_MISC
8196 - MSP2_INAV_SET_MISC
8197 - MSP2_INAV_BATTERY_CONFIG
8198 - MSP2_INAV_SET_BATTERY_CONFIG
8199 - MSP2_INAV_RATE_PROFILE
8200 - MSP2_INAV_SET_RATE_PROFILE
8201 - MSP2_INAV_AIR_SPEED
8202 - MSP2_INAV_OUTPUT_MAPPING
8203 - MSP2_INAV_MC_BRAKING
8204 - MSP2_INAV_SET_MC_BRAKING
8205 - MSP2_INAV_OUTPUT_MAPPING_EXT
8206 - MSP2_INAV_TIMER_OUTPUT_MODE
8207 - MSP2_INAV_SET_TIMER_OUTPUT_MODE
8208 - MSP2_INAV_MIXER
8209 - MSP2_INAV_SET_MIXER
8210 - MSP2_INAV_OSD_LAYOUTS
8211 - MSP2_INAV_OSD_SET_LAYOUT_ITEM
8212 - MSP2_INAV_OSD_ALARMS
8213 - MSP2_INAV_OSD_SET_ALARMS
8214 - MSP2_INAV_OSD_PREFERENCES
8215 - MSP2_INAV_OSD_SET_PREFERENCES
8216 - MSP2_INAV_SELECT_BATTERY_PROFILE
8217 - MSP2_INAV_DEBUG
8218 - MSP2_BLACKBOX_CONFIG
8219 - MSP2_SET_BLACKBOX_CONFIG
8220 - MSP2_INAV_TEMP_SENSOR_CONFIG
8221 - MSP2_INAV_SET_TEMP_SENSOR_CONFIG
8222 - MSP2_INAV_TEMPERATURES
8223 - MSP_SIMULATOR
8224 - MSP2_INAV_SERVO_MIXER
8225 - MSP2_INAV_SET_SERVO_MIXER
8226 - MSP2_INAV_LOGIC_CONDITIONS
8227 - MSP2_INAV_SET_LOGIC_CONDITIONS
8228 - MSP2_INAV_GLOBAL_FUNCTIONS
8229 - MSP2_INAV_SET_GLOBAL_FUNCTIONS
8230 - MSP2_INAV_LOGIC_CONDITIONS_STATUS
8231 - MSP2_INAV_GVAR_STATUS
8232 - MSP2_INAV_PROGRAMMING_PID
8233 - MSP2_INAV_SET_PROGRAMMING_PID
8234 - MSP2_INAV_PROGRAMMING_PID_STATUS
8240 - MSP2_PID
8241 - MSP2_SET_PID
8242 - MSP2_INAV_OPFLOW_CALIBRATION
8243 - MSP2_INAV_FWUPDT_PREPARE
8244 - MSP2_INAV_FWUPDT_STORE
8245 - MSP2_INAV_FWUPDT_EXEC
8246 - MSP2_INAV_FWUPDT_ROLLBACK_PREPARE
8247 - MSP2_INAV_FWUPDT_ROLLBACK_EXEC
8248 - MSP2_INAV_SAFEHOME
8249 - MSP2_INAV_SET_SAFEHOME
8250 - MSP2_INAV_MISC2
8251 - MSP2_INAV_LOGIC_CONDITIONS_SINGLE
8256 - MSP2_INAV_ESC_RPM
8257 - MSP2_INAV_ESC_TELEM
8264 - MSP2_INAV_LED_STRIP_CONFIG_EX
8265 - MSP2_INAV_SET_LED_STRIP_CONFIG_EX
8266 - MSP2_INAV_FW_APPROACH
8267 - MSP2_INAV_SET_FW_APPROACH
8272 - MSP2_INAV_GPS_UBLOX_COMMAND
8288 - MSP2_INAV_RATE_DYNAMICS
8289 - MSP2_INAV_SET_RATE_DYNAMICS
8304 - MSP2_INAV_EZ_TUNE
8305 - MSP2_INAV_EZ_TUNE_SET
8320 - MSP2_INAV_SELECT_MIXER_PROFILE
8336 - MSP2_ADSB_VEHICLE_LIST
8448 - MSP2_INAV_CUSTOM_OSD_ELEMENTS
8449 - MSP2_INAV_CUSTOM_OSD_ELEMENT
8450 - MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS
8461 - MSP2_INAV_OUTPUT_MAPPING_EXT2
8704 - MSP2_INAV_SERVO_CONFIG
8705 - MSP2_INAV_SET_SERVO_CONFIG
8720 - MSP2_INAV_GEOZONE
8721 - MSP2_INAV_SET_GEOZONE
8722 - MSP2_INAV_GEOZONE_VERTEX
8723 - MSP2_INAV_SET_GEOZONE_VERTEX
12288 - MSP2_BETAFLIGHT_BIND

MSP_API_VERSION (1 / 0x1)

Description: Provides the MSP protocol version and the INAV API version.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
mspProtocolVersion	uint8_t	1	-	MSP Protocol version (MSP_PROTOCOL_VERSION, typically 0)
apiVersionMajor	uint8_t	1	-	INAV API Major version (API_VERSION_MAJOR)
apiVersionMinor	uint8_t	1	-	INAV API Minor version (API_VERSION_MINOR)

Notes: Used by configurators to check compatibility.

MSP_FC_VARIANT (2 / 0x2)

Description: Identifies the flight controller firmware variant (e.g., INAV, Betaflight).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
fcVariantIdentifier	char[4]	4	-	4-character identifier string (e.g., "INAV"). Defined by `flightControllerIdentifier

Notes: See FLIGHT_CONTROLLER_IDENTIFIER_LENGTH.

MSP_FC_VERSION (3 / 0x3)

Description: Provides the specific version number of the flight controller firmware.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
fcVersionMajor	uint8_t	1	-	Firmware Major version (FC_VERSION_MAJOR)
fcVersionMinor	uint8_t	1	-	Firmware Minor version (FC_VERSION_MINOR)
fcVersionPatch	uint8_t	1	-	Firmware Patch level (FC_VERSION_PATCH_LEVEL)

MSP_BOARD_INFO (4 / 0x4)

Description: Provides information about the specific hardware board and its capabilities.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
boardIdentifier	char[4]	4	-	4-character UPPER CASE board identifier (TARGET_BOARD_IDENTIFIER)
hardwareRevision	uint16_t	2	-	Hardware revision number. 0 if not detected (USE_HARDWARE_REVISION_DETECTION)
osdSupport	uint8_t	1	-	OSD chip type: 0=None, 2=Onboard (USE_OSD). INAV does not support slave OSD (1)
commCapabilities	uint8_t	1	-	Communication capabilities bitmask: Bit 0=VCP support (USE_VCP), Bit 1=SoftSerial support (USE_SOFTSERIAL1/2)
targetNameLength	uint8_t	1	-	Length of the target name string that follows
targetName	char[]	-	-	Target name string (e.g., "MATEKF405"). Length given by previous field

Notes: BOARD_IDENTIFIER_LENGTH is 4.

MSP_BUILD_INFO (5 / 0x5)

Description: Provides build date, time, and Git revision of the firmware.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
buildDate	char[11]	11	-	Build date string (e.g., "Dec 31 2023"). `BUILD_DATE_LENGTH
buildTime	char[8]	8	-	Build time string (e.g., "23:59:59"). `BUILD_TIME_LENGTH
gitRevision	char[7]	7	-	Short Git revision string. `GIT_SHORT_REVISION_LENGTH

MSP_INAV_PID (6 / 0x6)

Description: Retrieves legacy INAV-specific PID controller related settings. Many fields are now obsolete or placeholders.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyAsyncProcessing	uint8_t	1	-	Legacy, unused. Always 0
legacyAsyncValue1	uint16_t	2	-	Legacy, unused. Always 0
legacyAsyncValue2	uint16_t	2	-	Legacy, unused. Always 0
headingHoldRateLimit	uint8_t	1	deg/s	Max rate for heading hold P term (pidProfile()->heading_hold_rate_limit)
headingHoldLpfFreq	uint8_t	1	Hz	Fixed LPF frequency for heading hold error (HEADING_HOLD_ERROR_LPF_FREQ)
legacyYawJumpLimit	uint16_t	2	-	Legacy, unused. Always 0
legacyGyroLpf	uint8_t	1	Hz	Fixed value `GYRO_LPF_256HZ
accLpfHz	uint8_t	1	Hz	Accelerometer LPF frequency (accelerometerConfig()->acc_lpf_hz) cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
reserved1	uint8_t	1	-	Reserved. Always 0
reserved2	uint8_t	1	-	Reserved. Always 0
reserved3	uint8_t	1	-	Reserved. Always 0
reserved4	uint8_t	1	-	Reserved. Always 0

Notes: Superseded by MSP2_PID for core PIDs and other specific messages for filter settings.

MSP_SET_INAV_PID (7 / 0x7)

Description: Sets legacy INAV-specific PID controller related settings.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyAsyncProcessing	uint8_t	1	-	Legacy, ignored
legacyAsyncValue1	uint16_t	2	-	Legacy, ignored
legacyAsyncValue2	uint16_t	2	-	Legacy, ignored
headingHoldRateLimit	uint8_t	1	deg/s	Sets `pidProfileMutable()->heading_hold_rate_limit
headingHoldLpfFreq	uint8_t	1	Hz	Ignored (fixed value HEADING_HOLD_ERROR_LPF_FREQ used)
legacyYawJumpLimit	uint16_t	2	-	Legacy, ignored
legacyGyroLpf	uint8_t	1	ENUM_NAME	Ignored (was gyro LPF)
accLpfHz	uint8_t	1	Hz	Sets `accelerometerConfigMutable()->acc_lpf_hz
reserved1	uint8_t	1	-	Ignored
reserved2	uint8_t	1	-	Ignored
reserved3	uint8_t	1	-	Ignored
reserved4	uint8_t	1	-	Ignored

Reply Payload: None

Notes: Expects 15 bytes.

MSP_NAME (10 / 0xa)

Description: Returns the user-defined craft name.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
craftName	char[]	-	-	The craft name string (systemConfig()->craftName). Null termination is not explicitly sent, the length is determined by the payload size

MSP_SET_NAME (11 / 0xb)

Description: Sets the user-defined craft name.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
craftName	char[]	-	-	The new craft name string. Automatically null-terminated by the FC

Reply Payload: None

Notes: Maximum length is MAX_NAME_LENGTH.

MSP_NAV_POSHOLD (12 / 0xc)

Description: Retrieves navigation position hold and general manual/auto flight parameters. Some parameters depend on the platform type (Multirotor vs Fixed Wing).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
userControlMode	uint8_t	1	-	Navigation user control mode NAV_GPS_ATTI (0) or NAV_GPS_CRUISE (1)
maxAutoSpeed	uint16_t	2	cm/s	Max speed in autonomous modes (navConfig()->general.max_auto_speed)
maxAutoClimbRate	uint16_t	2	cm/s	Max climb rate in autonomous modes (uses fw.max_auto_climb_rate or mc.max_auto_climb_rate based on platform)
maxManualSpeed	uint16_t	2	cm/s	Max speed in manual modes with GPS aiding (navConfig()->general.max_manual_speed)
maxManualClimbRate	uint16_t	2	cm/s	Max climb rate in manual modes with GPS aiding (uses fw.max_manual_climb_rate or mc.max_manual_climb_rate)
mcMaxBankAngle	uint8_t	1	degrees	Max bank angle for multirotor position hold (navConfig()->mc.max_bank_angle)
mcAltHoldThrottleType	uint8_t	1	navMcAltHoldThrottle_e	Enum navMcAltHoldThrottle_e Sets 'navConfigMutable()->mc.althold_throttle_type'
mcHoverThrottle	uint16_t	2	PWM	Multirotor hover throttle (currentBatteryProfile->nav.mc.hover_throttle)

MSP_SET_NAV_POSHOLD (13 / 0xd)

Description: Sets navigation position hold and general manual/auto flight parameters.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
userControlMode	uint8_t	1	ENUM_NAME	Sets `navConfigMutable()->general.flags.user_control_mode
maxAutoSpeed	uint16_t	2	cm/s	Sets `navConfigMutable()->general.max_auto_speed
maxAutoClimbRate	uint16_t	2	cm/s	Sets fw.max_auto_climb_rate or mc.max_auto_climb_rate based on current platform type
maxManualSpeed	uint16_t	2	cm/s	Sets `navConfigMutable()->general.max_manual_speed
maxManualClimbRate	uint16_t	2	cm/s	Sets fw.max_manual_climb_rate or `mc.max_manual_climb_rate
mcMaxBankAngle	uint8_t	1	degrees	Sets `navConfigMutable()->mc.max_bank_angle
mcAltHoldThrottleType	uint8_t	1	navMcAltHoldThrottle_e	Enum navMcAltHoldThrottle_e Sets 'navConfigMutable()->mc.althold_throttle_type'
mcHoverThrottle	uint16_t	2	PWM	Sets `currentBatteryProfileMutable->nav.mc.hover_throttle

Reply Payload: None

Notes: Expects 13 bytes.

MSP_CALIBRATION_DATA (14 / 0xe)

Description: Retrieves sensor calibration data (Accelerometer zero/gain, Magnetometer zero/gain, Optical Flow scale).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
accCalibAxisFlags	uint8_t	1	Bitmask	Flags indicating which axes of the accelerometer have been calibrated (accGetCalibrationAxisFlags())
accZeroX	uint16_t	2	Raw ADC	Accelerometer zero offset for X-axis (accelerometerConfig()->accZero.raw[X])
accZeroY	uint16_t	2	Raw ADC	Accelerometer zero offset for Y-axis (accelerometerConfig()->accZero.raw[Y])
accZeroZ	uint16_t	2	Raw ADC	Accelerometer zero offset for Z-axis (accelerometerConfig()->accZero.raw[Z])
accGainX	uint16_t	2	Raw ADC	Accelerometer gain/scale for X-axis (accelerometerConfig()->accGain.raw[X])
accGainY	uint16_t	2	Raw ADC	Accelerometer gain/scale for Y-axis (accelerometerConfig()->accGain.raw[Y])
accGainZ	uint16_t	2	Raw ADC	Accelerometer gain/scale for Z-axis (accelerometerConfig()->accGain.raw[Z])
magZeroX	uint16_t	2	Raw ADC	Magnetometer zero offset for X-axis (compassConfig()->magZero.raw[X]). 0 if USE_MAG disabled
magZeroY	uint16_t	2	Raw ADC	Magnetometer zero offset for Y-axis (compassConfig()->magZero.raw[Y]). 0 if USE_MAG disabled
magZeroZ	uint16_t	2	Raw ADC	Magnetometer zero offset for Z-axis (compassConfig()->magZero.raw[Z]). 0 if USE_MAG disabled
opflowScale	uint16_t	2	Scale * 256	Optical flow scale factor (opticalFlowConfig()->opflow_scale * 256). 0 if USE_OPFLOW disabled
magGainX	uint16_t	2	Raw ADC	Magnetometer gain/scale for X-axis (compassConfig()->magGain[X]). 0 if USE_MAG disabled
magGainY	uint16_t	2	Raw ADC	Magnetometer gain/scale for Y-axis (compassConfig()->magGain[Y]). 0 if USE_MAG disabled
magGainZ	uint16_t	2	Raw ADC	Magnetometer gain/scale for Z-axis (compassConfig()->magGain[Z]). 0 if USE_MAG disabled

Notes: Total size 27 bytes. Fields related to optional sensors are zero if the sensor is not used.

MSP_SET_CALIBRATION_DATA (15 / 0xf)

Description: Sets sensor calibration data.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
accZeroX	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[X]
accZeroY	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[Y]
accZeroZ	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[Z]
accGainX	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[X]
accGainY	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[Y]
accGainZ	uint16_t	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[Z]
magZeroX	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magZero.raw[X] (if USE_MAG)
magZeroY	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magZero.raw[Y] (if USE_MAG)
magZeroZ	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magZero.raw[Z] (if USE_MAG)
opflowScale	uint16_t	2	Scale * 256	Sets opticalFlowConfigMutable()->opflow_scale = value / 256.0f (if USE_OPFLOW)
magGainX	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magGain[X] (if USE_MAG)
magGainY	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magGain[Y] (if USE_MAG)
magGainZ	uint16_t	2	Raw ADC	Sets compassConfigMutable()->magGain[Z] (if USE_MAG)

Reply Payload: None

Notes: Expects 26 bytes. Ignores values for sensors not enabled by USE_* defines.

MSP_POSITION_ESTIMATION_CONFIG (16 / 0x10)

Description: Retrieves parameters related to the INAV position estimation fusion weights and GPS minimum satellite count.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
weightZBaroP	uint16_t	2	Weight * 100	Barometer Z position fusion weight (positionEstimationConfig()->w_z_baro_p * 100)
weightZGPSP	uint16_t	2	Weight * 100	GPS Z position fusion weight (positionEstimationConfig()->w_z_gps_p * 100)
weightZGPSV	uint16_t	2	Weight * 100	GPS Z velocity fusion weight (positionEstimationConfig()->w_z_gps_v * 100)
weightXYGPSP	uint16_t	2	Weight * 100	GPS XY position fusion weight (positionEstimationConfig()->w_xy_gps_p * 100)
weightXYGPSV	uint16_t	2	Weight * 100	GPS XY velocity fusion weight (positionEstimationConfig()->w_xy_gps_v * 100)
minSats	uint8_t	1	Count	Minimum satellites required for GPS use (gpsConfigMutable()->gpsMinSats)
useGPSVelNED	uint8_t	1	Boolean	Legacy flag, always 1 (GPS velocity is always used if available)

MSP_SET_POSITION_ESTIMATION_CONFIG (17 / 0x11)

Description: Sets parameters related to the INAV position estimation fusion weights and GPS minimum satellite count.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
weightZBaroP	uint16_t	2	Weight * 100	Sets positionEstimationConfigMutable()->w_z_baro_p = value / 100.0f (constrained 0.0-10.0)
weightZGPSP	uint16_t	2	Weight * 100	Sets positionEstimationConfigMutable()->w_z_gps_p = value / 100.0f (constrained 0.0-10.0)
weightZGPSV	uint16_t	2	Weight * 100	Sets positionEstimationConfigMutable()->w_z_gps_v = value / 100.0f (constrained 0.0-10.0)
weightXYGPSP	uint16_t	2	Weight * 100	Sets positionEstimationConfigMutable()->w_xy_gps_p = value / 100.0f (constrained 0.0-10.0)
weightXYGPSV	uint16_t	2	Weight * 100	Sets positionEstimationConfigMutable()->w_xy_gps_v = value / 100.0f (constrained 0.0-10.0)
minSats	uint8_t	1	Count	Sets gpsConfigMutable()->gpsMinSats (constrained 5-10)
useGPSVelNED	uint8_t	1	Boolean	Legacy flag, ignored

Reply Payload: None

Notes: Expects 12 bytes.

MSP_WP_MISSION_LOAD (18 / 0x12)

Description: Commands the FC to load the waypoint mission stored in non-volatile memory (e.g., EEPROM or FlashFS) into the active mission buffer.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
missionID	uint8_t	1	-	Reserved for future use, currently ignored

Reply Payload: None

Notes: Only functional if NAV_NON_VOLATILE_WAYPOINT_STORAGE is defined. Requires 1 byte payload. Returns error if loading fails.

MSP_WP_MISSION_SAVE (19 / 0x13)

Description: Commands the FC to save the currently active waypoint mission from RAM to non-volatile memory (e.g., EEPROM or FlashFS).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
missionID	uint8_t	1	-	Reserved for future use, currently ignored

Reply Payload: None

Notes: Only functional if NAV_NON_VOLATILE_WAYPOINT_STORAGE is defined. Requires 1 byte payload. Returns error if saving fails.

MSP_WP_GETINFO (20 / 0x14)

Description: Retrieves information about the waypoint mission capabilities and the status of the currently loaded mission.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
wpCapabilities	uint8_t	1	-	Reserved for future waypoint capabilities flags. Currently always 0
maxWaypoints	uint8_t	1	-	Maximum number of waypoints supported (NAV_MAX_WAYPOINTS)
missionValid	uint8_t	1	-	Boolean flag indicating if the current mission in RAM is valid (isWaypointListValid())
waypointCount	uint8_t	1	-	Number of waypoints currently defined in the mission (getWaypointCount())

MSP_RTH_AND_LAND_CONFIG (21 / 0x15)

Description: Retrieves configuration parameters related to Return-to-Home (RTH) and automatic landing behaviors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
minRthDistance	uint16_t	2	meters	Minimum distance from home required for RTH to engage (navConfig()->general.min_rth_distance)
rthClimbFirst	uint8_t	1	Boolean	Flag: Climb to RTH altitude before returning (navConfig()->general.flags.rth_climb_first)
rthClimbIgnoreEmerg	uint8_t	1	Boolean	Flag: Climb even in emergency RTH (navConfig()->general.flags.rth_climb_ignore_emerg)
rthTailFirst	uint8_t	1	Boolean	Flag: Multirotor returns tail-first (navConfig()->general.flags.rth_tail_first)
rthAllowLanding	uint8_t	1	Boolean	Flag: Allow automatic landing after RTH (navConfig()->general.flags.rth_allow_landing)
rthAltControlMode	uint8_t	1	ENUM_NAME	RTH altitude control mode (navConfig()->general.flags.rth_alt_control_mode)
rthAbortThreshold	uint16_t	2	cm/s	Stick input threshold to abort RTH (navConfig()->general.rth_abort_threshold)
rthAltitude	uint16_t	2	meters	Target RTH altitude (navConfig()->general.rth_altitude)
landMinAltVspd	uint16_t	2	cm/s	Landing vertical speed at minimum slowdown altitude (navConfig()->general.land_minalt_vspd)
landMaxAltVspd	uint16_t	2	cm/s	Landing vertical speed at maximum slowdown altitude (navConfig()->general.land_maxalt_vspd)
landSlowdownMinAlt	uint16_t	2	meters	Altitude below which landMinAltVspd applies (navConfig()->general.land_slowdown_minalt)
landSlowdownMaxAlt	uint16_t	2	meters	Altitude above which landMaxAltVspd applies (navConfig()->general.land_slowdown_maxalt)
emergDescentRate	uint16_t	2	cm/s	Vertical speed during emergency landing descent (navConfig()->general.emerg_descent_rate)

MSP_SET_RTH_AND_LAND_CONFIG (22 / 0x16)

Description: Sets configuration parameters related to Return-to-Home (RTH) and automatic landing behaviors.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
minRthDistance	uint16_t	2	meters	Sets `navConfigMutable()->general.min_rth_distance
rthClimbFirst	uint8_t	1	Boolean	Sets `navConfigMutable()->general.flags.rth_climb_first
rthClimbIgnoreEmerg	uint8_t	1	Boolean	Sets `navConfigMutable()->general.flags.rth_climb_ignore_emerg
rthTailFirst	uint8_t	1	Boolean	Sets `navConfigMutable()->general.flags.rth_tail_first
rthAllowLanding	uint8_t	1	Boolean	Sets `navConfigMutable()->general.flags.rth_allow_landing
rthAltControlMode	uint8_t	1	ENUM_NAME	Sets `navConfigMutable()->general.flags.rth_alt_control_mode
rthAbortThreshold	uint16_t	2	cm/s	Sets `navConfigMutable()->general.rth_abort_threshold
rthAltitude	uint16_t	2	meters	Sets `navConfigMutable()->general.rth_altitude
landMinAltVspd	uint16_t	2	cm/s	Sets `navConfigMutable()->general.land_minalt_vspd
landMaxAltVspd	uint16_t	2	cm/s	Sets `navConfigMutable()->general.land_maxalt_vspd
landSlowdownMinAlt	uint16_t	2	meters	Sets `navConfigMutable()->general.land_slowdown_minalt
landSlowdownMaxAlt	uint16_t	2	meters	Sets `navConfigMutable()->general.land_slowdown_maxalt
emergDescentRate	uint16_t	2	cm/s	Sets `navConfigMutable()->general.emerg_descent_rate

Reply Payload: None

Notes: Expects 21 bytes.

MSP_FW_CONFIG (23 / 0x17)

Description: Retrieves configuration parameters specific to Fixed Wing navigation.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
cruiseThrottle	uint16_t	2	PWM	Cruise throttle level (currentBatteryProfile->nav.fw.cruise_throttle)
minThrottle	uint16_t	2	PWM	Minimum throttle during autonomous flight (currentBatteryProfile->nav.fw.min_throttle)
maxThrottle	uint16_t	2	PWM	Maximum throttle during autonomous flight (currentBatteryProfile->nav.fw.max_throttle)
maxBankAngle	uint8_t	1	degrees	Maximum bank angle allowed (navConfig()->fw.max_bank_angle)
maxClimbAngle	uint8_t	1	degrees	Maximum pitch angle during climb (navConfig()->fw.max_climb_angle)
maxDiveAngle	uint8_t	1	degrees	Maximum negative pitch angle during descent (navConfig()->fw.max_dive_angle)
pitchToThrottle	uint8_t	1	Ratio (%)	Pitch-to-throttle feed-forward ratio (currentBatteryProfile->nav.fw.pitch_to_throttle)
loiterRadius	uint16_t	2	meters	Default loiter radius (navConfig()->fw.loiter_radius)

MSP_SET_FW_CONFIG (24 / 0x18)

Description: Sets configuration parameters specific to Fixed Wing navigation.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
cruiseThrottle	uint16_t	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.cruise_throttle
minThrottle	uint16_t	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.min_throttle
maxThrottle	uint16_t	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.max_throttle
maxBankAngle	uint8_t	1	degrees	Sets `navConfigMutable()->fw.max_bank_angle
maxClimbAngle	uint8_t	1	degrees	Sets `navConfigMutable()->fw.max_climb_angle
maxDiveAngle	uint8_t	1	degrees	Sets `navConfigMutable()->fw.max_dive_angle
pitchToThrottle	uint8_t	1	Ratio (%)	Sets `currentBatteryProfileMutable->nav.fw.pitch_to_throttle
loiterRadius	uint16_t	2	meters	Sets `navConfigMutable()->fw.loiter_radius

Reply Payload: None

Notes: Expects 12 bytes.

MSP_MODE_RANGES (34 / 0x22)

Description: Returns all defined mode activation ranges (aux channel assignments for flight modes).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
modePermanentId	uint8_t	1	ID	Permanent ID of the flight mode (maps to boxId via findBoxByActiveBoxId). 0 if entry unused
auxChannelIndex	uint8_t	1	Index	0-based index of the AUX channel used for activation
rangeStartStep	uint8_t	1	0-20	Start step (corresponding to channel value range 900-2100 in steps of 50/25, depends on steps calculation)
rangeEndStep	uint8_t	1	0-20	End step for the activation range

Notes: The number of steps and mapping to PWM values depends on internal range calculations.

MSP_SET_MODE_RANGE (35 / 0x23)

Description: Sets a single mode activation range by its index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rangeIndex	uint8_t	1	Index	Index of the mode range to set (0 to MAX_MODE_ACTIVATION_CONDITION_COUNT - 1)
modePermanentId	uint8_t	1	ID	Permanent ID of the flight mode to assign
auxChannelIndex	uint8_t	1	Index	0-based index of the AUX channel
rangeStartStep	uint8_t	1	0-20	Start step for activation
rangeEndStep	uint8_t	1	0-20	End step for activation

Reply Payload: None

Notes: Expects 5 bytes. Updates the mode configuration and recalculates used mode flags. Returns error if rangeIndex or modePermanentId is invalid.

MSP_FEATURE (36 / 0x24)

Description: Returns a bitmask of enabled features.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
featureMask	uint32_t	4	-	Bitmask of active features (see featureMask())

Notes: Feature bits are defined in feature.h.

MSP_SET_FEATURE (37 / 0x25)

Description: Sets the enabled features using a bitmask. Clears all previous features first.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
featureMask	uint32_t	4	-	Bitmask of features to enable

Reply Payload: None

Notes: Expects 4 bytes. Updates feature configuration and related settings (e.g., RSSI source).

MSP_BOARD_ALIGNMENT (38 / 0x26)

Description: Returns the sensor board alignment angles relative to the craft frame.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rollAlign	uint16_t	2	deci-degrees	Board alignment roll angle (boardAlignment()->rollDeciDegrees)
pitchAlign	uint16_t	2	deci-degrees	Board alignment pitch angle (boardAlignment()->pitchDeciDegrees)
yawAlign	uint16_t	2	deci-degrees	Board alignment yaw angle (boardAlignment()->yawDeciDegrees)

MSP_SET_BOARD_ALIGNMENT (39 / 0x27)

Description: Sets the sensor board alignment angles.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rollAlign	uint16_t	2	deci-degrees	Sets `boardAlignmentMutable()->rollDeciDegrees
pitchAlign	uint16_t	2	deci-degrees	Sets `boardAlignmentMutable()->pitchDeciDegrees
yawAlign	uint16_t	2	deci-degrees	Sets `boardAlignmentMutable()->yawDeciDegrees

Reply Payload: None

Notes: Expects 6 bytes.

MSP_CURRENT_METER_CONFIG (40 / 0x28)

Description: Retrieves the configuration for the current sensor.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
scale	uint16_t	2	mV/10A or similar	Current sensor scale factor (batteryMetersConfig()->current.scale). Units depend on sensor type
offset	uint16_t	2	mV	Current sensor offset (batteryMetersConfig()->current.offset)
type	uint8_t	1	currentSensor_e	Enum currentSensor_e Type of current sensor hardware
capacity	uint16_t	2	mAh (legacy)	Battery capacity (constrained 0-65535) (currentBatteryProfile->capacity.value). Note: This is legacy, use MSP2_INAV_BATTERY_CONFIG for full 32-bit capacity

MSP_SET_CURRENT_METER_CONFIG (41 / 0x29)

Description: Sets the configuration for the current sensor.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
scale	uint16_t	2	mV/10A or similar	Sets `batteryMetersConfigMutable()->current.scale
offset	uint16_t	2	mV	Sets `batteryMetersConfigMutable()->current.offset
type	uint8_t	1	currentSensor_e	Enum currentSensor_e Sets 'batteryMetersConfigMutable()->current.type'
capacity	uint16_t	2	mAh (legacy)	Sets currentBatteryProfileMutable->capacity.value (truncated to 16 bits)

Reply Payload: None

Notes: Expects 7 bytes.

MSP_MIXER (42 / 0x2a)

Description: Retrieves the mixer type (Legacy, INAV always returns QuadX).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
mixerMode	uint8_t	1	-	Always 3 (QuadX) in INAV for compatibility

Notes: This command is largely obsolete. Mixer configuration is handled differently in INAV (presets, custom mixes). See MSP2_INAV_MIXER.

MSP_SET_MIXER (43 / 0x2b)

Description: Sets the mixer type (Legacy, ignored by INAV).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
mixerMode	uint8_t	1	-	Mixer mode to set (ignored by INAV)

Reply Payload: None

Notes: Expects 1 byte. Calls mixerUpdateStateFlags() for potential side effects related to presets.

MSP_RX_CONFIG (44 / 0x2c)

Description: Retrieves receiver configuration settings. Some fields are Betaflight compatibility placeholders.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
serialRxProvider	uint8_t	1	rxSerialReceiverType_e	Enum rxSerialReceiverType_e sets Serial RX provider type ('rxConfig()->serialrx_provider')
maxCheck	uint16_t	2	PWM	Upper channel value threshold for stick commands (rxConfig()->maxcheck)
midRc	uint16_t	2	PWM	Center channel value (PWM_RANGE_MIDDLE, typically 1500)
minCheck	uint16_t	2	PWM	Lower channel value threshold for stick commands (rxConfig()->mincheck)
spektrumSatBind	uint8_t	1	Count/Flag	Spektrum bind pulses (rxConfig()->spektrum_sat_bind). 0 if USE_SPEKTRUM_BIND disabled
rxMinUsec	uint16_t	2	µs	Minimum expected pulse width (rxConfig()->rx_min_usec)
rxMaxUsec	uint16_t	2	µs	Maximum expected pulse width (rxConfig()->rx_max_usec)
bfCompatRcInterpolation	uint8_t	1	-	BF compatibility. Always 0
bfCompatRcInterpolationInt	uint8_t	1	-	BF compatibility. Always 0
bfCompatAirModeThreshold	uint16_t	2	-	BF compatibility. Always 0
reserved1	uint8_t	1	-	Reserved/Padding. Always 0
reserved2	uint32_t	4	-	Reserved/Padding. Always 0
reserved3	uint8_t	1	-	Reserved/Padding. Always 0
bfCompatFpvCamAngle	uint8_t	1	-	BF compatibility. Always 0
receiverType	uint8_t	1	rxReceiverType_e	Enum rxReceiverType_e Receiver type (Parallel PWM, PPM, Serial) ('rxConfig()->receiverType')

MSP_SET_RX_CONFIG (45 / 0x2d)

Description: Sets receiver configuration settings.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
serialRxProvider	uint8_t	1	rxSerialReceiverType_e	Enum rxSerialReceiverType_e Serial RX provider type ('rxConfig()->serialrx_provider')
maxCheck	uint16_t	2	PWM	Sets `rxConfigMutable()->maxcheck
midRc	uint16_t	2	PWM	Ignored (PWM_RANGE_MIDDLE is used)
minCheck	uint16_t	2	PWM	Sets `rxConfigMutable()->mincheck
spektrumSatBind	uint8_t	1	Count/Flag	Sets rxConfigMutable()->spektrum_sat_bind (if USE_SPEKTRUM_BIND)
rxMinUsec	uint16_t	2	µs	Sets `rxConfigMutable()->rx_min_usec
rxMaxUsec	uint16_t	2	µs	Sets `rxConfigMutable()->rx_max_usec
bfCompatRcInterpolation	uint8_t	1	-	Ignored
bfCompatRcInterpolationInt	uint8_t	1	-	Ignored
bfCompatAirModeThreshold	uint16_t	2	-	Ignored
reserved1	uint8_t	1	-	Ignored
reserved2	uint32_t	4	-	Ignored
reserved3	uint8_t	1	-	Ignored
bfCompatFpvCamAngle	uint8_t	1	-	Ignored
receiverType	uint8_t	1	rxReceiverType_e	Enum rxReceiverType_e Sets 'rxConfigMutable()->receiverType'

Reply Payload: None

Notes: Expects 24 bytes.

MSP_LED_COLORS (46 / 0x2e)

Description: Retrieves the HSV color definitions for configurable LED colors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
hue	uint16_t	2	-	Hue value (0-359)
saturation	uint8_t	1	-	Saturation value (0-255)
value	uint8_t	1	-	Value/Brightness (0-255)

Notes: Only available if USE_LED_STRIP is defined.

MSP_SET_LED_COLORS (47 / 0x2f)

Description: Sets the HSV color definitions for configurable LED colors.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
hue	uint16_t	2	-	Hue value (0-359)
saturation	uint8_t	1	-	Saturation value (0-255)
value	uint8_t	1	-	Value/Brightness (0-255)

Reply Payload: None

Notes: Only available if USE_LED_STRIP is defined. Expects LED_CONFIGURABLE_COLOR_COUNT * 4 bytes.

MSP_LED_STRIP_CONFIG (48 / 0x30)

Description: Retrieves the configuration for each LED on the strip (legacy packed format).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyLedConfig	uint32_t	4	-	Packed LED configuration (position, function, overlay, color, direction, params). See C code for bit packing details

Notes: Only available if USE_LED_STRIP is defined. Superseded by MSP2_INAV_LED_STRIP_CONFIG_EX which uses a clearer struct.

MSP_SET_LED_STRIP_CONFIG (49 / 0x31)

Description: Sets the configuration for a single LED on the strip using the legacy packed format.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
ledIndex	uint8_t	1	-	Index of the LED to configure (0 to LED_MAX_STRIP_LENGTH - 1)
legacyLedConfig	uint32_t	4	-	Packed LED configuration to set

Reply Payload: None

Notes: Only available if USE_LED_STRIP is defined. Expects 5 bytes. Calls reevaluateLedConfig(). Superseded by MSP2_INAV_SET_LED_STRIP_CONFIG_EX.

MSP_RSSI_CONFIG (50 / 0x32)

Description: Retrieves the channel used for analog RSSI input.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rssiChannel	uint8_t	1	-	AUX channel index (1-based) used for RSSI, or 0 if disabled (rxConfig()->rssi_channel)

MSP_SET_RSSI_CONFIG (51 / 0x33)

Description: Sets the channel used for analog RSSI input.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rssiChannel	uint8_t	1	-	AUX channel index (1-based) to use for RSSI, or 0 to disable

Reply Payload: None

Notes: Expects 1 byte. Input value is constrained 0 to MAX_SUPPORTED_RC_CHANNEL_COUNT. Updates the effective RSSI source.

MSP_ADJUSTMENT_RANGES (52 / 0x34)

Description: Returns all defined RC adjustment ranges (tuning via aux channels).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
adjustmentIndex	uint8_t	1	-	Index of the adjustment slot (0 to MAX_SIMULTANEOUS_ADJUSTMENT_COUNT - 1)
auxChannelIndex	uint8_t	1	-	0-based index of the AUX channel controlling the adjustment value
rangeStartStep	uint8_t	1	-	Start step (0-20) of the control channel range
rangeEndStep	uint8_t	1	-	End step (0-20) of the control channel range
adjustmentFunction	uint8_t	1	-	Function/parameter being adjusted (e.g., PID gain, rate). See `rcAdjustments.h
auxSwitchChannelIndex	uint8_t	1	-	0-based index of the AUX channel acting as an enable switch (or 0 if always enabled)

Notes: See adjustmentRange_t.

MSP_SET_ADJUSTMENT_RANGE (53 / 0x35)

Description: Sets a single RC adjustment range configuration by its index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rangeIndex	uint8_t	1	-	Index of the adjustment range to set (0 to MAX_ADJUSTMENT_RANGE_COUNT - 1)
adjustmentIndex	uint8_t	1	-	Adjustment slot index (0 to MAX_SIMULTANEOUS_ADJUSTMENT_COUNT - 1)
auxChannelIndex	uint8_t	1	-	0-based index of the control AUX channel
rangeStartStep	uint8_t	1	-	Start step (0-20)
rangeEndStep	uint8_t	1	-	End step (0-20)
adjustmentFunction	uint8_t	1	-	Function/parameter being adjusted
auxSwitchChannelIndex	uint8_t	1	-	0-based index of the enable switch AUX channel (or 0)

Reply Payload: None

Notes: Expects 7 bytes. Returns error if rangeIndex or adjustmentIndex is invalid.

MSP_CF_SERIAL_CONFIG (54 / 0x36)

Description: Deprecated command to get serial port configuration.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Use MSP2_COMMON_SERIAL_CONFIG.

MSP_SET_CF_SERIAL_CONFIG (55 / 0x37)

Description: Deprecated command to set serial port configuration.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Use MSP2_COMMON_SET_SERIAL_CONFIG.

MSP_VOLTAGE_METER_CONFIG (56 / 0x38)

Description: Retrieves legacy voltage meter configuration (scaled values).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
vbatScale	uint8_t	1	Scale / 10	Voltage sensor scale factor / 10 (batteryMetersConfig()->voltage.scale / 10). 0 if USE_ADC disabled
vbatMinCell	uint8_t	1	0.1V	Minimum cell voltage / 10 (currentBatteryProfile->voltage.cellMin / 10). 0 if USE_ADC disabled
vbatMaxCell	uint8_t	1	0.1V	Maximum cell voltage / 10 (currentBatteryProfile->voltage.cellMax / 10). 0 if USE_ADC disabled
vbatWarningCell	uint8_t	1	0.1V	Warning cell voltage / 10 (currentBatteryProfile->voltage.cellWarning / 10). 0 if USE_ADC disabled

Notes: Superseded by MSP2_INAV_BATTERY_CONFIG.

MSP_SET_VOLTAGE_METER_CONFIG (57 / 0x39)

Description: Sets legacy voltage meter configuration (scaled values).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
vbatScale	uint8_t	1	Scale / 10	Sets batteryMetersConfigMutable()->voltage.scale = value * 10 (if USE_ADC)
vbatMinCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellMin = value * 10 (if USE_ADC)
vbatMaxCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellMax = value * 10 (if USE_ADC)
vbatWarningCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellWarning = value * 10 (if USE_ADC)

Reply Payload: None

Notes: Expects 4 bytes. Superseded by MSP2_INAV_SET_BATTERY_CONFIG.

MSP_SONAR_ALTITUDE (58 / 0x3a)

Description: Retrieves the altitude measured by the primary rangefinder (sonar or lidar).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rangefinderAltitude	uint32_t	4	cm	Latest altitude reading from the rangefinder (rangefinderGetLatestAltitude()). 0 if USE_RANGEFINDER disabled or no reading

MSP_RX_MAP (64 / 0x40)

Description: Retrieves the RC channel mapping array (AETR, etc.).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rcMap	uint8_t[MAX_MAPPABLE_RX_INPUTS]	MAX_MAPPABLE_RX_INPUTS * 1	-	Array defining the mapping from input channel index to logical function (Roll, Pitch, Yaw, Throttle, Aux1...)

Notes: MAX_MAPPABLE_RX_INPUTS is typically 8 or more.

MSP_SET_RX_MAP (65 / 0x41)

Description: Sets the RC channel mapping array.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rcMap	uint8_t[MAX_MAPPABLE_RX_INPUTS]	MAX_MAPPABLE_RX_INPUTS * 1	-	Array defining the new channel mapping

Reply Payload: None

Notes: Expects MAX_MAPPABLE_RX_INPUTS bytes.

MSP_REBOOT (68 / 0x44)

Description: Commands the flight controller to reboot.

Request Payload: None

Reply Payload: None

Notes: The FC sends an ACK before rebooting. The mspPostProcessFn is set to mspRebootFn to perform the reboot after the reply is sent. Will fail if the craft is armed.

MSP_DATAFLASH_SUMMARY (70 / 0x46)

Description: Retrieves summary information about the onboard dataflash chip (if present and used for Blackbox via FlashFS).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
flashReady	uint8_t	1	-	Boolean: 1 if flash chip is ready, 0 otherwise. (flashIsReady()). 0 if USE_FLASHFS disabled
sectorCount	uint32_t	4	-	Total number of sectors on the flash chip (geometry->sectors). 0 if USE_FLASHFS disabled
totalSize	uint32_t	4	-	Total size of the flash chip in bytes (geometry->totalSize). 0 if USE_FLASHFS disabled
usedSize	uint32_t	4	-	Currently used size in bytes (FlashFS offset) (flashfsGetOffset()). 0 if USE_FLASHFS disabled

Notes: Requires USE_FLASHFS.

MSP_DATAFLASH_READ (71 / 0x47)

Description: Reads a block of data from the onboard dataflash (FlashFS).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint32_t	4	-	Starting address to read from within the FlashFS volume
size	uint16_t	2	-	(Optional) Number of bytes to read. Defaults to 128 if not provided

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint32_t	4	-	The starting address from which data was actually read
data	uint8_t[]	-	-	The data read from flash. Length is MIN(requested size, remaining buffer space, remaining flashfs data)

Notes: Requires USE_FLASHFS. Read length may be truncated by buffer size or end of flashfs volume.

MSP_DATAFLASH_ERASE (72 / 0x48)

Description: Erases the entire onboard dataflash chip (FlashFS volume).

Request Payload: None

Reply Payload: None

Notes: Requires USE_FLASHFS. This is a potentially long operation. Use with caution.

MSP_LOOP_TIME (73 / 0x49)

Description: Retrieves the configured loop time (PID loop frequency denominator).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
looptime	uint16_t	2	µs	Configured loop time (gyroConfig()->looptime)

Notes: This is the configured target loop time, not necessarily the actual measured cycle time (see MSP_STATUS).

MSP_SET_LOOP_TIME (74 / 0x4a)

Description: Sets the configured loop time.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
looptime	uint16_t	2	µs	New loop time to set (gyroConfigMutable()->looptime)

Reply Payload: None

Notes: Expects 2 bytes.

MSP_FAILSAFE_CONFIG (75 / 0x4b)

Description: Retrieves the failsafe configuration settings.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
failsafeDelay	uint8_t	1	0.1s	Delay before failsafe stage 1 activates (failsafeConfig()->failsafe_delay)
failsafeOffDelay	uint8_t	1	0.1s	Delay after signal recovery before returning control (failsafeConfig()->failsafe_off_delay)
failsafeThrottle	uint16_t	2	PWM	Throttle level during failsafe stage 2 (currentBatteryProfile->failsafe_throttle)
legacyKillSwitch	uint8_t	1	-	Legacy flag, always 0
failsafeThrottleLowDelay	uint16_t	2	ms	Delay for throttle-based failsafe detection (failsafeConfig()->failsafe_throttle_low_delay)
failsafeProcedure	uint8_t	1	failsafeProcedure_e	Enum failsafeProcedure_e Failsafe procedure (Drop, RTH, Land, etc.) ('failsafeConfig()->failsafe_procedure')
failsafeRecoveryDelay	uint8_t	1	0.1s	Delay after RTH finishes before attempting recovery (failsafeConfig()->failsafe_recovery_delay)
failsafeFWRollAngle	uint16_t	2	deci-degrees	Fixed wing failsafe roll angle (failsafeConfig()->failsafe_fw_roll_angle)
failsafeFWPitchAngle	uint16_t	2	deci-degrees	Fixed wing failsafe pitch angle (failsafeConfig()->failsafe_fw_pitch_angle)
failsafeFWYawRate	uint16_t	2	deg/s	Fixed wing failsafe yaw rate (failsafeConfig()->failsafe_fw_yaw_rate)
failsafeStickThreshold	uint16_t	2	PWM units	Stick movement threshold to exit failsafe (failsafeConfig()->failsafe_stick_motion_threshold)
failsafeMinDistance	uint16_t	2	meters	Minimum distance from home for RTH failsafe (failsafeConfig()->failsafe_min_distance)
failsafeMinDistanceProc	uint8_t	1	failsafeProcedure_e	Enum failsafeProcedure_e Failsafe procedure if below min distance ('failsafeConfig()->failsafe_min_distance_procedure')

MSP_SET_FAILSAFE_CONFIG (76 / 0x4c)

Description: Sets the failsafe configuration settings.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
failsafeDelay	uint8_t	1	0.1s	Sets `failsafeConfigMutable()->failsafe_delay
failsafeOffDelay	uint8_t	1	0.1s	Sets `failsafeConfigMutable()->failsafe_off_delay
failsafeThrottle	uint16_t	2	PWM	Sets `currentBatteryProfileMutable->failsafe_throttle
legacyKillSwitch	uint8_t	1	-	Ignored
failsafeThrottleLowDelay	uint16_t	2	ms	Sets `failsafeConfigMutable()->failsafe_throttle_low_delay
failsafeProcedure	uint8_t	1	failsafeProcedure_e	Enum failsafeProcedure_e Sets 'failsafeConfigMutable()->failsafe_procedure'
failsafeRecoveryDelay	uint8_t	1	0.1s	Sets `failsafeConfigMutable()->failsafe_recovery_delay
failsafeFWRollAngle	uint16_t	2	deci-degrees	Sets failsafeConfigMutable()->failsafe_fw_roll_angle (casted to int16_t)
failsafeFWPitchAngle	uint16_t	2	deci-degrees	Sets failsafeConfigMutable()->failsafe_fw_pitch_angle (casted to int16_t)
failsafeFWYawRate	uint16_t	2	deg/s	Sets failsafeConfigMutable()->failsafe_fw_yaw_rate (casted to int16_t)
failsafeStickThreshold	uint16_t	2	PWM units	Sets `failsafeConfigMutable()->failsafe_stick_motion_threshold
failsafeMinDistance	uint16_t	2	meters	Sets `failsafeConfigMutable()->failsafe_min_distance
failsafeMinDistanceProc	uint8_t	1	failsafeProcedure_e	Enum failsafeProcedure_e Sets 'failsafeConfigMutable()->failsafe_min_distance_procedure'

Reply Payload: None

Notes: Expects 20 bytes.

MSP_SDCARD_SUMMARY (79 / 0x4f)

Description: Retrieves summary information about the SD card status and filesystem.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
sdCardSupported	uint8_t	1	-	Bitmask: Bit 0 = 1 if SD card support compiled in (USE_SDCARD)
sdCardState	uint8_t	1	mspSDCardState_e	Enum (mspSDCardState_e): Current state (Not Present, Fatal, Card Init, FS Init, Ready). 0 if USE_SDCARD disabled
fsError	uint8_t	1	-	Last filesystem error code (afatfs_getLastError()). 0 if USE_SDCARD disabled
freeSpaceKB	uint32_t	4	-	Free space in KiB (afatfs_getContiguousFreeSpace() / 1024). 0 if USE_SDCARD disabled
totalSpaceKB	uint32_t	4	-	Total space in KiB (sdcard_getMetadata()->numBlocks / 2). 0 if USE_SDCARD disabled

Notes: Requires USE_SDCARD and USE_ASYNCFATFS.

MSP_BLACKBOX_CONFIG (80 / 0x50)

Description: Legacy command to retrieve Blackbox configuration. Superseded by MSP2_BLACKBOX_CONFIG.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
blackboxDevice	uint8_t	1	-	Always 0 (API no longer supported)
blackboxRateNum	uint8_t	1	-	Always 0
blackboxRateDenom	uint8_t	1	-	Always 0
blackboxPDenom	uint8_t	1	-	Always 0

Notes: Returns fixed zero values. Use MSP2_BLACKBOX_CONFIG.

MSP_SET_BLACKBOX_CONFIG (81 / 0x51)

Description: Legacy command to set Blackbox configuration. Superseded by MSP2_SET_BLACKBOX_CONFIG.

Request Payload: None

Reply Payload: None

Notes: Not implemented in fc_msp.c. Use MSP2_SET_BLACKBOX_CONFIG.

MSP_TRANSPONDER_CONFIG (82 / 0x52)

Description: Get VTX Transponder settings (likely specific to RaceFlight/Betaflight, not standard INAV VTX).

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

MSP_SET_TRANSPONDER_CONFIG (83 / 0x53)

Description: Set VTX Transponder settings.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

MSP_OSD_CONFIG (84 / 0x54)

Description: Retrieves OSD configuration settings and layout for screen 0.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
osdDriverType	uint8_t	1	OSD_DRIVER_MAX7456	Enum OSD_DRIVER_MAX7456 if USE_OSD, else `OSD_DRIVER_NONE
videoSystem	uint8_t	1	videoSystem_e	Enum videoSystem_e: Video system (Auto/PAL/NTSC) (osdConfig()->video_system). Sent even if OSD disabled
units	uint8_t	1	osd_unit_e	Enum osd_unit_e Measurement units (Metric/Imperial) (osdConfig()->units). Sent even if OSD disabled
rssiAlarm	uint8_t	1	%	RSSI alarm threshold (osdConfig()->rssi_alarm). Sent even if OSD disabled
capAlarm	uint16_t	2	mAh/mWh	Capacity alarm threshold (currentBatteryProfile->capacity.warning). Sent even if OSD disabled
timerAlarm	uint16_t	2	seconds	Timer alarm threshold (osdConfig()->time_alarm). Sent even if OSD disabled
altAlarm	uint16_t	2	meters	Altitude alarm threshold (osdConfig()->alt_alarm). Sent even if OSD disabled
distAlarm	uint16_t	2	meters	Distance alarm threshold (osdConfig()->dist_alarm). Sent even if OSD disabled
negAltAlarm	uint16_t	2	meters	Negative altitude alarm threshold (osdConfig()->neg_alt_alarm). Sent even if OSD disabled
itemPositions	uint16_t[OSD_ITEM_COUNT]	OSD_ITEM_COUNT * 2	Coordinates	Packed X/Y position for each OSD item on screen 0 (osdLayoutsConfig()->item_pos[0][i]). Sent even if OSD disabled

Notes: Requires USE_OSD for meaningful data, but payload is always sent. Coordinates are packed: (Y << 8) | X. See MSP2_INAV_OSD_* commands for more detail and multi-layout support.

MSP_SET_OSD_CONFIG (85 / 0x55)

Description: Sets OSD configuration or a single item's position on screen 0.

Variant: dataSize >= 10

Description: dataSize >= 10

Request Payload: None

Reply Payload: None

Variant: dataSize == 3

Description: dataSize == 3

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
itemPositions	uint16_t[OSD_ITEM_COUNT]	OSD_ITEM_COUNT * 2	Coordinates	Packed X/Y position for each OSD item on screen 0 (osdLayoutsConfig()->item_pos[0][i]). Sent even if OSD disabled

Reply Payload: None

Notes: Requires USE_OSD. Distinguishes formats based on the first byte. Format 1 requires at least 10 bytes. Format 2 requires 3 bytes. Triggers an OSD redraw. See MSP2_INAV_OSD_SET_* for more advanced control.

MSP_OSD_CHAR_READ (86 / 0x56)

Description: Reads character data from the OSD font memory.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Requires direct hardware access, typically done via DisplayPort.

MSP_OSD_CHAR_WRITE (87 / 0x57)

Description: Writes character data to the OSD font memory.

Variant: dataSize >= OSD_CHAR_BYTES + 2

Description: dataSize >= OSD_CHAR_BYTES + 2

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint16_t	2	-	16-bit character address
charData	uint8_t[OSD_CHAR_BYTES]	OSD_CHAR_BYTES * 1	-	Full character bytes (with metadata)

Reply Payload: None

Variant: dataSize >= OSD_CHAR_BYTES + 1

Description: dataSize >= OSD_CHAR_BYTES + 1

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint8_t	1	-	8-bit character address
charData	uint8_t[OSD_CHAR_BYTES]	OSD_CHAR_BYTES * 1	-	Full character bytes (with metadata)

Reply Payload: None

Variant: dataSize >= OSD_CHAR_VISIBLE_BYTES + 2

Description: dataSize >= OSD_CHAR_VISIBLE_BYTES + 2

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint16_t	2	-	16-bit character address
charData	uint8_t[OSD_CHAR_VISIBLE_BYTES]	OSD_CHAR_VISIBLE_BYTES * 1	-	Only visible character bytes (no metadata)

Reply Payload: None

Variant: dataSize >= OSD_CHAR_VISIBLE_BYTES + 1

Description: dataSize >= OSD_CHAR_VISIBLE_BYTES + 1

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
address	uint8_t	1	-	8-bit character address
charData	uint8_t[OSD_CHAR_VISIBLE_BYTES]	OSD_CHAR_VISIBLE_BYTES * 1	-	Only visible character bytes (no metadata)

Reply Payload: None

Notes: Requires USE_OSD. Payload size determines address size (8/16 bit) and character data size (visible bytes only or full char with metadata). Uses displayWriteFontCharacter(). Requires OSD hardware (like MAX7456) to be present and functional.

MSP_VTX_CONFIG (88 / 0x58)

Description: Retrieves the current VTX (Video Transmitter) configuration and capabilities.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
vtxDeviceType	uint8_t	1	vtxDevType_e	Enum (vtxDevType_e): Type of VTX device detected/configured. VTXDEV_UNKNOWN if none
band	uint8_t	1	-	VTX band number (from vtxSettingsConfig)
channel	uint8_t	1	-	VTX channel number (from vtxSettingsConfig)
power	uint8_t	1	-	VTX power level index (from vtxSettingsConfig)
pitMode	uint8_t	1	-	Boolean: 1 if VTX is currently in pit mode, 0 otherwise
vtxReady	uint8_t	1	-	Boolean: 1 if VTX device reported ready, 0 otherwise
lowPowerDisarm	uint8_t	1	-	Boolean: 1 if low power on disarm is enabled (from vtxSettingsConfig)
vtxTableAvailable	uint8_t	1	-	Boolean: 1 if VTX tables (band/power) are available for query
bandCount	uint8_t	1	-	Number of bands supported by the VTX device
channelCount	uint8_t	1	-	Number of channels per band supported by the VTX device
powerCount	uint8_t	1	-	Number of power levels supported by the VTX device

Notes: BF compatibility field frequency (uint16) is missing compared to some BF versions. Use MSP_VTXTABLE_BAND and MSP_VTXTABLE_POWERLEVEL for details.

MSP_SET_VTX_CONFIG (89 / 0x59)

Temporary definition

• Direction: In
• Description: Sets the VTX configuration (band, channel, power, pit mode). Supports multiple protocol versions/extensions based on payload size.
• Payload (Minimum):

  Field	C Type	Size (Bytes)	Description
  bandChannelEncoded	uint16_t	2	Encoded band/channel value: (band-1)*8 + (channel-1). If <= VTXCOMMON_MSP_BANDCHAN_CHKVAL

• Payload (Extended): (Fields added sequentially based on size)

  Field	C Type	Size (Bytes)	Description
  power	uint8_t	1	Power level index to set (vtxSettingsConfigMutable()->power)
  pitMode	uint8_t	1	Pit mode state to set (0=off, 1=on). Directly calls vtxCommonSetPitMode
  lowPowerDisarm	uint8_t	1	Low power on disarm setting (vtxSettingsConfigMutable()->lowPowerDisarm)
  pitModeFreq	uint16_t	2	Ignored. Betaflight extension
  band	uint8_t	1	Explicit band number to set (vtxSettingsConfigMutable()->band). Overrides encoded value if present
  channel	uint8_t	1	Explicit channel number to set (vtxSettingsConfigMutable()->channel). Overrides encoded value if present
  frequency	uint16_t	2	Ignored. Betaflight extension
  bandCount	uint8_t	1	Ignored. Betaflight extension
  channelCount	uint8_t	1	Ignored. Betaflight extension
  powerCount	uint8_t	1	Ignored. Betaflight extension (can potentially reduce reported power count if valid)

• Notes: Requires USE_VTX_CONTROL. Minimum size 2 bytes. Applies settings to vtxSettingsConfig and potentially directly to the device (pit mode).

MSP_ADVANCED_CONFIG (90 / 0x5a)

Description: Retrieves advanced hardware-related configuration (PWM protocols, rates). Some fields are BF compatibility placeholders.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroSyncDenom	uint8_t	1	-	Always 1 (BF compatibility)
pidProcessDenom	uint8_t	1	-	Always 1 (BF compatibility)
useUnsyncedPwm	uint8_t	1	-	Always 1 (BF compatibility, INAV uses async PWM based on protocol)
motorPwmProtocol	uint8_t	1	-	Motor PWM protocol type (motorConfig()->motorPwmProtocol)
motorPwmRate	uint16_t	2	-	Hz: Motor PWM rate (if applicable) (motorConfig()->motorPwmRate)
servoPwmRate	uint16_t	2	-	Hz: Servo PWM rate (servoConfig()->servoPwmRate)
legacyGyroSync	uint8_t	1	-	Always 0 (BF compatibility)

MSP_SET_ADVANCED_CONFIG (91 / 0x5b)

Description: Sets advanced hardware-related configuration (PWM protocols, rates).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroSyncDenom	uint8_t	1	-	Ignored
pidProcessDenom	uint8_t	1	-	Ignored
useUnsyncedPwm	uint8_t	1	-	Ignored
motorPwmProtocol	uint8_t	1	-	Sets `motorConfigMutable()->motorPwmProtocol
motorPwmRate	uint16_t	2	-	Sets `motorConfigMutable()->motorPwmRate
servoPwmRate	uint16_t	2	-	Sets `servoConfigMutable()->servoPwmRate
legacyGyroSync	uint8_t	1	-	Ignored

Reply Payload: None

Notes: Expects 9 bytes.

MSP_FILTER_CONFIG (92 / 0x5c)

Description: Retrieves filter configuration settings (Gyro, D-term, Yaw, Accel). Some fields are BF compatibility placeholders or legacy.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroMainLpfHz	uint8_t	1	Hz	Gyro main low-pass filter cutoff frequency (gyroConfig()->gyro_main_lpf_hz)
dtermLpfHz	uint16_t	2	Hz	D-term low-pass filter cutoff frequency (pidProfile()->dterm_lpf_hz)
yawLpfHz	uint16_t	2	Hz	Yaw low-pass filter cutoff frequency (pidProfile()->yaw_lpf_hz)
legacyGyroNotchHz	uint16_t	2	-	Always 0 (Legacy)
legacyGyroNotchCutoff	uint16_t	2	-	Always 1 (Legacy)
bfCompatDtermNotchHz	uint16_t	2	-	Always 0 (BF compatibility)
bfCompatDtermNotchCutoff	uint16_t	2	-	Always 1 (BF compatibility)
bfCompatGyroNotch2Hz	uint16_t	2	-	Always 0 (BF compatibility)
bfCompatGyroNotch2Cutoff	uint16_t	2	-	Always 1 (BF compatibility)
accNotchHz	uint16_t	2	Hz	Accelerometer notch filter center frequency (accelerometerConfig()->acc_notch_hz)
accNotchCutoff	uint16_t	2	Hz	Accelerometer notch filter cutoff frequency (accelerometerConfig()->acc_notch_cutoff)
legacyGyroStage2LpfHz	uint16_t	2	-	Always 0 (Legacy)

MSP_SET_FILTER_CONFIG (93 / 0x5d)

Description: Sets filter configuration settings. Handles different payload lengths for backward compatibility.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroMainLpfHz	uint8_t	1	Hz	Sets gyroConfigMutable()->gyro_main_lpf_hz. (Size >= 5)
dtermLpfHz	uint16_t	2	Hz	Sets pidProfileMutable()->dterm_lpf_hz (constrained 0-500). (Size >= 5)
yawLpfHz	uint16_t	2	Hz	Sets pidProfileMutable()->yaw_lpf_hz (constrained 0-255). (Size >= 5)
legacyGyroNotchHz	uint16_t	2	-	Ignored. (Size >= 9)
legacyGyroNotchCutoff	uint16_t	2	-	Ignored. (Size >= 9)
bfCompatDtermNotchHz	uint16_t	2	-	Ignored. (Size >= 13)
bfCompatDtermNotchCutoff	uint16_t	2	-	Ignored. (Size >= 13)
bfCompatGyroNotch2Hz	uint16_t	2	-	Ignored. (Size >= 17)
bfCompatGyroNotch2Cutoff	uint16_t	2	-	Ignored. (Size >= 17)
accNotchHz	uint16_t	2	Hz	Sets accelerometerConfigMutable()->acc_notch_hz (constrained 0-255). (Size >= 21)
accNotchCutoff	uint16_t	2	Hz	Sets accelerometerConfigMutable()->acc_notch_cutoff (constrained 1-255). (Size >= 21)
legacyGyroStage2LpfHz	uint16_t	2	-	Ignored. (Size >= 22)

Reply Payload: None

Notes: Requires specific payload sizes (5, 9, 13, 17, 21, or 22 bytes) to be accepted. Calls pidInitFilters() if size >= 13.

MSP_PID_ADVANCED (94 / 0x5e)

Description: Retrieves advanced PID tuning parameters. Many fields are BF compatibility placeholders.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyRollPitchItermIgnore	uint16_t	2	-	Always 0 (Legacy)
legacyYawItermIgnore	uint16_t	2	-	Always 0 (Legacy)
legacyYawPLimit	uint16_t	2	-	Always 0 (Legacy)
bfCompatDeltaMethod	uint8_t	1	-	Always 0 (BF compatibility)
bfCompatVbatPidComp	uint8_t	1	-	Always 0 (BF compatibility)
bfCompatSetpointRelaxRatio	uint8_t	1	-	Always 0 (BF compatibility)
reserved1	uint8_t	1	-	Always 0
legacyPidSumLimit	uint16_t	2	-	Always 0 (Legacy)
bfCompatItermThrottleGain	uint8_t	1	-	Always 0 (BF compatibility)
accelLimitRollPitch	uint16_t	2	dps / 10	Axis acceleration limit for Roll/Pitch / 10 (pidProfile()->axisAccelerationLimitRollPitch / 10)
accelLimitYaw	uint16_t	2	dps / 10	Axis acceleration limit for Yaw / 10 (pidProfile()->axisAccelerationLimitYaw / 10)

Notes: Acceleration limits are scaled by 10 for compatibility.

MSP_SET_PID_ADVANCED (95 / 0x5f)

Description: Sets advanced PID tuning parameters.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyRollPitchItermIgnore	uint16_t	2	-	Ignored
legacyYawItermIgnore	uint16_t	2	-	Ignored
legacyYawPLimit	uint16_t	2	-	Ignored
bfCompatDeltaMethod	uint8_t	1	-	Ignored
bfCompatVbatPidComp	uint8_t	1	-	Ignored
bfCompatSetpointRelaxRatio	uint8_t	1	-	Ignored
reserved1	uint8_t	1	-	Ignored
legacyPidSumLimit	uint16_t	2	-	Ignored
bfCompatItermThrottleGain	uint8_t	1	-	Ignored
accelLimitRollPitch	uint16_t	2	dps / 10	Sets `pidProfileMutable()->axisAccelerationLimitRollPitch = value * 10
accelLimitYaw	uint16_t	2	dps / 10	Sets `pidProfileMutable()->axisAccelerationLimitYaw = value * 10

Reply Payload: None

Notes: Expects 17 bytes.

MSP_SENSOR_CONFIG (96 / 0x60)

Description: Retrieves the configured hardware type for various sensors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
accHardware	uint8_t	1	accHardware_e	Enum (accHardware_e): Accelerometer hardware type (accelerometerConfig()->acc_hardware)
baroHardware	uint8_t	1	baroHardware_e	Enum (baroHardware_e): Barometer hardware type (barometerConfig()->baro_hardware). 0 if USE_BARO disabled
magHardware	uint8_t	1	magHardware_e	Enum (magHardware_e): Magnetometer hardware type (compassConfig()->mag_hardware). 0 if USE_MAG disabled
pitotHardware	uint8_t	1	pitotHardware_e	Enum (pitotHardware_e): Pitot tube hardware type (pitotmeterConfig()->pitot_hardware). 0 if USE_PITOT disabled
rangefinderHardware	uint8_t	1	rangefinderHardware_e	Enum (rangefinderHardware_e): Rangefinder hardware type (rangefinderConfig()->rangefinder_hardware). 0 if USE_RANGEFINDER disabled
opflowHardware	uint8_t	1	opticalFlowHardware_e	Enum (opticalFlowHardware_e): Optical flow hardware type (opticalFlowConfig()->opflow_hardware). 0 if USE_OPFLOW disabled

MSP_SET_SENSOR_CONFIG (97 / 0x61)

Description: Sets the configured hardware type for various sensors.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
accHardware	uint8_t	1	-	Sets `accelerometerConfigMutable()->acc_hardware
baroHardware	uint8_t	1	-	Sets barometerConfigMutable()->baro_hardware (if USE_BARO)
magHardware	uint8_t	1	-	Sets compassConfigMutable()->mag_hardware (if USE_MAG)
pitotHardware	uint8_t	1	-	Sets pitotmeterConfigMutable()->pitot_hardware (if USE_PITOT)
rangefinderHardware	uint8_t	1	-	Sets rangefinderConfigMutable()->rangefinder_hardware (if USE_RANGEFINDER)
opflowHardware	uint8_t	1	-	Sets opticalFlowConfigMutable()->opflow_hardware (if USE_OPFLOW)

Reply Payload: None

Notes: Expects 6 bytes.

MSP_SPECIAL_PARAMETERS (98 / 0x62)

Description: Betaflight specific, likely unused/unimplemented in INAV.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

MSP_SET_SPECIAL_PARAMETERS (99 / 0x63)

Description: Betaflight specific, likely unused/unimplemented in INAV.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

MSP_IDENT (100 / 0x64)

Description: Provides basic flight controller identity information. Not implemented in modern INAV, but used by legacy versions and MultiWii.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
MultiWii version	uint8_t	1	n/a	Scaled version major*100+minor
Mixer Mode	uint8_t	1	ENUM_NAME	Mixer type
MSP Version	uint8_t	1	n/a	Scaled version major*100+minor
Platform Capability	uint32_t	4	Bitmask of MW capabilities

Notes: Obsolete. Listed for legacy compatibility only.

MSP_STATUS (101 / 0x65)

Description: Provides basic flight controller status including cycle time, errors, sensor status, active modes (first 32), and the current configuration profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
cycleTime	uint16_t	2	µs	Main loop cycle time (cycleTime)
i2cErrors	uint16_t	2	Count	Number of I2C errors encountered (i2cGetErrorCounter()). 0 if USE_I2C not defined
sensorStatus	uint16_t	2	Bitmask	Bitmask indicating available/active sensors (packSensorStatus()). See notes
activeModesLow	uint32_t	4	Bitmask	First 32 bits of the active flight modes bitmask (packBoxModeFlags())
profile	uint8_t	1	Index	Current configuration profile index (0-based) (getConfigProfile())

Notes: Superseded by MSP_STATUS_EX and MSP2_INAV_STATUS. sensorStatus bitmask: (Bit 0: ACC, 1: BARO, 2: MAG, 3: GPS, 4: RANGEFINDER, 5: GYRO). activeModesLow only contains the first 32 modes; use MSP_ACTIVEBOXES for the full set.

MSP_RAW_IMU (102 / 0x66)

Description: Provides raw sensor readings from the IMU (Accelerometer, Gyroscope, Magnetometer).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
accX	int16_t	2	~1/512 G	Raw accelerometer X reading, scaled (acc.accADCf[X] * 512)
accY	int16_t	2	~1/512 G	Raw accelerometer Y reading, scaled (acc.accADCf[Y] * 512)
accZ	int16_t	2	~1/512 G	Raw accelerometer Z reading, scaled (acc.accADCf[Z] * 512)
gyroX	int16_t	2	deg/s	Gyroscope X-axis rate (gyroRateDps(X))
gyroY	int16_t	2	deg/s	Gyroscope Y-axis rate (gyroRateDps(Y))
gyroZ	int16_t	2	deg/s	Gyroscope Z-axis rate (gyroRateDps(Z))
magX	int16_t	2	Raw units	Raw magnetometer X reading (mag.magADC[X]). 0 if USE_MAG disabled
magY	int16_t	2	Raw units	Raw magnetometer Y reading (mag.magADC[Y]). 0 if USE_MAG disabled
magZ	int16_t	2	Raw units	Raw magnetometer Z reading (mag.magADC[Z]). 0 if USE_MAG disabled

Notes: Acc scaling is approximate (512 LSB/G). Mag units depend on the sensor.

MSP_SERVO (103 / 0x67)

Description: Provides the current output values for all supported servos.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
servoOutputs	int16_t[MAX_SUPPORTED_SERVOS]	MAX_SUPPORTED_SERVOS * 2	PWM	Array of current servo output values (typically 1000-2000)

MSP_MOTOR (104 / 0x68)

Description: Provides the current output values for the first 8 motors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
motorOutputs	uint16_t[8]	16	PWM	Array of current motor output values (typically 1000-2000). Values beyond MAX_SUPPORTED_MOTORS are 0

MSP_RC (105 / 0x69)

Description: Provides the current values of the received RC channels.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rcChannels	uint16_t[]	-	PWM	Array of current RC channel values (typically 1000-2000). Length depends on detected channels

MSP_RAW_GPS (106 / 0x6a)

Description: Provides raw GPS data (fix status, coordinates, altitude, speed, course).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
fixType	uint8_t	1	gpsFixType_e	Enum gpsFixType_e GPS fix type (gpsSol.fixType)
numSat	uint8_t	1	Count	Number of satellites used in solution (gpsSol.numSat)
latitude	int32_t	4	deg * 1e7	Latitude (gpsSol.llh.lat)
longitude	int32_t	4	deg * 1e7	Longitude (gpsSol.llh.lon)
altitude	int16_t	2	meters	Altitude above MSL (gpsSol.llh.alt / 100)
speed	uint16_t	2	cm/s	Ground speed (gpsSol.groundSpeed)
groundCourse	uint16_t	2	deci-degrees	Ground course (gpsSol.groundCourse)
hdop	uint16_t	2	HDOP * 100	Horizontal Dilution of Precision (gpsSol.hdop)

Notes: Only available if USE_GPS is defined. Altitude is truncated to meters.

MSP_COMP_GPS (107 / 0x6b)

Description: Provides computed GPS values: distance and direction to home.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
distanceToHome	uint16_t	2	meters	Distance to the home point (GPS_distanceToHome)
directionToHome	uint16_t	2	degrees	Direction to the home point (0-360) (GPS_directionToHome)
gpsHeartbeat	uint8_t	1	Boolean	Indicates if GPS data is being received (gpsSol.flags.gpsHeartbeat)

Notes: Only available if USE_GPS is defined.

MSP_ATTITUDE (108 / 0x6c)

Description: Provides the current attitude estimate (roll, pitch, yaw).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
roll	int16_t	2	deci-degrees	Roll angle (attitude.values.roll)
pitch	int16_t	2	deci-degrees	Pitch angle (attitude.values.pitch)
yaw	int16_t	2	degrees	Yaw/Heading angle (DECIDEGREES_TO_DEGREES(attitude.values.yaw))

Notes: Yaw is converted from deci-degrees to degrees.

MSP_ALTITUDE (109 / 0x6d)

Description: Provides estimated altitude, vertical speed (variometer), and raw barometric altitude.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
estimatedAltitude	int32_t	4	cm	Estimated altitude above home/sea level (getEstimatedActualPosition(Z))
variometer	int16_t	2	cm/s	Estimated vertical speed (getEstimatedActualVelocity(Z))
baroAltitude	int32_t	4	cm	Latest raw altitude from barometer (baroGetLatestAltitude()). 0 if USE_BARO disabled

MSP_ANALOG (110 / 0x6e)

Description: Provides analog sensor readings: battery voltage, current consumption (mAh), RSSI, and current draw (Amps).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
vbat	uint8_t	1	0.1V	Battery voltage, scaled (getBatteryVoltage() / 10), constrained 0-255
mAhDrawn	uint16_t	2	mAh	Consumed battery capacity (getMAhDrawn()), constrained 0-65535
rssi	uint16_t	2	0-1023 or %	Received Signal Strength Indicator (getRSSI()). Units depend on source
amperage	int16_t	2	0.01A	Current draw (getAmperage()), constrained -32768 to 32767

Notes: Superseded by MSP2_INAV_ANALOG which provides higher precision and more fields.

MSP_RC_TUNING (111 / 0x6f)

Description: Retrieves RC tuning parameters (rates, expos, TPA) for the current control rate profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyRcRate	uint8_t	1	-	Always 100 (Legacy, unused)
rcExpo	uint8_t	1	-	Roll/Pitch RC Expo (currentControlRateProfile->stabilized.rcExpo8)
rollRate	uint8_t	1	-	Roll Rate (currentControlRateProfile->stabilized.rates[FD_ROLL])
pitchRate	uint8_t	1	-	Pitch Rate (currentControlRateProfile->stabilized.rates[FD_PITCH])
yawRate	uint8_t	1	-	Yaw Rate (currentControlRateProfile->stabilized.rates[FD_YAW])
dynamicThrottlePID	uint8_t	1	-	Dynamic Throttle PID (TPA) value (currentControlRateProfile->throttle.dynPID)
throttleMid	uint8_t	1	-	Throttle Midpoint (currentControlRateProfile->throttle.rcMid8)
throttleExpo	uint8_t	1	-	Throttle Expo (currentControlRateProfile->throttle.rcExpo8)
tpaBreakpoint	uint16_t	2	-	Throttle PID Attenuation (TPA) breakpoint (currentControlRateProfile->throttle.pa_breakpoint)
rcYawExpo	uint8_t	1	-	Yaw RC Expo (currentControlRateProfile->stabilized.rcYawExpo8)

Notes: Superseded by MSP2_INAV_RATE_PROFILE which includes manual rates/expos.

MSP_ACTIVEBOXES (113 / 0x71)

Description: Provides the full bitmask of currently active flight modes (boxes).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
activeModes	boxBitmask_t	-	-	Bitmask of all active modes (packBoxModeFlags()). Size depends on boxBitmask_t definition

Notes: Use this instead of MSP_STATUS or MSP_STATUS_EX if more than 32 modes are possible.

MSP_MISC (114 / 0x72)

Description: Retrieves miscellaneous configuration settings, mostly related to RC, GPS, Mag, and Battery voltage (legacy formats).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
midRc	uint16_t	2	PWM	Mid RC value (PWM_RANGE_MIDDLE, typically 1500)
legacyMinThrottle	uint16_t	2	-	Always 0 (Legacy)
maxThrottle	uint16_t	2	PWM	Maximum throttle command (getMaxThrottle())
minCommand	uint16_t	2	PWM	Minimum motor command when disarmed (motorConfig()->mincommand)
failsafeThrottle	uint16_t	2	PWM	Failsafe throttle level (currentBatteryProfile->failsafe_throttle)
gpsType	uint8_t	1	gpsProvider_e	Enum gpsProvider_e GPS provider type (gpsConfig()->provider). 0 if USE_GPS disabled
legacyGpsBaud	uint8_t	1	-	Always 0 (Legacy)
gpsSbasMode	uint8_t	1	sbasMode_e	Enum sbasMode_e GPS SBAS mode (gpsConfig()->sbasMode). 0 if USE_GPS disabled
legacyMwCurrentOut	uint8_t	1	-	Always 0 (Legacy)
rssiChannel	uint8_t	1	Index	RSSI channel index (1-based) (rxConfig()->rssi_channel)
reserved1	uint8_t	1	-	Always 0
magDeclination	uint16_t	2	0.1 degrees	Magnetic declination / 10 (compassConfig()->mag_declination / 10). 0 if USE_MAG disabled
vbatScale	uint8_t	1	Scale / 10	Voltage scale / 10 (batteryMetersConfig()->voltage.scale / 10). 0 if USE_ADC disabled
vbatMinCell	uint8_t	1	0.1V	Min cell voltage / 10 (currentBatteryProfile->voltage.cellMin / 10). 0 if USE_ADC disabled
vbatMaxCell	uint8_t	1	0.1V	Max cell voltage / 10 (currentBatteryProfile->voltage.cellMax / 10). 0 if USE_ADC disabled
vbatWarningCell	uint8_t	1	0.1V	Warning cell voltage / 10 (currentBatteryProfile->voltage.cellWarning / 10). 0 if USE_ADC disabled

Notes: Superseded by MSP2_INAV_MISC and other specific commands which offer better precision and more fields.

MSP_BOXNAMES (116 / 0x74)

Description: Provides a semicolon-separated string containing the names of all available flight modes (boxes).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
boxNamesString	char[]	-	-	String containing mode names separated by ';'. Null termination not guaranteed by MSP, relies on payload size. (serializeBoxNamesReply())

Notes: The exact set of names depends on compiled features and configuration. Due to the size of the payload, it is recommended that MSP_BOXIDS is used instead.

MSP_PIDNAMES (117 / 0x75)

Description: Provides a semicolon-separated string containing the names of the PID controllers.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
pidNamesString	char[]	-	-	String "ROLL;PITCH;YAW;ALT;Pos;PosR;NavR;LEVEL;MAG;VEL;". Null termination not guaranteed by MSP

MSP_WP (118 / 0x76)

Description: Get/Set a single waypoint from the mission plan.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
waypointIndex	uint8_t	1	-	Index of the waypoint to retrieve (0 to NAV_MAX_WAYPOINTS - 1)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
waypointIndex	uint8_t	1	Index	Index of the returned waypoint
action	uint8_t	1	navWaypointActions_e	Enum navWaypointActions_e Waypoint action type
latitude	int32_t	4	deg * 1e7	Latitude coordinate
longitude	int32_t	4	deg * 1e7	Longitude coordinate
altitude	int32_t	4	cm	Altitude coordinate (relative to home or sea level, see flag)
param1	uint16_t	2	Varies	Parameter 1 (meaning depends on action)
param2	uint16_t	2	Varies	Parameter 2 (meaning depends on action)
param3	uint16_t	2	Varies	Parameter 3 (meaning depends on action)
flag	uint8_t	1	Bitmask	Waypoint flags (NAV_WP_FLAG_*)

Notes: See navWaypoint_t and navWaypointActions_e.

MSP_BOXIDS (119 / 0x77)

Description: Provides a list of permanent IDs associated with the available flight modes (boxes).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
boxIds	uint8_t[]	-	-	Array of permanent IDs for each configured box (serializeBoxReply()). Length depends on number of boxes

Notes: Useful for mapping mode range configurations (MSP_MODE_RANGES) back to user-understandable modes via MSP_BOXNAMES.

MSP_SERVO_CONFIGURATIONS (120 / 0x78)

Description: Retrieves the configuration parameters for all supported servos (min, max, middle, rate). Legacy format with unused fields.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
min	uint16_t	2	PWM	Minimum servo endpoint (servoParams(i)->min)
max	uint16_t	2	PWM	Maximum servo endpoint (servoParams(i)->max)
middle	uint16_t	2	PWM	Middle/Neutral servo position (servoParams(i)->middle)
rate	uint8_t	1	% (-100 to 100)	Servo rate/scaling (servoParams(i)->rate)
reserved1	uint8_t	1	-	Always 0
reserved2	uint8_t	1	-	Always 0
legacyForwardChan	uint8_t	1	-	Always 255 (Legacy)
legacyReversedSources	uint32_t	4	-	Always 0 (Legacy)

Notes: Superseded by MSP2_INAV_SERVO_CONFIG which has a cleaner structure.

MSP_NAV_STATUS (121 / 0x79)

Description: Retrieves the current status of the navigation system.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
navMode	uint8_t	1	NAV_MODE_*	Enum (NAV_MODE_*): Current navigation mode (None, RTH, WP, Hold, etc.) (NAV_Status.mode)
navState	uint8_t	1	NAV_STATE_*	Enum (NAV_STATE_*): Current navigation state (NAV_Status.state)
activeWpAction	uint8_t	1	navWaypointActions_e	Enum (navWaypointActions_e): Action of the currently executing waypoint (NAV_Status.activeWpAction)
activeWpNumber	uint8_t	1	-	Index: Index of the currently executing waypoint (NAV_Status.activeWpNumber)
navError	uint8_t	1	NAV_ERROR_*	Enum (NAV_ERROR_*): Current navigation error code (NAV_Status.error)
targetHeading	int16_t	2	-	degrees: Target heading for heading controller (getHeadingHoldTarget())

Notes: Requires USE_GPS.

MSP_NAV_CONFIG (122 / 0x7a)

Request Payload: None

Reply Payload: None

MSP_3D (124 / 0x7c)

Description: Retrieves settings related to 3D/reversible motor operation.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
deadbandLow	uint16_t	2	PWM	Lower deadband limit for 3D mode (reversibleMotorsConfig()->deadband_low)
deadbandHigh	uint16_t	2	PWM	Upper deadband limit for 3D mode (reversibleMotorsConfig()->deadband_high)
neutral	uint16_t	2	PWM	Neutral throttle point for 3D mode (reversibleMotorsConfig()->neutral)

Notes: Requires reversible motor support.

MSP_RC_DEADBAND (125 / 0x7d)

Description: Retrieves RC input deadband settings.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
deadband	uint8_t	1	PWM	General RC deadband for Roll/Pitch (rcControlsConfig()->deadband)
yawDeadband	uint8_t	1	PWM	Specific deadband for Yaw (rcControlsConfig()->yaw_deadband)
altHoldDeadband	uint8_t	1	PWM	Deadband for altitude hold adjustments (rcControlsConfig()->alt_hold_deadband)
throttleDeadband	uint16_t	2	PWM	Deadband around throttle mid-stick (rcControlsConfig()->mid_throttle_deadband)

MSP_SENSOR_ALIGNMENT (126 / 0x7e)

Description: Retrieves sensor alignment settings (legacy format).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroAlign	uint8_t	1	-	Always 0 (Legacy alignment enum)
accAlign	uint8_t	1	-	Always 0 (Legacy alignment enum)
magAlign	uint8_t	1	-	Magnetometer alignment (compassConfig()->mag_align). 0 if USE_MAG disabled
opflowAlign	uint8_t	1	-	Optical flow alignment (opticalFlowConfig()->opflow_align). 0 if USE_OPFLOW disabled

Notes: Board alignment is now typically handled by MSP_BOARD_ALIGNMENT. This returns legacy enum values where applicable.

MSP_LED_STRIP_MODECOLOR (127 / 0x7f)

Description: Retrieves the color index assigned to each LED mode and function/direction combination, including special colors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
modeIndex	uint8_t	1	ledModeIndex_e	Index of the LED mode Enum (ledModeIndex_e). LED_MODE_COUNT for special colors
directionOrSpecialIndex	uint8_t	1	ledDirection_e	Index of the direction Enum (ledDirection_e) or special color (ledSpecialColor_e)
colorIndex	uint8_t	1	-	Index of the color assigned from `ledStripConfig()->colors

Notes: Only available if USE_LED_STRIP is defined. Allows mapping modes/directions/specials to configured colors.

MSP_BATTERY_STATE (130 / 0x82)

Description: Provides battery state information, formatted primarily for DJI FPV Goggles compatibility.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
cellCount	uint8_t	1	Count	Number of battery cells (getBatteryCellCount())
capacity	uint16_t	2	mAh	Battery capacity (currentBatteryProfile->capacity.value)
vbatScaled	uint8_t	1	0.1V	Battery voltage / 10 (getBatteryVoltage() / 10)
mAhDrawn	uint16_t	2	mAh	Consumed capacity (getMAhDrawn())
amperage	int16_t	2	0.01A	Current draw (getAmperage())
batteryState	uint8_t	1	batteryState_e	Enum batteryState_e Current battery state (getBatteryState(), see BATTERY_STATE_*)
vbatActual	uint16_t	2	0.01V	Actual battery voltage (getBatteryVoltage())

Notes: Only available if USE_DJI_HD_OSD or USE_MSP_DISPLAYPORT is defined. Some values are duplicated from MSP_ANALOG / MSP2_INAV_ANALOG but potentially with different scaling/types.

MSP_VTXTABLE_BAND (137 / 0x89)

Description: Retrieves information about a specific VTX band from the VTX table. (Implementation missing in provided fc_msp.c)

Request Payload: None

Reply Payload: None

Notes: The ID is defined, but no handler exists in the provided C code. Likely intended to query band names and frequencies.

MSP_VTXTABLE_POWERLEVEL (138 / 0x8a)

Description: Retrieves information about a specific VTX power level from the VTX table.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
powerLevelIndex	uint8_t	1	-	1-based index of the power level to query

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
powerLevelIndex	uint8_t	1	-	1-based index of the returned power level
powerValue	uint16_t	2	-	Always 0 (Actual power value in mW is not stored/returned via MSP)
labelLength	uint8_t	1	-	Length of the power level label string that follows
label	char[]	-	-	Power level label string (e.g., "25", "200"). Length given by previous field

Notes: Requires USE_VTX_CONTROL. Returns error if index is out of bounds. The powerValue field is unused.

MSP_STATUS_EX (150 / 0x96)

Description: Provides extended flight controller status, including CPU load, arming flags, and calibration status, in addition to MSP_STATUS fields.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
cycleTime	uint16_t	2	µs	Main loop cycle time
i2cErrors	uint16_t	2	Count	I2C errors
sensorStatus	uint16_t	2	Bitmask	Sensor status bitmask
activeModesLow	uint32_t	4	Bitmask	First 32 active modes
profile	uint8_t	1	Index	Current config profile index
cpuLoad	uint16_t	2	%	Average system load percentage (averageSystemLoadPercent)
armingFlags	uint16_t	2	Bitmask	Flight controller arming flags (armingFlags). Note: Truncated to 16 bits
accCalibAxisFlags	uint8_t	1	Bitmask	Accelerometer calibrated axes flags (accGetCalibrationAxisFlags())

Notes: Superseded by MSP2_INAV_STATUS which provides the full 32-bit armingFlags and other enhancements.

MSP_SENSOR_STATUS (151 / 0x97)

Description: Provides the hardware status for each individual sensor system.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
overallHealth	uint8_t	1	Boolean	1 if all essential hardware is healthy, 0 otherwise (isHardwareHealthy())
gyroStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Gyro hardware status (getHwGyroStatus())
accStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Accelerometer hardware status (getHwAccelerometerStatus())
magStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Compass hardware status (getHwCompassStatus())
baroStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Barometer hardware status (getHwBarometerStatus())
gpsStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e GPS hardware status (getHwGPSStatus())
rangefinderStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Rangefinder hardware status (getHwRangefinderStatus())
pitotStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Pitot hardware status (getHwPitotmeterStatus())
opflowStatus	uint8_t	1	hardwareSensorStatus_e	Enum hardwareSensorStatus_e Optical Flow hardware status (getHwOpticalFlowStatus())

Notes: Status values likely correspond to SENSOR_STATUS_* enums (e.g., OK, Unhealthy, Not Present).

MSP_UID (160 / 0xa0)

Description: Provides the unique identifier of the microcontroller.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
uid0	uint32_t	4	-	First 32 bits of the unique ID (U_ID_0)
uid1	uint32_t	4	-	Middle 32 bits of the unique ID (U_ID_1)
uid2	uint32_t	4	-	Last 32 bits of the unique ID (U_ID_2)

Notes: Total 12 bytes, representing a 96-bit unique ID.

MSP_GPSSVINFO (164 / 0xa4)

Description: Provides satellite signal strength information (legacy U-Blox compatibility stub).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
protocolVersion	uint8_t	1	-	Always 1 (Stub version)
numChannels	uint8_t	1	-	Always 0 (Number of SV info channels reported)
hdopHundreds	uint8_t	1	-	HDOP / 100 (gpsSol.hdop / 100)
hdopUnits	uint8_t	1	-	HDOP / 100 (gpsSol.hdop / 100)

Notes: Requires USE_GPS. This is just a stub in INAV and does not provide actual per-satellite signal info. hdopUnits duplicates hdopHundreds.

MSP_GPSSTATISTICS (166 / 0xa6)

Description: Provides debugging statistics for the GPS communication link.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
lastMessageDt	uint16_t	2	ms	Time since last valid GPS message (gpsStats.lastMessageDt)
errors	uint32_t	4	Count	Number of GPS communication errors (gpsStats.errors)
timeouts	uint32_t	4	Count	Number of GPS communication timeouts (gpsStats.timeouts)
packetCount	uint32_t	4	Count	Number of valid GPS packets received (gpsStats.packetCount)
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)

Notes: Requires USE_GPS.

MSP_OSD_VIDEO_CONFIG (180 / 0xb4)

Request Payload: None

Reply Payload: None

MSP_SET_OSD_VIDEO_CONFIG (181 / 0xb5)

Request Payload: None

Reply Payload: None

MSP_DISPLAYPORT (182 / 0xb6)

Request Payload: None

Reply Payload: None

MSP_SET_TX_INFO (186 / 0xba)

Description: Allows a transmitter LUA script (or similar) to send runtime information (currently only RSSI) to the firmware.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rssi	uint8_t	1	%	RSSI value (0-100) provided by the external source

Reply Payload: None

Notes: Calls setRSSIFromMSP(). Expects 1 byte.

MSP_TX_INFO (187 / 0xbb)

Description: Provides information potentially useful for transmitter LUA scripts.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rssiSource	uint8_t	1	getRSSISource()	Enum: Source of the RSSI value (getRSSISource())
rtcDateTimeIsSet	uint8_t	1	-	Boolean: 1 if the RTC has been set, 0 otherwise

Notes: See rssiSource_e.

MSP_SET_RAW_RC (200 / 0xc8)

Description: Provides raw RC channel data to the flight controller, typically used when the receiver is connected via MSP (e.g., MSP RX feature).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rcChannels	uint16_t[]	-	PWM	Array of RC channel values (typically 1000-2000). Number of channels determined by payload size

Reply Payload: None

Notes: Requires USE_RX_MSP. Maximum channels MAX_SUPPORTED_RC_CHANNEL_COUNT. Calls rxMspFrameReceive().

MSP_SET_RAW_GPS (201 / 0xc9)

Description: Provides raw GPS data to the flight controller, typically for simulation or external GPS injection.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
fixType	uint8_t	1	gpsFixType_e	Enum gpsFixType_e GPS fix type
numSat	uint8_t	1	Count	Number of satellites
latitude	int32_t	4	deg * 1e7	Latitude
longitude	int32_t	4	deg * 1e7	Longitude
altitude	int16_t	2	meters	Altitude (converted to cm internally)
speed	uint16_t	2	cm/s	Ground speed
groundCourse	uint16_t	2	???	Ground course (units unclear from code, likely degrees or deci-degrees, ignored in current code)

Reply Payload: None

Notes: Requires USE_GPS. Expects 14 bytes. Updates gpsSol structure and calls onNewGPSData(). Note the altitude unit mismatch (meters in MSP, cm internal). Does not provide velocity components.

MSP_SET_BOX (203 / 0xcb)

Description: Sets the state of flight modes (boxes). (Likely unused/obsolete in INAV).

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Mode changes are typically handled via RC channels (MSP_MODE_RANGES).

MSP_SET_RC_TUNING (204 / 0xcc)

Description: Sets RC tuning parameters (rates, expos, TPA) for the current control rate profile.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
legacyRcRate	uint8_t	1	-	Ignored
rcExpo	uint8_t	1	-	Sets `currentControlRateProfile->stabilized.rcExpo8
rollRate	uint8_t	1	-	Sets currentControlRateProfile->stabilized.rates[FD_ROLL] (constrained)
pitchRate	uint8_t	1	-	Sets currentControlRateProfile->stabilized.rates[FD_PITCH] (constrained)
yawRate	uint8_t	1	-	Sets currentControlRateProfile->stabilized.rates[FD_YAW] (constrained)
dynamicThrottlePID	uint8_t	1	-	Sets currentControlRateProfile->throttle.dynPID (constrained)
throttleMid	uint8_t	1	-	Sets `currentControlRateProfile->throttle.rcMid8
throttleExpo	uint8_t	1	-	Sets `currentControlRateProfile->throttle.rcExpo8
tpaBreakpoint	uint16_t	2	-	Sets `currentControlRateProfile->throttle.pa_breakpoint
rcYawExpo	uint8_t	1	-	(Optional) Sets `currentControlRateProfile->stabilized.rcYawExpo8

Reply Payload: None

Notes: Expects 10 or 11 bytes. Calls schedulePidGainsUpdate(). Superseded by MSP2_INAV_SET_RATE_PROFILE.

MSP_ACC_CALIBRATION (205 / 0xcd)

Description: Starts the accelerometer calibration procedure.

Request Payload: None

Reply Payload: None

Notes: Will fail if armed. Calls accStartCalibration().

MSP_MAG_CALIBRATION (206 / 0xce)

Description: Starts the magnetometer calibration procedure.

Request Payload: None

Reply Payload: None

Notes: Will fail if armed. Enables the CALIBRATE_MAG state flag.

MSP_SET_MISC (207 / 0xcf)

Description: Sets miscellaneous configuration settings (legacy formats/scaling).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
midRc	uint16_t	2	PWM	Ignored
legacyMinThrottle	uint16_t	2	-	Ignored
legacyMaxThrottle	uint16_t	2	-	Ignored
minCommand	uint16_t	2	PWM	Sets motorConfigMutable()->mincommand (constrained 0-PWM_RANGE_MAX)
failsafeThrottle	uint16_t	2	PWM	Sets currentBatteryProfileMutable->failsafe_throttle (constrained PWM_RANGE_MIN/MAX)
gpsType	uint8_t	1	gpsProvider_e	Enum gpsProvider_e (Sets gpsConfigMutable()->provider)
legacyGpsBaud	uint8_t	1	-	Ignored
gpsSbasMode	uint8_t	1	sbasMode_e	Enum sbasMode_e (Sets gpsConfigMutable()->sbasMode)
legacyMwCurrentOut	uint8_t	1	-	Ignored
rssiChannel	uint8_t	1	Index	Sets rxConfigMutable()->rssi_channel (constrained 0-MAX_SUPPORTED_RC_CHANNEL_COUNT). Updates source
reserved1	uint8_t	1	-	Ignored
magDeclination	uint16_t	2	0.1 degrees	Sets compassConfigMutable()->mag_declination = value * 10 (if USE_MAG)
vbatScale	uint8_t	1	Scale / 10	Sets batteryMetersConfigMutable()->voltage.scale = value * 10 (if USE_ADC)
vbatMinCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellMin = value * 10 (if USE_ADC)
vbatMaxCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellMax = value * 10 (if USE_ADC)
vbatWarningCell	uint8_t	1	0.1V	Sets currentBatteryProfileMutable->voltage.cellWarning = value * 10 (if USE_ADC)

Reply Payload: None

Notes: Expects 22 bytes. Superseded by MSP2_INAV_SET_MISC.

MSP_RESET_CONF (208 / 0xd0)

Description: Resets all configuration settings to their default values and saves to EEPROM.

Request Payload: None

Reply Payload: None

Notes: Will fail if armed. Suspends RX, calls resetEEPROM(), writeEEPROM(), readEEPROM(), resumes RX. Use with caution!

MSP_SET_WP (209 / 0xd1)

Description: Sets a single waypoint in the mission plan.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
waypointIndex	uint8_t	1	Index	Index of the waypoint to set (0 to NAV_MAX_WAYPOINTS - 1)
action	uint8_t	1	navWaypointActions_e	Enum navWaypointActions_e Waypoint action type
latitude	int32_t	4	deg * 1e7	Latitude coordinate
longitude	int32_t	4	deg * 1e7	Longitude coordinate
altitude	int32_t	4	cm	Altitude coordinate
param1	uint16_t	2	Varies	Parameter 1
param2	uint16_t	2	Varies	Parameter 2
param3	uint16_t	2	Varies	Parameter 3
flag	uint8_t	1	Bitmask	Waypoint flags

Reply Payload: None

Notes: Expects 21 bytes. Calls setWaypoint(). If USE_FW_AUTOLAND is enabled, this also interacts with autoland approach settings based on waypoint index and flags.

MSP_SELECT_SETTING (210 / 0xd2)

Description: Selects the active configuration profile and saves it.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
profileIndex	uint8_t	1	-	Index of the profile to activate (0-based)

Reply Payload: None

Notes: Will fail if armed. Calls setConfigProfileAndWriteEEPROM().

MSP_SET_HEAD (211 / 0xd3)

Description: Sets the target heading for the heading hold controller (e.g., during MAG mode).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
heading	int16_t	2	degrees	Target heading (0-359)

Reply Payload: None

Notes: Expects 2 bytes. Calls updateHeadingHoldTarget().

MSP_SET_SERVO_CONFIGURATION (212 / 0xd4)

Description: Sets the configuration for a single servo (legacy format).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
servoIndex	uint8_t	1	Index	Index of the servo to configure (0 to MAX_SUPPORTED_SERVOS - 1)
min	uint16_t	2	PWM	Minimum servo endpoint
max	uint16_t	2	PWM	Maximum servo endpoint
middle	uint16_t	2	PWM	Middle/Neutral servo position
rate	uint8_t	1	%	Servo rate/scaling
reserved1	uint8_t	1	-	Ignored
reserved2	uint8_t	1	-	Ignored
legacyForwardChan	uint8_t	1	-	Ignored
legacyReversedSources	uint32_t	4	-	Ignored

Reply Payload: None

Notes: Expects 15 bytes. Returns error if index is invalid. Calls servoComputeScalingFactors(). Superseded by MSP2_INAV_SET_SERVO_CONFIG.

MSP_SET_MOTOR (214 / 0xd6)

Description: Sets the disarmed motor values, typically used for motor testing or propeller balancing functions in a configurator.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
motorValues	uint16_t[8]	16	PWM	Array of motor values to set when disarmed. Only affects first `MAX_SUPPORTED_MOTORS

Reply Payload: None

Notes: Expects 16 bytes. Modifies the motor_disarmed array. These values are not saved persistently.

MSP_SET_NAV_CONFIG (215 / 0xd7)

Request Payload: None

Reply Payload: None

MSP_SET_3D (217 / 0xd9)

Description: Sets parameters related to 3D/reversible motor operation.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
deadbandLow	uint16_t	2	PWM	Sets `reversibleMotorsConfigMutable()->deadband_low
deadbandHigh	uint16_t	2	PWM	Sets `reversibleMotorsConfigMutable()->deadband_high
neutral	uint16_t	2	PWM	Sets `reversibleMotorsConfigMutable()->neutral

Reply Payload: None

Notes: Expects 6 bytes. Requires reversible motor support.

MSP_SET_RC_DEADBAND (218 / 0xda)

Description: Sets RC input deadband values.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
deadband	uint8_t	1	PWM	Sets `rcControlsConfigMutable()->deadband
yawDeadband	uint8_t	1	PWM	Sets `rcControlsConfigMutable()->yaw_deadband
altHoldDeadband	uint8_t	1	PWM	Sets `rcControlsConfigMutable()->alt_hold_deadband
throttleDeadband	uint16_t	2	PWM	Sets `rcControlsConfigMutable()->mid_throttle_deadband

Reply Payload: None

Notes: Expects 5 bytes.

MSP_SET_RESET_CURR_PID (219 / 0xdb)

Description: Resets the PIDs of the current profile to their default values. Does not save.

Request Payload: None

Reply Payload: None

Notes: Calls PG_RESET_CURRENT(pidProfile). To save, follow with MSP_EEPROM_WRITE.

MSP_SET_SENSOR_ALIGNMENT (220 / 0xdc)

Description: Sets sensor alignment (legacy format).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
gyroAlign	uint8_t	1	-	Ignored
accAlign	uint8_t	1	-	Ignored
magAlign	uint8_t	1	-	Sets compassConfigMutable()->mag_align (if USE_MAG)
opflowAlign	uint8_t	1	-	Sets opticalFlowConfigMutable()->opflow_align (if USE_OPFLOW)

Reply Payload: None

Notes: Expects 4 bytes. Use MSP_SET_BOARD_ALIGNMENT for primary board orientation.

MSP_SET_LED_STRIP_MODECOLOR (221 / 0xdd)

Description: Sets the color index for a specific LED mode/function combination.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
modeIndex	uint8_t	1	-	Index of the LED mode (ledModeIndex_e or LED_MODE_COUNT for special)
directionOrSpecialIndex	uint8_t	1	-	Index of the direction or special color
colorIndex	uint8_t	1	-	Index of the color to assign from `ledStripConfig()->colors

Reply Payload: None

Notes: Only available if USE_LED_STRIP is defined. Expects 3 bytes. Returns error if setting fails (invalid index).

MSP_SET_ACC_TRIM (239 / 0xef)

Description: Sets the accelerometer trim values (leveling calibration).

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Use MSP_ACC_CALIBRATION.

MSP_ACC_TRIM (240 / 0xf0)

Description: Gets the accelerometer trim values.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c. Calibration data via MSP_CALIBRATION_DATA.

MSP_SERVO_MIX_RULES (241 / 0xf1)

Description: Retrieves the custom servo mixer rules (legacy format).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
targetChannel	uint8_t	1	Index	Servo output channel index (0-based)
inputSource	uint8_t	1	inputSource_e	Enum inputSource_e Input source for the mix (RC chan, Roll, Pitch...)
rate	uint16_t	2	% * 100?	Mixing rate/weight. Needs scaling check
speed	uint8_t	1	0-100	Speed/Slew rate limit
reserved1	uint8_t	1	-	Always 0
legacyMax	uint8_t	1	-	Always 100 (Legacy)
legacyBox	uint8_t	1	-	Always 0 (Legacy)

Notes: Superseded by MSP2_INAV_SERVO_MIXER.

MSP_SET_SERVO_MIX_RULE (242 / 0xf2)

Description: Sets a single custom servo mixer rule (legacy format).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
ruleIndex	uint8_t	1	Index	Index of the rule to set (0 to MAX_SERVO_RULES - 1)
targetChannel	uint8_t	1	Index	Servo output channel index
inputSource	uint8_t	1	inputSource_e	Enum inputSource_e Input source for the mix
rate	uint16_t	2	% * 100?	Mixing rate/weight
speed	uint8_t	1	0-100	Speed/Slew rate limit
legacyMinMax	uint16_t	2	-	Ignored
legacyBox	uint8_t	1	-	Ignored

Reply Payload: None

Notes: Expects 9 bytes. Returns error if index invalid. Calls loadCustomServoMixer(). Superseded by MSP2_INAV_SET_SERVO_MIXER.

MSP_SET_PASSTHROUGH (245 / 0xf5)

Description: Enables serial passthrough mode to peripherals like ESCs (BLHeli 4-way) or other serial devices.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
status	uint8_t	1	-	1 if passthrough started successfully, 0 on error (e.g., port not found). For 4way, returns number of ESCs found

Notes: If successful, sets mspPostProcessFn to the appropriate handler (mspSerialPassthroughFn or esc4wayProcess). This handler takes over the serial port after the reply is sent. Requires USE_SERIAL_4WAY_BLHELI_INTERFACE for ESC passthrough.

MSP_RTC (246 / 0xf6)

Description: Retrieves the current Real-Time Clock time.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
seconds	int32_t	4	Seconds	Seconds since epoch (or relative time if not set). 0 if RTC time unknown
millis	uint16_t	2	Milliseconds	Millisecond part of the time. 0 if RTC time unknown

Notes: Requires RTC hardware/support. Returns (0, 0) if time is not available/set.

MSP_SET_RTC (247 / 0xf7)

Description: Sets the Real-Time Clock time.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
seconds	int32_t	4	Seconds	Seconds component of time to set
millis	uint16_t	2	Milliseconds	Millisecond component of time to set

Reply Payload: None

Notes: Requires RTC hardware/support. Expects 6 bytes. Uses rtcSet().

MSP_EEPROM_WRITE (250 / 0xfa)

Description: Saves the current configuration from RAM to non-volatile memory (EEPROM/Flash).

Request Payload: None

Reply Payload: None

Notes: Will fail if armed. Suspends RX, calls writeEEPROM(), readEEPROM(), resumes RX.

MSP_RESERVE_1 (251 / 0xfb)

Request Payload: None

Reply Payload: None

MSP_RESERVE_2 (252 / 0xfc)

Request Payload: None

Reply Payload: None

MSP_DEBUGMSG (253 / 0xfd)

Description: Retrieves debug ("serial printf") messages from the firmware.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
Message Text	char[]	-	-	NUL` terminated debug message text

MSP_DEBUG (254 / 0xfe)

Description: Retrieves values from the firmware's debug[] array (legacy 16-bit version).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
debugValues	uint16_t[4]	8	-	First 4 values from the debug array

Notes: Useful for developers. See MSP2_INAV_DEBUG for 32-bit values.

MSP_V2_FRAME (255 / 0xff)

Description: This ID is used as a payload indicator within an MSPv1 message structure ($M>) to signify that the following payload conforms to the MSPv2 format. It's not a command itself.

Request Payload: None

Reply Payload: None

Notes: See MSPv2 documentation for the actual frame structure that follows this indicator.

MSP2_COMMON_TZ (4097 / 0x1001)

Description: Gets the time zone offset configuration.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
tzOffsetMinutes	int16_t	2	Minutes	Time zone offset from UTC (timeConfig()->tz_offset)
tzAutoDst	uint8_t	1	Boolean	Automatic daylight saving time enabled (timeConfig()->tz_automatic_dst)

MSP2_COMMON_SET_TZ (4098 / 0x1002)

Description: Sets the time zone offset configuration.

Variant: dataSize == 2

Description: dataSize == 2

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
tz_offset	int16_t	2	minutes	Timezone offset from UTC.

Reply Payload: None

Variant: dataSize == 3

Description: dataSize == 3

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
tz_offset	int16_t	2	minutes	Timezone offset from UTC.
tz_automatic_dst	uint8_t	1	bool	Automatic DST enable (0/1).

Reply Payload: None

Notes: Accepts 2 or 3 bytes.

MSP2_COMMON_SETTING (4099 / 0x1003)

Description: Gets the value of a specific configuration setting, identified by name or index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
settingName	char[]	-	-	Null-terminated string containing the setting name (e.g., "gyro_main_lpf_hz")

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
settingValue	uint8_t[]	-	-	Raw byte value of the setting. Size depends on the setting's type (settingGetValueSize())

Notes: Returns error if setting not found. Use MSP2_COMMON_SETTING_INFO to discover settings, types, and sizes.

MSP2_COMMON_SET_SETTING (4100 / 0x1004)

Temporary definition

• Direction: In
• Description: Sets the value of a specific configuration setting, identified by name or index.
• Payload:

  Field	C Type	Size (Bytes)	Description
  settingIdentifier	Varies	Variable	Setting name (null-terminated string) OR Index (0x00 followed by uint16_t index)
  settingValue	uint8_t[]	Variable	Raw byte value to set for the setting. Size must match the setting's type

• Notes: Performs type checking and range validation (min/max). Returns error if setting not found, value size mismatch, or value out of range. Handles different data types (uint8, int16, float, string, etc.) internally.

MSP2_COMMON_MOTOR_MIXER (4101 / 0x1005)

Description: Retrieves the current motor mixer configuration (throttle, roll, pitch, yaw weights for each motor) for the primary and secondary mixer profiles.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
throttleWeight	uint16_t	2	Scaled (0-4000)	Throttle weight * 1000, offset by 2000. (Range -2.0 to +2.0 -> 0 to 4000)
rollWeight	uint16_t	2	Scaled (0-4000)	Roll weight * 1000, offset by 2000
pitchWeight	uint16_t	2	Scaled (0-4000)	Pitch weight * 1000, offset by 2000
yawWeight	uint16_t	2	Scaled (0-4000)	Yaw weight * 1000, offset by 2000
throttleWeight	uint16_t	2	(Optional) Scaled (0-4000)	Profile 2 Throttle weight
rollWeight	uint16_t	2	(Optional) Scaled (0-4000)	Profile 2 Roll weight
pitchWeight	uint16_t	2	(Optional) Scaled (0-4000)	Profile 2 Pitch weight
yawWeight	uint16_t	2	(Optional) Scaled (0-4000)	Profile 2 Yaw weight

Notes: Scaling is (float_weight + 2.0) * 1000. primaryMotorMixer() provides the data.

MSP2_COMMON_SET_MOTOR_MIXER (4102 / 0x1006)

Description: Sets the motor mixer weights for a single motor in the primary mixer profile.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
motorIndex	uint8_t	1	Index	Index of the motor to configure (0 to MAX_SUPPORTED_MOTORS - 1)
throttleWeight	uint16_t	2	Scaled (0-4000)	Sets throttle weight from `(value / 1000.0) - 2.0
rollWeight	uint16_t	2	Scaled (0-4000)	Sets roll weight from `(value / 1000.0) - 2.0
pitchWeight	uint16_t	2	Scaled (0-4000)	Sets pitch weight from `(value / 1000.0) - 2.0
yawWeight	uint16_t	2	Scaled (0-4000)	Sets yaw weight from `(value / 1000.0) - 2.0

Reply Payload: None

Notes: Expects 9 bytes. Modifies primaryMotorMixerMutable(). Returns error if index is invalid.

MSP2_COMMON_SETTING_INFO (4103 / 0x1007)

Description: Gets detailed information about a specific configuration setting (name, type, range, flags, current value, etc.).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
settingName	char[]	-	-	Null-terminated setting name
pgn	uint16_t	2	-	Parameter Group Number (PGN) ID
type	uint8_t	1	-	Variable type (VAR_UINT8, VAR_FLOAT, etc.)
section	uint8_t	1	-	Setting section (MASTER_VALUE, PROFILE_VALUE, etc.)
mode	uint8_t	1	-	Setting mode (MODE_NORMAL, MODE_LOOKUP, etc.)
minValue	int32_t	4	-	Minimum allowed value (as signed 32-bit)
maxValue	uint32_t	4	-	Maximum allowed value (as unsigned 32-bit)
settingIndex	uint16_t	2	-	Absolute index of the setting
profileIndex	uint8_t	1	-	Current profile index (if applicable, else 0)
profileCount	uint8_t	1	-	Total number of profiles (if applicable, else 0)
lookupNames	char[]	-	-	(If mode == MODE_LOOKUP) Series of null-terminated strings for each possible value from min to max
settingValue	uint8_t[]	-	-	Current raw byte value of the setting

MSP2_COMMON_PG_LIST (4104 / 0x1008)

Description: Gets a list of Parameter Group Numbers (PGNs) used by settings, along with the start and end setting indexes for each group. Can request info for a single PGN.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
pgn	uint16_t	2	-	(Optional) PGN ID to query. If omitted, returns all used PGNs

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
pgn	uint16_t	2	-	Parameter Group Number (PGN) ID
startIndex	uint16_t	2	-	Absolute index of the first setting in this group
endIndex	uint16_t	2	-	Absolute index of the last setting in this group

Notes: Allows efficient fetching of related settings by group.

MSP2_COMMON_SERIAL_CONFIG (4105 / 0x1009)

Description: Retrieves the configuration for all available serial ports.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
identifier	uint8_t	1	serialPortIdentifier_e	Port identifier Enum (serialPortIdentifier_e)
functionMask	uint32_t	4	-	Bitmask of enabled functions (FUNCTION_*)
mspBaudIndex	uint8_t	1	-	Baud rate index for MSP function
gpsBaudIndex	uint8_t	1	-	Baud rate index for GPS function
telemetryBaudIndex	uint8_t	1	-	Baud rate index for Telemetry function
peripheralBaudIndex	uint8_t	1	-	Baud rate index for other peripheral functions

Notes: Baud rate indexes map to actual baud rates (e.g., 9600, 115200). See baudRates array.

MSP2_COMMON_SET_SERIAL_CONFIG (4106 / 0x100a)

Description: Sets the configuration for one or more serial ports.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
identifier	uint8_t	1	serialPortIdentifier_e	Port identifier Enum (serialPortIdentifier_e)
functionMask	uint32_t	4	-	Bitmask of functions to enable
mspBaudIndex	uint8_t	1	-	Baud rate index for MSP
gpsBaudIndex	uint8_t	1	-	Baud rate index for GPS
telemetryBaudIndex	uint8_t	1	-	Baud rate index for Telemetry
peripheralBaudIndex	uint8_t	1	-	Baud rate index for peripherals

Reply Payload: None

Notes: Payload size must be a multiple of the size of one port config entry (1 + 4 + 4 = 9 bytes). Returns error if identifier is invalid or size is incorrect. Baud rate indexes are constrained BAUD_MIN to BAUD_MAX.

MSP2_COMMON_SET_RADAR_POS (4107 / 0x100b)

Description: Sets the position and status information for a "radar" Point of Interest (POI). Used for displaying other craft/objects on the OSD map.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
poiIndex	uint8_t	1	Index	Index of the POI slot (0 to RADAR_MAX_POIS - 1)
state	uint8_t	1	ENUM_NAME	Status of the POI (0=undefined, 1=armed, 2=lost)
latitude	int32_t	4	deg * 1e7	Latitude of the POI
longitude	int32_t	4	deg * 1e7	Longitude of the POI
altitude	int32_t	4	cm	Altitude of the POI
heading	int16_t	2	degrees	Heading of the POI
speed	uint16_t	2	cm/s	Speed of the POI
linkQuality	uint8_t	1	0-4	Link quality indicator

Reply Payload: None

Notes: Expects 19 bytes. Updates the radar_pois array.

MSP2_COMMON_SET_RADAR_ITD (4108 / 0x100c)

Description: Sets radar information to display (likely internal/unused).

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

MSP2_COMMON_SET_MSP_RC_LINK_STATS (4109 / 0x100d)

Description: Provides RC link statistics (RSSI, LQ) to the FC, typically from an MSP-based RC link (like ExpressLRS). Sent periodically by the RC link.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
sublinkID	uint8_t	1	-	Sublink identifier (usually 0)
validLink	uint8_t	1	Boolean	Indicates if the link is currently valid (not in failsafe)
rssiPercent	uint8_t	1	%	Uplink RSSI percentage (0-100)
uplinkRSSI_dBm	uint8_t	1	-dBm	Uplink RSSI in dBm (sent as positive, e.g., 70 means -70dBm)
downlinkLQ	uint8_t	1	%	Downlink Link Quality (0-100)
uplinkLQ	uint8_t	1	%	Uplink Link Quality (0-100)
uplinkSNR	int8_t	1	dB	Uplink Signal-to-Noise Ratio

Reply Payload: None

Notes: Requires USE_RX_MSP. Expects at least 7 bytes. Updates rxLinkStatistics and sets RSSI via setRSSIFromMSP_RC() only if sublinkID is 0. This message expects no reply (MSP_RESULT_NO_REPLY).

MSP2_COMMON_SET_MSP_RC_INFO (4110 / 0x100e)

Description: Provides additional RC link information (power levels, band, mode) to the FC from an MSP-based RC link. Sent less frequently than link stats.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
sublinkID	uint8_t	1	-	Sublink identifier (usually 0)
uplinkTxPower	uint16_t	2	mW?	Uplink transmitter power level
downlinkTxPower	uint16_t	2	mW?	Downlink transmitter power level
band	char[4]	4	-	Operating band string (e.g., "2G4", "900")
mode	char[6]	6	-	Operating mode/rate string (e.g., "100HZ", "F1000")

Reply Payload: None

Notes: Requires USE_RX_MSP. Expects at least 15 bytes. Updates rxLinkStatistics only if sublinkID is 0. Converts band/mode strings to uppercase. This message expects no reply (MSP_RESULT_NO_REPLY).

MSP2_COMMON_GET_RADAR_GPS (4111 / 0x100f)

Request Payload: None

Reply Payload: None

MSP2_SENSOR_RANGEFINDER (7937 / 0x1f01)

Description: Provides rangefinder data (distance, quality) from an external MSP-based sensor.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
quality	uint8_t	1	0-255	Quality of the measurement
distanceMm	int32_t	4	mm	Measured distance. Negative value indicates out of range

Reply Payload: None

Notes: Requires USE_RANGEFINDER_MSP. Calls mspRangefinderReceiveNewData().

MSP2_SENSOR_OPTIC_FLOW (7938 / 0x1f02)

Description: Provides optical flow data (motion, quality) from an external MSP-based sensor.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
quality	uint8_t	1	-	Quality of the measurement (0-255)
motionX	int32_t	4	-	Raw integrated flow value X
motionY	int32_t	4	-	Raw integrated flow value Y

Reply Payload: None

Notes: Requires USE_OPFLOW_MSP. Calls mspOpflowReceiveNewData().

MSP2_SENSOR_GPS (7939 / 0x1f03)

Description: Provides detailed GPS data from an external MSP-based GPS module.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
instance	uint8_t	1	-	Sensor instance number (for multi-GPS)
gpsWeek	uint16_t	2	-	GPS week number (0xFFFF if unavailable)
msTOW	uint32_t	4	ms	Milliseconds Time of Week
fixType	uint8_t	1	gpsFixType_e	Enum gpsFixType_e Type of GPS fix
satellitesInView	uint8_t	1	Count	Number of satellites used in solution
hPosAccuracy	uint16_t	2	cm	Horizontal position accuracy estimate
vPosAccuracy	uint16_t	2	cm	Vertical position accuracy estimate
hVelAccuracy	uint16_t	2	cm/s	Horizontal velocity accuracy estimate
hdop	uint16_t	2	HDOP * 100	Horizontal Dilution of Precision
longitude	int32_t	4	deg * 1e7	Longitude
latitude	int32_t	4	deg * 1e7	Latitude
mslAltitude	int32_t	4	cm	Altitude above Mean Sea Level
nedVelNorth	int32_t	4	cm/s	North velocity (NED frame)
nedVelEast	int32_t	4	cm/s	East velocity (NED frame)
nedVelDown	int32_t	4	cm/s	Down velocity (NED frame)
groundCourse	uint16_t	2	deg * 100	Ground course (0-36000)
trueYaw	uint16_t	2	deg * 100	True heading/yaw (0-36000, 65535 if unavailable)
year	uint16_t	2	-	Year (e.g., 2023)
month	uint8_t	1	-	Month (1-12)
day	uint8_t	1	-	Day of month (1-31)
hour	uint8_t	1	-	Hour (0-23)
min	uint8_t	1	-	Minute (0-59)
sec	uint8_t	1	-	Second (0-59)

Reply Payload: None

Notes: Requires USE_GPS_PROTO_MSP. Calls mspGPSReceiveNewData().

MSP2_SENSOR_COMPASS (7940 / 0x1f04)

Description: Provides magnetometer data from an external MSP-based compass module.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
instance	uint8_t	1	-	Sensor instance number
timeMs	uint32_t	4	ms	Timestamp from the sensor
magX	int16_t	2	mGauss	Front component reading
magY	int16_t	2	mGauss	Right component reading
magZ	int16_t	2	mGauss	Down component reading

Reply Payload: None

Notes: Requires USE_MAG_MSP. Calls mspMagReceiveNewData().

MSP2_SENSOR_BAROMETER (7941 / 0x1f05)

Description: Provides barometer data from an external MSP-based barometer module.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
instance	uint8_t	1	-	Sensor instance number
timeMs	uint32_t	4	ms	Timestamp from the sensor
pressurePa	float	4	Pa	Absolute pressure
temp	int16_t	2	0.01 deg C	Temperature

Reply Payload: None

Notes: Requires USE_BARO_MSP. Calls mspBaroReceiveNewData().

MSP2_SENSOR_AIRSPEED (7942 / 0x1f06)

Description: Provides airspeed data from an external MSP-based pitot sensor module.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
instance	uint8_t	1	-	Sensor instance number
timeMs	uint32_t	4	ms	Timestamp from the sensor
diffPressurePa	float	4	Pa	Differential pressure
temp	int16_t	2	0.01 deg C	Temperature

Reply Payload: None

Notes: Requires USE_PITOT_MSP. Calls mspPitotmeterReceiveNewData().

MSP2_SENSOR_HEADTRACKER (7943 / 0x1f07)

Temporary definition

• Description: Provides head tracker orientation data.
• Payload: (Structure not defined in provided headers, but likely Roll, Pitch, Yaw angles)

  Field	C Type	Size (Bytes)	Units	Description
  ...	Varies	Variable	Head tracker angles (e.g., int16 Roll, Pitch, Yaw in deci-degrees)

• Notes: Requires USE_HEADTRACKER and USE_HEADTRACKER_MSP. Calls mspHeadTrackerReceiverNewData(). Payload structure needs verification from mspHeadTrackerReceiverNewData implementation.

MSP2_INAV_STATUS (8192 / 0x2000)

Description: Provides comprehensive flight controller status, extending MSP_STATUS_EX with full arming flags, battery profile, and mixer profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
cycleTime	uint16_t	2	µs	Main loop cycle time
i2cErrors	uint16_t	2	Count	I2C errors
sensorStatus	uint16_t	2	Bitmask	Sensor status bitmask
cpuLoad	uint16_t	2	%	Average system load percentage
profileAndBattProfile	uint8_t	1	Packed	Bits 0-3: Config profile index (getConfigProfile()), Bits 4-7: Battery profile index (getConfigBatteryProfile())
armingFlags	uint32_t	4	Bitmask	Full 32-bit flight controller arming flags (armingFlags)
activeModes	boxBitmask_t	-	Bitmask	Full bitmask of active flight modes (packBoxModeFlags())
mixerProfile	uint8_t	1	Index	Current mixer profile index (getConfigMixerProfile())

MSP2_INAV_OPTICAL_FLOW (8193 / 0x2001)

Description: Provides data from the optical flow sensor.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
quality	uint8_t	1	0-255	Raw quality indicator from the sensor (opflow.rawQuality). 0 if USE_OPFLOW disabled
flowRateX	int16_t	2	degrees/s	Optical flow rate X (roll axis) (RADIANS_TO_DEGREES(opflow.flowRate[X])). 0 if USE_OPFLOW disabled
flowRateY	int16_t	2	degrees/s	Optical flow rate Y (pitch axis) (RADIANS_TO_DEGREES(opflow.flowRate[Y])). 0 if USE_OPFLOW disabled
bodyRateX	int16_t	2	degrees/s	Compensated body rate X (roll axis) (RADIANS_TO_DEGREES(opflow.bodyRate[X])). 0 if USE_OPFLOW disabled
bodyRateY	int16_t	2	degrees/s	Compensated body rate Y (pitch axis) (RADIANS_TO_DEGREES(opflow.bodyRate[Y])). 0 if USE_OPFLOW disabled

Notes: Requires USE_OPFLOW.

MSP2_INAV_ANALOG (8194 / 0x2002)

Description: Provides detailed analog sensor readings, superseding MSP_ANALOG with higher precision and additional fields.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
batteryFlags	uint8_t	1	getBatteryState()	Battery status flags: Bit 0=Full on plug-in, Bit 1=Use capacity threshold, Bit 2-3=Battery State enum (getBatteryState()), Bit 4-7=Cell Count (getBatteryCellCount())
vbat	uint16_t	2	0.01V	Battery voltage (getBatteryVoltage())
amperage	uint16_t	2	0.01A	Current draw (getAmperage())
powerDraw	uint32_t	4	mW	Power draw (getPower())
mAhDrawn	uint32_t	4	mAh	Consumed capacity (getMAhDrawn())
mWhDrawn	uint32_t	4	mWh	Consumed energy (getMWhDrawn())
remainingCapacity	uint32_t	4	mAh/mWh	Estimated remaining capacity (getBatteryRemainingCapacity())
percentageRemaining	uint8_t	1	%	Estimated remaining capacity percentage (calculateBatteryPercentage())
rssi	uint16_t	2	0-1023 or %	RSSI value (getRSSI())

MSP2_INAV_MISC (8195 / 0x2003)

Description: Retrieves miscellaneous configuration settings, superseding MSP_MISC with higher precision and capacity fields.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
midRc	uint16_t	2	PWM	Mid RC value (PWM_RANGE_MIDDLE)
legacyMinThrottle	uint16_t	2	-	Always 0 (Legacy)
maxThrottle	uint16_t	2	PWM	Maximum throttle command (getMaxThrottle())
minCommand	uint16_t	2	PWM	Minimum motor command (motorConfig()->mincommand)
failsafeThrottle	uint16_t	2	PWM	Failsafe throttle level (currentBatteryProfile->failsafe_throttle)
gpsType	uint8_t	1	gpsProvider_e	Enum gpsProvider_e GPS provider type (gpsConfig()->provider). 0 if USE_GPS disabled
legacyGpsBaud	uint8_t	1	-	Always 0 (Legacy)
gpsSbasMode	uint8_t	1	sbasMode_e	Enum sbasMode_e GPS SBAS mode (gpsConfig()->sbasMode). 0 if USE_GPS disabled
rssiChannel	uint8_t	1	Index	RSSI channel index (1-based) (rxConfig()->rssi_channel)
magDeclination	uint16_t	2	0.1 degrees	Magnetic declination / 10 (compassConfig()->mag_declination / 10). 0 if USE_MAG disabled
vbatScale	uint16_t	2	Scale	Voltage scale (batteryMetersConfig()->voltage.scale). 0 if USE_ADC disabled
vbatSource	uint8_t	1	batVoltageSource_e	Enum batVoltageSource_e Voltage source (batteryMetersConfig()->voltageSource). 0 if USE_ADC disabled
cellCount	uint8_t	1	Count	Configured cell count (currentBatteryProfile->cells). 0 if USE_ADC disabled
vbatCellDetect	uint16_t	2	0.01V	Cell detection voltage (currentBatteryProfile->voltage.cellDetect). 0 if USE_ADC disabled
vbatMinCell	uint16_t	2	0.01V	Min cell voltage (currentBatteryProfile->voltage.cellMin). 0 if USE_ADC disabled
vbatMaxCell	uint16_t	2	0.01V	Max cell voltage (currentBatteryProfile->voltage.cellMax). 0 if USE_ADC disabled
vbatWarningCell	uint16_t	2	0.01V	Warning cell voltage (currentBatteryProfile->voltage.cellWarning). 0 if USE_ADC disabled
capacityValue	uint32_t	4	mAh/mWh	Battery capacity (currentBatteryProfile->capacity.value)
capacityWarning	uint32_t	4	mAh/mWh	Capacity warning threshold (currentBatteryProfile->capacity.warning)
capacityCritical	uint32_t	4	mAh/mWh	Capacity critical threshold (currentBatteryProfile->capacity.critical)
capacityUnit	uint8_t	1	batCapacityUnit_e	Enum batCapacityUnit_e Capacity unit ('batteryMetersConfig()->capacity_unit')

MSP2_INAV_SET_MISC (8196 / 0x2004)

Description: Sets miscellaneous configuration settings, superseding MSP_SET_MISC.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
midRc	uint16_t	2	PWM	Ignored
legacyMinThrottle	uint16_t	2	-	Ignored
legacyMaxThrottle	uint16_t	2	-	Ignored
minCommand	uint16_t	2	PWM	Sets motorConfigMutable()->mincommand (constrained)
failsafeThrottle	uint16_t	2	PWM	Sets currentBatteryProfileMutable->failsafe_throttle (constrained)
gpsType	uint8_t	1	gpsProvider_e	Enum gpsProvider_e Sets gpsConfigMutable()->provider (if USE_GPS)
legacyGpsBaud	uint8_t	1	-	Ignored
gpsSbasMode	uint8_t	1	sbasMode_e	Enum sbasMode_e Sets gpsConfigMutable()->sbasMode (if USE_GPS)
rssiChannel	uint8_t	1	Index	Sets rxConfigMutable()->rssi_channel (constrained). Updates source
magDeclination	uint16_t	2	0.1 degrees	Sets compassConfigMutable()->mag_declination = value * 10 (if USE_MAG)
vbatScale	uint16_t	2	Scale	Sets batteryMetersConfigMutable()->voltage.scale (if USE_ADC)
vbatSource	uint8_t	1	batVoltageSource_e	Enum batVoltageSource_e Sets batteryMetersConfigMutable()->voltageSource (if USE_ADC, validated)
cellCount	uint8_t	1	Count	Sets currentBatteryProfileMutable->cells (if USE_ADC)
vbatCellDetect	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellDetect (if USE_ADC)
vbatMinCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellMin (if USE_ADC)
vbatMaxCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellMax (if USE_ADC)
vbatWarningCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellWarning (if USE_ADC)
capacityValue	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.value
capacityWarning	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.warning
capacityCritical	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.critical
capacityUnit	uint8_t	1	batCapacityUnit_e	Enum batCapacityUnit_e sets Capacity unit ('batteryMetersConfig()->capacity_unit'). Updates OSD energy unit if changed

Reply Payload: None

Notes: Expects 41 bytes. Performs validation on vbatSource and capacityUnit.

MSP2_INAV_BATTERY_CONFIG (8197 / 0x2005)

Description: Retrieves the configuration specific to the battery voltage and current sensors and capacity settings for the current battery profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
vbatScale	uint16_t	2	Scale	Voltage scale (batteryMetersConfig()->voltage.scale)
vbatSource	uint8_t	1	batVoltageSource_e	Enum batVoltageSource_e Voltage source (batteryMetersConfig()->voltageSource)
cellCount	uint8_t	1	Count	Configured cell count (currentBatteryProfile->cells)
vbatCellDetect	uint16_t	2	0.01V	Cell detection voltage (currentBatteryProfile->voltage.cellDetect)
vbatMinCell	uint16_t	2	0.01V	Min cell voltage (currentBatteryProfile->voltage.cellMin)
vbatMaxCell	uint16_t	2	0.01V	Max cell voltage (currentBatteryProfile->voltage.cellMax)
vbatWarningCell	uint16_t	2	0.01V	Warning cell voltage (currentBatteryProfile->voltage.cellWarning)
currentOffset	uint16_t	2	mV	Current sensor offset (batteryMetersConfig()->current.offset)
currentScale	uint16_t	2	Scale	Current sensor scale (batteryMetersConfig()->current.scale)
capacityValue	uint32_t	4	mAh/mWh	Battery capacity (currentBatteryProfile->capacity.value)
capacityWarning	uint32_t	4	mAh/mWh	Capacity warning threshold (currentBatteryProfile->capacity.warning)
capacityCritical	uint32_t	4	mAh/mWh	Capacity critical threshold (currentBatteryProfile->capacity.critical)
capacityUnit	uint8_t	1	batCapacityUnit_e	Enum batCapacityUnit_e Capacity unit ('batteryMetersConfig()->capacity_unit')

Notes: Fields are 0 if USE_ADC is not defined.

MSP2_INAV_SET_BATTERY_CONFIG (8198 / 0x2006)

Description: Sets the battery voltage/current sensor configuration and capacity settings for the current battery profile.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
vbatScale	uint16_t	2	Scale	Sets batteryMetersConfigMutable()->voltage.scale (if USE_ADC)
vbatSource	uint8_t	1	batVoltageSource_e	Enum batVoltageSource_e Sets batteryMetersConfigMutable()->voltageSource (if USE_ADC, validated)
cellCount	uint8_t	1	Count	Sets currentBatteryProfileMutable->cells (if USE_ADC)
vbatCellDetect	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellDetect (if USE_ADC)
vbatMinCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellMin (if USE_ADC)
vbatMaxCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellMax (if USE_ADC)
vbatWarningCell	uint16_t	2	0.01V	Sets currentBatteryProfileMutable->voltage.cellWarning (if USE_ADC)
currentOffset	uint16_t	2	mV	Sets `batteryMetersConfigMutable()->current.offset
currentScale	uint16_t	2	Scale	Sets `batteryMetersConfigMutable()->current.scale
capacityValue	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.value
capacityWarning	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.warning
capacityCritical	uint32_t	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.critical
capacityUnit	uint8_t	1	batCapacityUnit_e	Enum batCapacityUnit_e sets Capacity unit ('batteryMetersConfig()->capacity_unit') Updates OSD energy unit if changed

Reply Payload: None

Notes: Expects 29 bytes. Performs validation on vbatSource and capacityUnit.

MSP2_INAV_RATE_PROFILE (8199 / 0x2007)

Description: Retrieves the rates and expos for the current control rate profile, including both stabilized and manual flight modes. Supersedes MSP_RC_TUNING.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
throttleMid	uint8_t	1	-	Throttle Midpoint (currentControlRateProfile->throttle.rcMid8)
throttleExpo	uint8_t	1	-	Throttle Expo (currentControlRateProfile->throttle.rcExpo8)
dynamicThrottlePID	uint8_t	1	-	TPA value (currentControlRateProfile->throttle.dynPID)
tpaBreakpoint	uint16_t	2	-	TPA breakpoint (currentControlRateProfile->throttle.pa_breakpoint)
stabRcExpo	uint8_t	1	-	Stabilized Roll/Pitch Expo (currentControlRateProfile->stabilized.rcExpo8)
stabRcYawExpo	uint8_t	1	-	Stabilized Yaw Expo (currentControlRateProfile->stabilized.rcYawExpo8)
stabRollRate	uint8_t	1	-	Stabilized Roll Rate (currentControlRateProfile->stabilized.rates[FD_ROLL])
stabPitchRate	uint8_t	1	-	Stabilized Pitch Rate (currentControlRateProfile->stabilized.rates[FD_PITCH])
stabYawRate	uint8_t	1	-	Stabilized Yaw Rate (currentControlRateProfile->stabilized.rates[FD_YAW])
manualRcExpo	uint8_t	1	-	Manual Roll/Pitch Expo (currentControlRateProfile->manual.rcExpo8)
manualRcYawExpo	uint8_t	1	-	Manual Yaw Expo (currentControlRateProfile->manual.rcYawExpo8)
manualRollRate	uint8_t	1	-	Manual Roll Rate (currentControlRateProfile->manual.rates[FD_ROLL])
manualPitchRate	uint8_t	1	-	Manual Pitch Rate (currentControlRateProfile->manual.rates[FD_PITCH])
manualYawRate	uint8_t	1	-	Manual Yaw Rate (currentControlRateProfile->manual.rates[FD_YAW])

MSP2_INAV_SET_RATE_PROFILE (8200 / 0x2008)

Description: Sets the rates and expos for the current control rate profile (stabilized and manual). Supersedes MSP_SET_RC_TUNING.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
throttleMid	uint8_t	1	-	Sets `currentControlRateProfile_p->throttle.rcMid8
throttleExpo	uint8_t	1	-	Sets `currentControlRateProfile_p->throttle.rcExpo8
dynamicThrottlePID	uint8_t	1	-	Sets `currentControlRateProfile_p->throttle.dynPID
tpaBreakpoint	uint16_t	2	-	Sets `currentControlRateProfile_p->throttle.pa_breakpoint
stabRcExpo	uint8_t	1	-	Sets `currentControlRateProfile_p->stabilized.rcExpo8
stabRcYawExpo	uint8_t	1	-	Sets `currentControlRateProfile_p->stabilized.rcYawExpo8
stabRollRate	uint8_t	1	-	Sets currentControlRateProfile_p->stabilized.rates[FD_ROLL] (constrained)
stabPitchRate	uint8_t	1	-	Sets currentControlRateProfile_p->stabilized.rates[FD_PITCH] (constrained)
stabYawRate	uint8_t	1	-	Sets currentControlRateProfile_p->stabilized.rates[FD_YAW] (constrained)
manualRcExpo	uint8_t	1	-	Sets `currentControlRateProfile_p->manual.rcExpo8
manualRcYawExpo	uint8_t	1	-	Sets `currentControlRateProfile_p->manual.rcYawExpo8
manualRollRate	uint8_t	1	-	Sets currentControlRateProfile_p->manual.rates[FD_ROLL] (constrained)
manualPitchRate	uint8_t	1	-	Sets currentControlRateProfile_p->manual.rates[FD_PITCH] (constrained)
manualYawRate	uint8_t	1	-	Sets currentControlRateProfile_p->manual.rates[FD_YAW] (constrained)

Reply Payload: None

Notes: Expects 15 bytes. Constraints applied to rates based on axis.

MSP2_INAV_AIR_SPEED (8201 / 0x2009)

Description: Retrieves the estimated or measured airspeed.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
airspeed	uint32_t	4	cm/s	Estimated/measured airspeed (getAirspeedEstimate()). 0 if USE_PITOT disabled or no valid data

Notes: Requires USE_PITOT for measured airspeed. May return GPS ground speed if pitot unavailable but GPS is present and configured.

MSP2_INAV_OUTPUT_MAPPING (8202 / 0x200a)

Description: Retrieves the output mapping configuration (identifies which timer outputs are used for Motors/Servos). Legacy version sending only 8-bit usage flags.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
usageFlags	uint8_t	1	-	Timer usage flags (truncated). TIM_USE_MOTOR or `TIM_USE_SERVO

Notes: Superseded by MSP2_INAV_OUTPUT_MAPPING_EXT2. Only includes timers not used for PPM/PWM input.

MSP2_INAV_MC_BRAKING (8203 / 0x200b)

Description: Retrieves configuration parameters for the multirotor braking mode feature.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
brakingSpeedThreshold	uint16_t	2	cm/s	Speed above which braking engages (navConfig()->mc.braking_speed_threshold)
brakingDisengageSpeed	uint16_t	2	cm/s	Speed below which braking disengages (navConfig()->mc.braking_disengage_speed)
brakingTimeout	uint16_t	2	ms	Timeout before braking force reduces (navConfig()->mc.braking_timeout)
brakingBoostFactor	uint8_t	1	%	Boost factor applied during braking (navConfig()->mc.braking_boost_factor)
brakingBoostTimeout	uint16_t	2	ms	Timeout for the boost factor (navConfig()->mc.braking_boost_timeout)
brakingBoostSpeedThreshold	uint16_t	2	cm/s	Speed threshold for boost engagement (navConfig()->mc.braking_boost_speed_threshold)
brakingBoostDisengageSpeed	uint16_t	2	cm/s	Speed threshold for boost disengagement (navConfig()->mc.braking_boost_disengage_speed)
brakingBankAngle	uint8_t	1	degrees	Maximum bank angle allowed during braking (navConfig()->mc.braking_bank_angle)

Notes: Payload is empty if USE_MR_BRAKING_MODE is not defined.

MSP2_INAV_SET_MC_BRAKING (8204 / 0x200c)

Description: Sets configuration parameters for the multirotor braking mode feature.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
brakingSpeedThreshold	uint16_t	2	cm/s	Sets `navConfigMutable()->mc.braking_speed_threshold
brakingDisengageSpeed	uint16_t	2	cm/s	Sets `navConfigMutable()->mc.braking_disengage_speed
brakingTimeout	uint16_t	2	ms	Sets `navConfigMutable()->mc.braking_timeout
brakingBoostFactor	uint8_t	1	%	Sets `navConfigMutable()->mc.braking_boost_factor
brakingBoostTimeout	uint16_t	2	ms	Sets `navConfigMutable()->mc.braking_boost_timeout
brakingBoostSpeedThreshold	uint16_t	2	cm/s	Sets `navConfigMutable()->mc.braking_boost_speed_threshold
brakingBoostDisengageSpeed	uint16_t	2	cm/s	Sets `navConfigMutable()->mc.braking_boost_disengage_speed
brakingBankAngle	uint8_t	1	degrees	Sets `navConfigMutable()->mc.braking_bank_angle

Reply Payload: None

Notes: Expects 14 bytes. Returns error if USE_MR_BRAKING_MODE is not defined.

MSP2_INAV_OUTPUT_MAPPING_EXT (8205 / 0x200d)

Description: Retrieves extended output mapping configuration (timer ID and usage flags). Obsolete, use MSP2_INAV_OUTPUT_MAPPING_EXT2.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
timerId	uint8_t	1	-	Hardware timer identifier (e.g., TIM1, TIM2). Value depends on target
usageFlags	uint8_t	1	-	Timer usage flags (truncated). TIM_USE_MOTOR or `TIM_USE_SERVO

Notes: Usage flags are truncated to 8 bits. timerId mapping is target-specific.

MSP2_INAV_TIMER_OUTPUT_MODE (8206 / 0x200e)

Description: Get or list the output mode override for hardware timers (e.g., force ONESHOT, DSHOT).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
timerIndex	uint8_t	1	-	Timer index
outputMode	uint8_t	1	TIMER_OUTPUT_MODE_*	Output mode override (TIMER_OUTPUT_MODE_* enum)

Notes: Only available on non-SITL builds. HARDWARE_TIMER_DEFINITION_COUNT varies by target.

MSP2_INAV_SET_TIMER_OUTPUT_MODE (8207 / 0x200f)

Description: Set the output mode override for a specific hardware timer.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
timerIndex	uint8_t	1	-	Index of the hardware timer definition
outputMode	uint8_t	1	TIMER_OUTPUT_MODE_*	Output mode override (TIMER_OUTPUT_MODE_* enum) to set

Reply Payload: None

Notes: Only available on non-SITL builds. Expects 2 bytes. Returns error if timerIndex is invalid.

MSP2_INAV_MIXER (8208 / 0x2010)

Description: Retrieves INAV-specific mixer configuration details.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
motorDirectionInverted	uint8_t	1	-	Boolean: 1 if motor direction is reversed globally (mixerConfig()->motorDirectionInverted)
reserved1	uint8_t	1	-	Always 0 (Was yaw jump prevention limit)
motorStopOnLow	uint8_t	1	-	Boolean: 1 if motors stop at minimum throttle (mixerConfig()->motorstopOnLow)
platformType	uint8_t	1	platformType_e	Enum (platformType_e): Vehicle platform type (Multirotor, Airplane, etc.) (mixerConfig()->platformType)
hasFlaps	uint8_t	1	-	Boolean: 1 if the current mixer configuration includes flaps (mixerConfig()->hasFlaps)
appliedMixerPreset	uint16_t	2	mixerPreset_e	Enum (mixerPreset_e): Mixer preset currently applied (mixerConfig()->appliedMixerPreset)
maxMotors	uint8_t	1	-	Constant: Maximum motors supported (MAX_SUPPORTED_MOTORS)
maxServos	uint8_t	1	-	Constant: Maximum servos supported (MAX_SUPPORTED_SERVOS)

MSP2_INAV_SET_MIXER (8209 / 0x2011)

Description: Sets INAV-specific mixer configuration details.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
motorDirectionInverted	uint8_t	1	-	Sets `mixerConfigMutable()->motorDirectionInverted
reserved1	uint8_t	1	-	Ignored
motorStopOnLow	uint8_t	1	-	Sets `mixerConfigMutable()->motorstopOnLow
platformType	uint8_t	1	-	Sets `mixerConfigMutable()->platformType
hasFlaps	uint8_t	1	-	Sets `mixerConfigMutable()->hasFlaps
appliedMixerPreset	uint16_t	2	-	Sets `mixerConfigMutable()->appliedMixerPreset
maxMotors	uint8_t	1	-	Ignored
maxServos	uint8_t	1	-	Ignored

Reply Payload: None

Notes: Expects 9 bytes. Calls mixerUpdateStateFlags().

MSP2_INAV_OSD_LAYOUTS (8210 / 0x2012)

Description: Gets OSD layout information (counts, positions for a specific layout, or position for a specific item).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
layoutCount	uint8_t	1	-	Number of OSD layouts (OSD_LAYOUT_COUNT)
itemCount	uint8_t	1	-	Number of OSD items per layout (OSD_ITEM_COUNT)

Notes: Requires USE_OSD. Returns error if indexes are invalid.

MSP2_INAV_OSD_SET_LAYOUT_ITEM (8211 / 0x2013)

Description: Sets the position of a single OSD item within a specific layout.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
layoutIndex	uint8_t	1	Index	Index of the OSD layout (0 to OSD_LAYOUT_COUNT - 1)
itemIndex	uint8_t	1	OSD_ITEM_*	Index of the OSD item (OSD_ITEM_* enum)
itemPosition	uint16_t	2	Coordinates	Packed X/Y position (`(Y << 8)

Reply Payload: None

Notes: Requires USE_OSD. Expects 4 bytes. Returns error if indexes are invalid. If the modified layout is not the currently active one, it temporarily overrides the active layout for 10 seconds to show the change. Otherwise, triggers a full OSD redraw.

MSP2_INAV_OSD_ALARMS (8212 / 0x2014)

Description: Retrieves OSD alarm threshold settings.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
rssiAlarm	uint8_t	1	%	RSSI alarm threshold (osdConfig()->rssi_alarm)
timerAlarm	uint16_t	2	seconds	Timer alarm threshold (osdConfig()->time_alarm)
altAlarm	uint16_t	2	meters	Altitude alarm threshold (osdConfig()->alt_alarm)
distAlarm	uint16_t	2	meters	Distance alarm threshold (osdConfig()->dist_alarm)
negAltAlarm	uint16_t	2	meters	Negative altitude alarm threshold (osdConfig()->neg_alt_alarm)
gForceAlarm	uint16_t	2	G * 1000	G-force alarm threshold (osdConfig()->gforce_alarm * 1000)
gForceAxisMinAlarm	int16_t	2	G * 1000	Min G-force per-axis alarm (osdConfig()->gforce_axis_alarm_min * 1000)
gForceAxisMaxAlarm	int16_t	2	G * 1000	Max G-force per-axis alarm (osdConfig()->gforce_axis_alarm_max * 1000)
currentAlarm	uint8_t	1	0.1 A ?	Current draw alarm threshold (osdConfig()->current_alarm). Units may need verification
imuTempMinAlarm	uint16_t	2	degrees C	Min IMU temperature alarm (osdConfig()->imu_temp_alarm_min)
imuTempMaxAlarm	uint16_t	2	degrees C	Max IMU temperature alarm (osdConfig()->imu_temp_alarm_max)
baroTempMinAlarm	uint16_t	2	degrees C	Min Baro temperature alarm (osdConfig()->baro_temp_alarm_min). 0 if USE_BARO disabled
baroTempMaxAlarm	uint16_t	2	degrees C	Max Baro temperature alarm (osdConfig()->baro_temp_alarm_max). 0 if USE_BARO disabled
adsbWarnDistance	uint16_t	2	meters	ADSB warning distance (osdConfig()->adsb_distance_warning). 0 if USE_ADSB disabled
adsbAlertDistance	uint16_t	2	meters	ADSB alert distance (osdConfig()->adsb_distance_alert). 0 if USE_ADSB disabled

Notes: Requires USE_OSD.

MSP2_INAV_OSD_SET_ALARMS (8213 / 0x2015)

Description: Sets OSD alarm threshold settings.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
rssiAlarm	uint8_t	1	%	Sets `osdConfigMutable()->rssi_alarm
timerAlarm	uint16_t	2	seconds	Sets `osdConfigMutable()->time_alarm
altAlarm	uint16_t	2	meters	Sets `osdConfigMutable()->alt_alarm
distAlarm	uint16_t	2	meters	Sets `osdConfigMutable()->dist_alarm
negAltAlarm	uint16_t	2	meters	Sets `osdConfigMutable()->neg_alt_alarm
gForceAlarm	uint16_t	2	G * 1000	Sets `osdConfigMutable()->gforce_alarm = value / 1000.0f
gForceAxisMinAlarm	int16_t	2	G * 1000	Sets `osdConfigMutable()->gforce_axis_alarm_min = value / 1000.0f
gForceAxisMaxAlarm	int16_t	2	G * 1000	Sets `osdConfigMutable()->gforce_axis_alarm_max = value / 1000.0f
currentAlarm	uint8_t	1	0.1 A ?	Sets `osdConfigMutable()->current_alarm
imuTempMinAlarm	uint16_t	2	degrees C	Sets `osdConfigMutable()->imu_temp_alarm_min
imuTempMaxAlarm	uint16_t	2	degrees C	Sets `osdConfigMutable()->imu_temp_alarm_max
baroTempMinAlarm	uint16_t	2	degrees C	Sets osdConfigMutable()->baro_temp_alarm_min (if USE_BARO)
baroTempMaxAlarm	uint16_t	2	degrees C	Sets osdConfigMutable()->baro_temp_alarm_max (if USE_BARO)

Reply Payload: None

Notes: Requires USE_OSD. Expects 24 bytes. ADSB alarms are not settable via this message.

MSP2_INAV_OSD_PREFERENCES (8214 / 0x2016)

Description: Retrieves OSD display preferences (video system, units, styles, etc.).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
videoSystem	uint8_t	1	osdConfig()->video_system	Enum: Video system (Auto/PAL/NTSC) (osdConfig()->video_system)
mainVoltageDecimals	uint8_t	1	-	Count: Decimal places for main voltage display (osdConfig()->main_voltage_decimals)
ahiReverseRoll	uint8_t	1	-	Boolean: Reverse roll direction on Artificial Horizon (osdConfig()->ahi_reverse_roll)
crosshairsStyle	uint8_t	1	osdConfig()->crosshairs_style	Enum: Style of the center crosshairs (osdConfig()->crosshairs_style)
leftSidebarScroll	uint8_t	1	-	Boolean: Enable scrolling for left sidebar (osdConfig()->left_sidebar_scroll)
rightSidebarScroll	uint8_t	1	-	Boolean: Enable scrolling for right sidebar (osdConfig()->right_sidebar_scroll)
sidebarScrollArrows	uint8_t	1	-	Boolean: Show arrows for scrollable sidebars (osdConfig()->sidebar_scroll_arrows)
units	uint8_t	1	osd_unit_e	Enum: osd_unit_e Measurement units (Metric/Imperial) (osdConfig()->units)
statsEnergyUnit	uint8_t	1	osdConfig()->stats_energy_unit	Enum: Unit for energy display in post-flight stats (osdConfig()->stats_energy_unit)

Notes: Requires USE_OSD.

MSP2_INAV_OSD_SET_PREFERENCES (8215 / 0x2017)

Description: Sets OSD display preferences.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
videoSystem	uint8_t	1	-	Sets `osdConfigMutable()->video_system
mainVoltageDecimals	uint8_t	1	-	Sets `osdConfigMutable()->main_voltage_decimals
ahiReverseRoll	uint8_t	1	-	Sets `osdConfigMutable()->ahi_reverse_roll
crosshairsStyle	uint8_t	1	-	Sets `osdConfigMutable()->crosshairs_style
leftSidebarScroll	uint8_t	1	-	Sets `osdConfigMutable()->left_sidebar_scroll
rightSidebarScroll	uint8_t	1	-	Sets `osdConfigMutable()->right_sidebar_scroll
sidebarScrollArrows	uint8_t	1	-	Sets `osdConfigMutable()->sidebar_scroll_arrows
units	uint8_t	1	osd_unit_e	Enum osd_unit_e Sets `osdConfigMutable()->units
statsEnergyUnit	uint8_t	1	-	Sets `osdConfigMutable()->stats_energy_unit

Reply Payload: None

Notes: Requires USE_OSD. Expects 9 bytes. Triggers a full OSD redraw.

MSP2_INAV_SELECT_BATTERY_PROFILE (8216 / 0x2018)

Description: Selects the active battery profile and saves configuration.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
batteryProfileIndex	uint8_t	1	-	Index of the battery profile to activate (0-based)

Reply Payload: None

Notes: Expects 1 byte. Will fail if armed. Calls setConfigBatteryProfileAndWriteEEPROM().

MSP2_INAV_DEBUG (8217 / 0x2019)

Description: Retrieves values from the firmware's 32-bit debug[] array. Supersedes MSP_DEBUG.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
debugValues	uint32_t[DEBUG32_VALUE_COUNT]	DEBUG32_VALUE_COUNT * 4	-	Values from the debug array (typically 8 values)

Notes: DEBUG32_VALUE_COUNT is usually 8.

MSP2_BLACKBOX_CONFIG (8218 / 0x201a)

Description: Retrieves the Blackbox configuration. Supersedes MSP_BLACKBOX_CONFIG.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
blackboxSupported	uint8_t	1	-	Boolean: 1 if Blackbox is supported (USE_BLACKBOX), 0 otherwise
blackboxDevice	uint8_t	1	blackboxDevice_e	Enum (blackboxDevice_e): Target device for logging (blackboxConfig()->device). 0 if not supported
blackboxRateNum	uint16_t	2	-	Numerator for logging rate divider (blackboxConfig()->rate_num). 0 if not supported
blackboxRateDenom	uint16_t	2	-	Denominator for logging rate divider (blackboxConfig()->rate_denom). 0 if not supported
blackboxIncludeFlags	uint32_t	4	-	Bitmask: Flags for fields included/excluded from logging (blackboxConfig()->includeFlags)

Notes: Requires USE_BLACKBOX.

MSP2_SET_BLACKBOX_CONFIG (8219 / 0x201b)

Description: Sets the Blackbox configuration. Supersedes MSP_SET_BLACKBOX_CONFIG.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
blackboxDevice	uint8_t	1	-	Sets `blackboxConfigMutable()->device
blackboxRateNum	uint16_t	2	-	Sets `blackboxConfigMutable()->rate_num
blackboxRateDenom	uint16_t	2	-	Sets `blackboxConfigMutable()->rate_denom
blackboxIncludeFlags	uint32_t	4	-	Sets `blackboxConfigMutable()->includeFlags

Reply Payload: None

Notes: Requires USE_BLACKBOX. Expects 9 bytes. Returns error if Blackbox is currently logging (!blackboxMayEditConfig()).

MSP2_INAV_TEMP_SENSOR_CONFIG (8220 / 0x201c)

Description: Retrieves the configuration for all onboard temperature sensors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
type	uint8_t	1	tempSensorType_e	Enum (tempSensorType_e): Type of the temperature sensor
address	uint64_t	8	-	Sensor address/ID (e.g., for 1-Wire sensors)
alarmMin	uint16_t	2	-	Min temperature alarm threshold (degrees C)
alarmMax	uint16_t	2	-	Max temperature alarm threshold (degrees C)
osdSymbol	uint8_t	1	-	Index: OSD symbol to use for this sensor (0 to TEMP_SENSOR_SYM_COUNT)
label	char[TEMPERATURE_LABEL_LEN]	TEMPERATURE_LABEL_LEN	-	User-defined label for the sensor

Notes: Requires USE_TEMPERATURE_SENSOR.

MSP2_INAV_SET_TEMP_SENSOR_CONFIG (8221 / 0x201d)

Description: Sets the configuration for all onboard temperature sensors.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
type	uint8_t	1	-	Sets sensor type
address	uint64_t	8	-	Sets sensor address/ID
alarmMin	uint16_t	2	-	Sets min alarm threshold
alarmMax	uint16_t	2	-	Sets max alarm threshold
osdSymbol	uint8_t	1	-	Sets OSD symbol index (validated)
label	char[TEMPERATURE_LABEL_LEN]	TEMPERATURE_LABEL_LEN	-	Sets sensor label (converted to uppercase)

Reply Payload: None

Notes: Requires USE_TEMPERATURE_SENSOR. Expects MAX_TEMP_SENSORS * sizeof(tempSensorConfig_t) bytes.

MSP2_INAV_TEMPERATURES (8222 / 0x201e)

Description: Retrieves the current readings from all configured temperature sensors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
temperature	int16_t	2	degrees C	Current temperature reading. -1000 if sensor is invalid or reading failed

Notes: Requires USE_TEMPERATURE_SENSOR.

MSP_SIMULATOR (8223 / 0x201f)

Description: Handles Hardware-in-the-Loop (HITL) simulation data exchange. Receives simulated sensor data and options, sends back control outputs and debug info.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
simulatorVersion	uint8_t	1	-	Version of the simulator protocol (SIMULATOR_MSP_VERSION)
hitlFlags	uint8_t	1	-	Bitmask: Options for HITL (HITL_* flags)
gpsFixType	uint8_t	1	-	(If HITL_HAS_NEW_GPS_DATA) Simulated GPS fix type
gpsNumSat	uint8_t	1	-	(If HITL_HAS_NEW_GPS_DATA) Simulated satellite count
gpsLat	int32_t	4	-	(If HITL_HAS_NEW_GPS_DATA) Simulated latitude (1e7 deg)
gpsLon	int32_t	4	-	(If HITL_HAS_NEW_GPS_DATA) Simulated longitude (1e7 deg)
gpsAlt	int32_t	4	-	(If HITL_HAS_NEW_GPS_DATA) Simulated altitude (cm)
gpsSpeed	uint16_t	2	-	(If HITL_HAS_NEW_GPS_DATA) Simulated ground speed (cm/s)
gpsCourse	uint16_t	2	-	(If HITL_HAS_NEW_GPS_DATA) Simulated ground course (deci-deg)
gpsVelN	int16_t	2	-	(If HITL_HAS_NEW_GPS_DATA) Simulated North velocity (cm/s)
gpsVelE	int16_t	2	-	(If HITL_HAS_NEW_GPS_DATA) Simulated East velocity (cm/s)
gpsVelD	int16_t	2	-	(If HITL_HAS_NEW_GPS_DATA) Simulated Down velocity (cm/s)
imuRoll	int16_t	2	-	(If NOT HITL_USE_IMU) Simulated Roll (deci-deg)
imuPitch	int16_t	2	-	(If NOT HITL_USE_IMU) Simulated Pitch (deci-deg)
imuYaw	int16_t	2	-	(If NOT HITL_USE_IMU) Simulated Yaw (deci-deg)
accX	int16_t	2	-	mG (G * 1000)
accY	int16_t	2	-	mG (G * 1000)
accZ	int16_t	2	-	mG (G * 1000)
gyroX	int16_t	2	-	dps * 16
gyroY	int16_t	2	-	dps * 16
gyroZ	int16_t	2	-	dps * 16
baroPressure	uint32_t	4	-	Pa
magX	int16_t	2	-	Scaled
magY	int16_t	2	-	Scaled
magZ	int16_t	2	-	Scaled
vbat	uint8_t	1	-	(If HITL_EXT_BATTERY_VOLTAGE) Simulated battery voltage (0.1V units)
airspeed	uint16_t	2	-	(If HITL_AIRSPEED) Simulated airspeed (cm/s)
extFlags	uint8_t	1	-	(If HITL_EXTENDED_FLAGS) Additional flags (upper 8 bits)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
stabilizedRoll	uint16_t	2	-	Stabilized Roll command output (-500 to 500)
stabilizedPitch	uint16_t	2	-	Stabilized Pitch command output (-500 to 500)
stabilizedYaw	uint16_t	2	-	Stabilized Yaw command output (-500 to 500)
stabilizedThrottle	uint16_t	2	-	Stabilized Throttle command output (-500 to 500 if armed, else -500)
debugFlags	uint8_t	1	-	Packed flags: Debug index (0-7), Platform type, Armed state, OSD feature status
debugValue	uint32_t	4	-	Current debug value (debug[simulatorData.debugIndex])
attitudeRoll	int16_t	2	-	Current estimated Roll (deci-deg)
attitudePitch	int16_t	2	-	Current estimated Pitch (deci-deg)
attitudeYaw	int16_t	2	-	Current estimated Yaw (deci-deg)
osdHeader	uint8_t	1	-	OSD RLE Header (255)
osdRows	uint8_t	1	-	(If OSD supported) Number of OSD rows
osdCols	uint8_t	1	-	(If OSD supported) Number of OSD columns
osdStartY	uint8_t	1	-	(If OSD supported) Starting row for RLE data
osdStartX	uint8_t	1	-	(If OSD supported) Starting column for RLE data
osdRleData	uint8_t[]	-	-	(If OSD supported) Run-length encoded OSD character data. Terminated by `[0, 0]

Notes: Requires USE_SIMULATOR. Complex message handling state changes for enabling/disabling HITL. Sensor data is injected directly. OSD data is sent using a custom RLE scheme. See simulatorData struct and associated code for details.

MSP2_INAV_SERVO_MIXER (8224 / 0x2020)

Description: Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles. Supersedes MSP_SERVO_MIX_RULES.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
targetChannel	uint8_t	1	-	Servo output channel index (0-based)
inputSource	uint8_t	1	inputSource_e	Enum inputSource_e Input source
rate	uint16_t	2	-	Mixing rate/weight
speed	uint8_t	1	-	Speed/Slew rate limit (0-100)
conditionId	uint8_t	1	-	Logic Condition ID (0 to MAX_LOGIC_CONDITIONS - 1, or 255/-1 if none/disabled)
targetChannel	uint8_t	1	-	(Optional) Profile 2 Target channel
inputSource	uint8_t	1	inputSource_e	(Optional) Profile 2 Enum inputSource_e Input source
rate	uint16_t	2	-	(Optional) Profile 2 Rate
speed	uint8_t	1	-	(Optional) Profile 2 Speed
conditionId	uint8_t	1	-	(Optional) Profile 2 Logic Condition ID

Notes: conditionId requires USE_PROGRAMMING_FRAMEWORK.

MSP2_INAV_SET_SERVO_MIXER (8225 / 0x2021)

Description: Sets a single custom servo mixer rule, including programming framework condition ID. Supersedes MSP_SET_SERVO_MIX_RULE.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
ruleIndex	uint8_t	1	-	Index of the rule to set (0 to MAX_SERVO_RULES - 1)
targetChannel	uint8_t	1	-	Servo output channel index
inputSource	uint8_t	1	inputSource_e	Enum inputSource_e Input source
rate	uint16_t	2	-	Mixing rate/weight
speed	uint8_t	1	-	Speed/Slew rate limit (0-100)
conditionId	uint8_t	1	-	Logic Condition ID (255/-1 if none). Ignored if USE_PROGRAMMING_FRAMEWORK is disabled

Reply Payload: None

Notes: Expects 7 bytes. Returns error if index invalid. Calls loadCustomServoMixer().

MSP2_INAV_LOGIC_CONDITIONS (8226 / 0x2022)

Description: Retrieves the configuration of all defined Logic Conditions.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
enabled	uint8_t	1	-	Boolean: 1 if the condition is enabled
activatorId	uint8_t	1	-	ID of the activator condition (if any, 255 if none)
operation	uint8_t	1	logicConditionOp_e	Enum logicConditionOp_e Logical operation (AND, OR, XOR, etc.)
operandAType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e Type of the first operand (Flight Mode, GVAR, etc.)
operandAValue	uint32_t	4	-	Value/ID of the first operand
operandBType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e: Type of the second operand
operandBValue	uint32_t	4	-	Value/ID of the second operand
flags	uint8_t	1	-	Bitmask: Condition flags (e.g., LC_FLAG_FIRST_TIME_TRUE)

Notes: Requires USE_PROGRAMMING_FRAMEWORK. See logicCondition_t structure.

MSP2_INAV_SET_LOGIC_CONDITIONS (8227 / 0x2023)

Description: Sets the configuration for a single Logic Condition by its index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
conditionIndex	uint8_t	1	-	Index of the condition to set (0 to MAX_LOGIC_CONDITIONS - 1)
enabled	uint8_t	1	-	Boolean: 1 to enable the condition
activatorId	uint8_t	1	-	Activator condition ID
operation	uint8_t	1	logicConditionOp_e	Enum logicConditionOp_e Logical operation
operandAType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e Type of operand A
operandAValue	uint32_t	4	-	Value/ID of operand A
operandBType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e Type of operand B
operandBValue	uint32_t	4	-	Value/ID of operand B
flags	uint8_t	1	-	Bitmask: Condition flags

Reply Payload: None

Notes: Requires USE_PROGRAMMING_FRAMEWORK. Expects 15 bytes. Returns error if index is invalid.

MSP2_INAV_GLOBAL_FUNCTIONS (8228 / 0x2024)

Request Payload: None

Reply Payload: None

MSP2_INAV_SET_GLOBAL_FUNCTIONS (8229 / 0x2025)

Request Payload: None

Reply Payload: None

MSP2_INAV_LOGIC_CONDITIONS_STATUS (8230 / 0x2026)

Description: Retrieves the current evaluated status (true/false or numerical value) of all logic conditions.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
conditionValues	uint32_t[MAX_LOGIC_CONDITIONS]	MAX_LOGIC_CONDITIONS * 4	-	Array of current values for each logic condition (logicConditionGetValue(i)). 1 for true, 0 for false, or numerical value depending on operation

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

MSP2_INAV_GVAR_STATUS (8231 / 0x2027)

Description: Retrieves the current values of all Global Variables (GVARS).

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
gvarValues	uint32_t[MAX_GLOBAL_VARIABLES]	MAX_GLOBAL_VARIABLES * 4	-	Array of current values for each global variable (gvGet(i))

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

MSP2_INAV_PROGRAMMING_PID (8232 / 0x2028)

Description: Retrieves the configuration of all Programming PIDs.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
enabled	uint8_t	1	-	Boolean: 1 if the PID is enabled
setpointType	uint8_t	1	logicOperandType_e	Enum (logicOperandType_e) Type of the setpoint source
setpointValue	uint32_t	4	-	Value/ID of the setpoint source
measurementType	uint8_t	1	logicOperandType_e	Enum (logicOperandType_e) Type of the measurement source
measurementValue	uint32_t	4	-	Value/ID of the measurement source
gainP	uint16_t	2	-	Proportional gain
gainI	uint16_t	2	-	Integral gain
gainD	uint16_t	2	-	Derivative gain
gainFF	uint16_t	2	-	Feed-forward gain

Notes: Requires USE_PROGRAMMING_FRAMEWORK. See programmingPid_t structure.

MSP2_INAV_SET_PROGRAMMING_PID (8233 / 0x2029)

Description: Sets the configuration for a single Programming PID by its index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
pidIndex	uint8_t	1	-	Index of the Programming PID to set (0 to MAX_PROGRAMMING_PID_COUNT - 1)
enabled	uint8_t	1	-	Boolean: 1 to enable the PID
setpointType	uint8_t	1	logicOperandType_e	Enum (logicOperandType_e) Type of the setpoint source
setpointValue	uint32_t	4	-	Value/ID of the setpoint source
measurementType	uint8_t	1	logicOperandType_e	Enum (logicOperandType_e) Type of the measurement source
measurementValue	uint32_t	4	-	Value/ID of the measurement source
gainP	uint16_t	2	-	Proportional gain
gainI	uint16_t	2	-	Integral gain
gainD	uint16_t	2	-	Derivative gain
gainFF	uint16_t	2	-	Feed-forward gain

Reply Payload: None

Notes: Requires USE_PROGRAMMING_FRAMEWORK. Expects 20 bytes. Returns error if index is invalid.

MSP2_INAV_PROGRAMMING_PID_STATUS (8234 / 0x202a)

Description: Retrieves the current output value of all Programming PIDs.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
pidOutputs	uint32_t[MAX_PROGRAMMING_PID_COUNT]	MAX_PROGRAMMING_PID_COUNT * 4	-	Array of current output values for each Programming PID (programmingPidGetOutput(i))

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

MSP2_PID (8240 / 0x2030)

Description: Retrieves the standard PID controller gains (P, I, D, FF) for the current PID profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
P	uint8_t	1	-	Proportional gain (pidBank()->pid[i].P), constrained 0-255
I	uint8_t	1	-	Integral gain (pidBank()->pid[i].I), constrained 0-255
D	uint8_t	1	-	Derivative gain (pidBank()->pid[i].D), constrained 0-255
FF	uint8_t	1	-	Feed-forward gain (pidBank()->pid[i].FF), constrained 0-255

Notes: PID_ITEM_COUNT defines the number of standard PID controllers (Roll, Pitch, Yaw, Alt, Vel, etc.). Updates from EZ-Tune if enabled.

MSP2_SET_PID (8241 / 0x2031)

Description: Sets the standard PID controller gains (P, I, D, FF) for the current PID profile.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
P	uint8_t	1	-	Sets Proportional gain (pidBankMutable()->pid[i].P)
I	uint8_t	1	-	Sets Integral gain (pidBankMutable()->pid[i].I)
D	uint8_t	1	-	Sets Derivative gain (pidBankMutable()->pid[i].D)
FF	uint8_t	1	-	Sets Feed-forward gain (pidBankMutable()->pid[i].FF)

Reply Payload: None

Notes: Expects PID_ITEM_COUNT * 4 bytes. Calls schedulePidGainsUpdate() and navigationUsePIDs().

MSP2_INAV_OPFLOW_CALIBRATION (8242 / 0x2032)

Description: Starts the optical flow sensor calibration procedure.

Request Payload: None

Reply Payload: None

Notes: Requires USE_OPFLOW. Will fail if armed. Calls opflowStartCalibration().

MSP2_INAV_FWUPDT_PREPARE (8243 / 0x2033)

Description: Prepares the flight controller to receive a firmware update via MSP.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
firmwareSize	uint32_t	4	-	Total size of the incoming firmware file in bytes

Reply Payload: None

Notes: Requires MSP_FIRMWARE_UPDATE. Expects 4 bytes. Returns error if preparation fails (e.g., no storage, invalid size). Calls firmwareUpdatePrepare().

MSP2_INAV_FWUPDT_STORE (8244 / 0x2034)

Description: Stores a chunk of firmware data received via MSP.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
firmwareChunk	uint8_t[]	-	-	Chunk of firmware data

Reply Payload: None

Notes: Requires MSP_FIRMWARE_UPDATE. Returns error if storage fails (e.g., out of space, checksum error). Called repeatedly until the entire firmware is transferred. Calls firmwareUpdateStore().

MSP2_INAV_FWUPDT_EXEC (8245 / 0x2035)

Description: Executes the firmware update process (flashes the stored firmware and reboots).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
updateType	uint8_t	1	-	Type of update (e.g., full flash, specific section - currently ignored/unused)

Reply Payload: None

Notes: Requires MSP_FIRMWARE_UPDATE. Expects 1 byte. Returns error if update cannot start (e.g., not fully received). Calls firmwareUpdateExec(). If successful, the device will reboot into the new firmware.

MSP2_INAV_FWUPDT_ROLLBACK_PREPARE (8246 / 0x2036)

Description: Prepares the flight controller to perform a firmware rollback to the previously stored version.

Request Payload: None

Reply Payload: None

Notes: Requires MSP_FIRMWARE_UPDATE. Returns error if rollback preparation fails (e.g., no rollback image available). Calls firmwareUpdateRollbackPrepare().

MSP2_INAV_FWUPDT_ROLLBACK_EXEC (8247 / 0x2037)

Description: Executes the firmware rollback process (flashes the stored backup firmware and reboots).

Request Payload: None

Reply Payload: None

Notes: Requires MSP_FIRMWARE_UPDATE. Returns error if rollback cannot start. Calls firmwareUpdateRollbackExec(). If successful, the device will reboot into the backup firmware.

MSP2_INAV_SAFEHOME (8248 / 0x2038)

Description: Get or Set configuration for a specific Safe Home location.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
safehomeIndex	uint8_t	1	-	Index of the safe home location (0 to MAX_SAFE_HOMES - 1)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
safehomeIndex	uint8_t	1	-	Index requested
enabled	uint8_t	1	-	Boolean: 1 if this safe home is enabled
latitude	int32_t	4	-	Latitude (1e7 deg)
longitude	int32_t	4	-	Longitude (1e7 deg)

Notes: Requires USE_SAFE_HOME. Used by mspFcSafeHomeOutCommand. See MSP2_INAV_SET_SAFEHOME for setting.

MSP2_INAV_SET_SAFEHOME (8249 / 0x2039)

Description: Sets the configuration for a specific Safe Home location.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
safehomeIndex	uint8_t	1	-	Index of the safe home location (0 to MAX_SAFE_HOMES - 1)
enabled	uint8_t	1	-	Boolean: 1 to enable this safe home
latitude	int32_t	4	-	Latitude (1e7 deg)
longitude	int32_t	4	-	Longitude (1e7 deg)

Reply Payload: None

Notes: Requires USE_SAFE_HOME. Expects 10 bytes. Returns error if index invalid. Resets corresponding FW autoland approach if USE_FW_AUTOLAND is enabled.

MSP2_INAV_MISC2 (8250 / 0x203a)

Description: Retrieves miscellaneous runtime information including timers and throttle status.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
uptimeSeconds	uint32_t	4	Seconds	Time since boot (micros() / 1000000)
flightTimeSeconds	uint32_t	4	Seconds	Accumulated flight time (getFlightTime())
throttlePercent	uint8_t	1	%	Current throttle output percentage (getThrottlePercent(true))
autoThrottleFlag	uint8_t	1	Boolean	1 if navigation is controlling throttle, 0 otherwise (navigationIsControllingThrottle())

MSP2_INAV_LOGIC_CONDITIONS_SINGLE (8251 / 0x203b)

Description: Gets the configuration for a single Logic Condition by its index.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
conditionIndex	uint8_t	1	-	Index of the condition to retrieve (0 to MAX_LOGIC_CONDITIONS - 1)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
enabled	uint8_t	1	-	Boolean: 1 if enabled
activatorId	uint8_t	1	-	Activator ID
operation	uint8_t	1	logicConditionOp_e	Enum logicConditionOp_e Logical operation
operandAType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e Type of operand A
operandAValue	uint32_t	4	-	Value/ID of operand A
operandBType	uint8_t	1	logicOperandType_e	Enum logicOperandType_e Type of operand B
operandBValue	uint32_t	4	-	Value/ID of operand B
flags	uint8_t	1	-	Bitmask: Condition flags

Notes: Requires USE_PROGRAMMING_FRAMEWORK. Used by mspFcLogicConditionCommand.

MSP2_INAV_ESC_RPM (8256 / 0x2040)

Description: Retrieves the RPM reported by each ESC via telemetry.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
escRpm	uint32_t	4	RPM	RPM reported by the ESC

Notes: Requires USE_ESC_SENSOR. Payload size depends on the number of detected motors with telemetry.

MSP2_INAV_ESC_TELEM (8257 / 0x2041)

Description: Retrieves the full telemetry data structure reported by each ESC.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
motorCount	uint8_t	1	-	Number of motors reporting telemetry (getMotorCount())
escData	escSensorData_t[]	-	-	Array of escSensorData_t structures containing voltage, current, temp, RPM, errors etc. for each ESC

Notes: Requires USE_ESC_SENSOR. See escSensorData_t in sensors/esc_sensor.h for the exact structure fields.

MSP2_INAV_LED_STRIP_CONFIG_EX (8264 / 0x2048)

Description: Retrieves the full configuration for each LED on the strip using the ledConfig_t structure. Supersedes MSP_LED_STRIP_CONFIG.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
ledConfig	uint16_t	2	-	Full configuration structure for the LED, size sizeof(ledConfig_t)

Notes: Requires USE_LED_STRIP. See ledConfig_t in io/ledstrip.h for structure fields (position, function, overlay, color, direction, params).

MSP2_INAV_SET_LED_STRIP_CONFIG_EX (8265 / 0x2049)

Description: Sets the configuration for a single LED on the strip using the ledConfig_t structure. Supersedes MSP_SET_LED_STRIP_CONFIG.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
ledIndex	uint8_t	1	-	Index of the LED to configure (0 to LED_MAX_STRIP_LENGTH - 1)
ledConfig	uint16_t	2	-

Reply Payload: None

Notes: Requires USE_LED_STRIP. Expects 1 + sizeof(ledConfig_t) bytes. Returns error if index invalid. Calls reevaluateLedConfig().

MSP2_INAV_FW_APPROACH (8266 / 0x204a)

Description: Get or Set configuration for a specific Fixed Wing Autoland approach.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
approachIndex	uint8_t	1	-	Index of the approach setting (0 to MAX_FW_LAND_APPOACH_SETTINGS - 1)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
approachIndex	uint8_t	1	Index	Index requested
approachAlt	uint32_t	4	cm	Altitude for the approach phase
landAlt	uint32_t	4	cm	Altitude for the final landing phase
approachDirection	uint8_t	1	fwAutolandApproachDirection_e	Enum fwAutolandApproachDirection_e: Direction of approach (From WP, Specific Heading)
landHeading1	int16_t	2	degrees	Primary landing heading (if approachDirection requires it)
landHeading2	int16_t	2	degrees	Secondary landing heading (if approachDirection requires it)
isSeaLevelRef	uint8_t	1	Boolean	1 if altitudes are relative to sea level, 0 if relative to home

Notes: Requires USE_FW_AUTOLAND. Used by mspFwApproachOutCommand. See MSP2_INAV_SET_FW_APPROACH for setting.

MSP2_INAV_SET_FW_APPROACH (8267 / 0x204b)

Description: Sets the configuration for a specific Fixed Wing Autoland approach.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
approachIndex	uint8_t	1	Index	Index of the approach setting (0 to MAX_FW_LAND_APPOACH_SETTINGS - 1)
approachAlt	uint32_t	4	cm	Sets approach altitude
landAlt	uint32_t	4	cm	Sets landing altitude
approachDirection	uint8_t	1	fwAutolandApproachDirection_e	Enum fwAutolandApproachDirection_e Sets approach direction
landHeading1	int16_t	2	degrees	Sets primary landing heading
landHeading2	int16_t	2	degrees	Sets secondary landing heading
isSeaLevelRef	uint8_t	1	Boolean	Sets altitude reference

Reply Payload: None

Notes: Requires USE_FW_AUTOLAND. Expects 15 bytes. Returns error if index invalid.

MSP2_INAV_GPS_UBLOX_COMMAND (8272 / 0x2050)

Description: Sends a raw command directly to a U-Blox GPS module connected to the FC.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
ubxCommand	uint8_t[]	-	-	Raw U-Blox UBX protocol command frame (including header, class, ID, length, payload, checksum)

Reply Payload: None

Notes: Requires GPS feature enabled (FEATURE_GPS) and the GPS driver to be U-Blox (isGpsUblox()). Payload must be at least 8 bytes (minimum UBX frame size). Use with extreme caution, incorrect commands can misconfigure the GPS module. Calls gpsUbloxSendCommand().

MSP2_INAV_RATE_DYNAMICS (8288 / 0x2060)

Description: Retrieves Rate Dynamics configuration parameters for the current control rate profile.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
sensitivityCenter	uint8_t	1	%	Sensitivity at stick center (currentControlRateProfile->rateDynamics.sensitivityCenter)
sensitivityEnd	uint8_t	1	%	Sensitivity at stick ends (currentControlRateProfile->rateDynamics.sensitivityEnd)
correctionCenter	uint8_t	1	%	Correction strength at stick center (currentControlRateProfile->rateDynamics.correctionCenter)
correctionEnd	uint8_t	1	%	Correction strength at stick ends (currentControlRateProfile->rateDynamics.correctionEnd)
weightCenter	uint8_t	1	%	Transition weight at stick center (currentControlRateProfile->rateDynamics.weightCenter)
weightEnd	uint8_t	1	%	Transition weight at stick ends (currentControlRateProfile->rateDynamics.weightEnd)

Notes: Requires USE_RATE_DYNAMICS.

MSP2_INAV_SET_RATE_DYNAMICS (8289 / 0x2061)

Description: Sets Rate Dynamics configuration parameters for the current control rate profile.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
sensitivityCenter	uint8_t	1	%	Sets sensitivity at center
sensitivityEnd	uint8_t	1	%	Sets sensitivity at ends
correctionCenter	uint8_t	1	%	Sets correction at center
correctionEnd	uint8_t	1	%	Sets correction at ends
weightCenter	uint8_t	1	%	Sets weight at center
weightEnd	uint8_t	1	%	Sets weight at ends

Reply Payload: None

Notes: Requires USE_RATE_DYNAMICS. Expects 6 bytes.

MSP2_INAV_EZ_TUNE (8304 / 0x2070)

Description: Retrieves the current EZ-Tune parameters.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
enabled	uint8_t	1	-	Boolean: 1 if EZ-Tune is enabled (ezTune()->enabled)
filterHz	uint16_t	2	-	Filter frequency used during tuning (ezTune()->filterHz)
axisRatio	uint8_t	1	-	Roll vs Pitch axis tuning ratio (ezTune()->axisRatio)
response	uint8_t	1	-	Desired response characteristic (ezTune()->response)
damping	uint8_t	1	-	Desired damping characteristic (ezTune()->damping)
stability	uint8_t	1	-	Stability preference (ezTune()->stability)
aggressiveness	uint8_t	1	-	Aggressiveness preference (ezTune()->aggressiveness)
rate	uint8_t	1	-	Resulting rate setting (ezTune()->rate)
expo	uint8_t	1	-	Resulting expo setting (ezTune()->expo)
snappiness	uint8_t	1	-	Snappiness preference (ezTune()->snappiness)

Notes: Requires USE_EZ_TUNE. Calls ezTuneUpdate() before sending.

MSP2_INAV_EZ_TUNE_SET (8305 / 0x2071)

Description: Sets the EZ-Tune parameters and triggers an update.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
enabled	uint8_t	1	-	Sets enabled state
filterHz	uint16_t	2	-	Sets filter frequency
axisRatio	uint8_t	1	-	Sets axis ratio
response	uint8_t	1	-	Sets response characteristic
damping	uint8_t	1	-	Sets damping characteristic
stability	uint8_t	1	-	Sets stability preference
aggressiveness	uint8_t	1	-	Sets aggressiveness preference
rate	uint8_t	1	-	Sets rate setting
expo	uint8_t	1	-	Sets expo setting
snappiness	uint8_t	1	-	(Optional) Sets snappiness preference

Reply Payload: None

Notes: Requires USE_EZ_TUNE. Expects 10 or 11 bytes. Calls ezTuneUpdate() after setting parameters.

MSP2_INAV_SELECT_MIXER_PROFILE (8320 / 0x2080)

Description: Selects the active mixer profile and saves configuration.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
mixerProfileIndex	uint8_t	1	-	Index of the mixer profile to activate (0-based)

Reply Payload: None

Notes: Expects 1 byte. Will fail if armed. Calls setConfigMixerProfileAndWriteEEPROM(). Only applicable if MAX_MIXER_PROFILE_COUNT > 1.

MSP2_ADSB_VEHICLE_LIST (8336 / 0x2090)

Description: Retrieves the list of currently tracked ADSB (Automatic Dependent Surveillance–Broadcast) vehicles. See adsbVehicle_t and adsbVehicleValues_t in io/adsb.h for the exact structure fields.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
maxVehicles	uint8_t	1	-	Maximum number of vehicles tracked (MAX_ADSB_VEHICLES). 0 if USE_ADSB disabled
callsignLength	uint8_t	1	-	Maximum length of callsign string (ADSB_CALL_SIGN_MAX_LENGTH). 0 if USE_ADSB disabled
totalVehicleMsgs	uint32_t	4	-	Total vehicle messages received (getAdsbStatus()->vehiclesMessagesTotal). 0 if USE_ADSB disabled
totalHeartbeatMsgs	uint32_t	4	-	Total heartbeat messages received (getAdsbStatus()->heartbeatMessagesTotal). 0 if USE_ADSB disabled
adsbVehicle	adsbVehicle_t[]	-	-	Array of adsbVehicle_t Repeated maxVehicles times

Notes: Requires USE_ADSB.

MSP2_INAV_CUSTOM_OSD_ELEMENTS (8448 / 0x2100)

Description: Retrieves counts related to custom OSD elements defined by the programming framework.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
maxElements	uint8_t	1	-	Maximum number of custom elements (MAX_CUSTOM_ELEMENTS)
maxTextLength	uint8_t	1	-	Maximum length of the text part (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1)
maxParts	uint8_t	1	-	Maximum number of parts per element (CUSTOM_ELEMENTS_PARTS)

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

MSP2_INAV_CUSTOM_OSD_ELEMENT (8449 / 0x2101)

Temporary definition

• Description: Gets the configuration of a single custom OSD element defined by the programming framework.
• Request Payload:

  Field	C Type	Size (Bytes)	Description
  elementIndex	uint8_t	1	Index of the custom element (0 to MAX_CUSTOM_ELEMENTS - 1)

• Reply Payload:

  Field	C Type	Size (Bytes)	Description
  Parts Data (Repeated CUSTOM_ELEMENTS_PARTS times):
  partType	uint8_t	1	Enum (customElementType_e): Type of this part (Text, Variable, Symbol)
  partValue	uint16_t	2	Value/ID associated with this part (GVAR index, Symbol ID, etc.)
  Visibility Data:
  visibilityType	uint8_t	1	Enum (logicOperandType_e): Type of visibility condition source
  visibilityValue	uint16_t	2	Value/ID of the visibility condition source (e.g., Logic Condition ID)
  Text Data:
  elementText	char[OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1]	OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1	Static text part of the element (null padding likely)

• Notes: Requires USE_PROGRAMMING_FRAMEWORK. See osdCustomElement_t.

MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS (8450 / 0x2102)

Temporary definition

• Description: Sets the configuration of a single custom OSD element defined by the programming framework.
• Payload:

  Field	C Type	Size (Bytes)	Description
  elementIndex	uint8_t	1	Index of the custom element (0 to MAX_CUSTOM_ELEMENTS - 1)
  Parts Data (Repeated CUSTOM_ELEMENTS_PARTS times):
  partType	uint8_t	1	Enum (customElementType_e): Type of this part
  partValue	uint16_t	2	Value/ID associated with this part
  Visibility Data:
  visibilityType	uint8_t	1	Enum (logicOperandType_e): Type of visibility condition source
  visibilityValue	uint16_t	2	Value/ID of the visibility condition source
  Text Data:
  elementText	char[OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1]	OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1	Static text part of the element

• Notes: Requires USE_PROGRAMMING_FRAMEWORK. Expects 1 + (CUSTOM_ELEMENTS_PARTS * 3) + 3 + (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) bytes. Returns error if index or part type is invalid. Null-terminates the text internally.

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.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
timerId	uint8_t	1	-	Hardware timer identifier (e.g., TIM1, TIM2). SITL uses index
usageFlags	uint32_t	4	-	Full 32-bit timer usage flags (TIM_USE_*)
pinLabel	uint8_t	1	PIN_LABEL_*	Label for special pin usage (PIN_LABEL_* enum, e.g., PIN_LABEL_LED). 0 (PIN_LABEL_NONE) otherwise

Notes: Provides complete usage flags and helps identify pins repurposed for functions like LED strip.

MSP2_INAV_SERVO_CONFIG (8704 / 0x2200)

Description: Retrieves the configuration parameters for all supported servos (min, max, middle, rate). Supersedes MSP_SERVO_CONFIGURATIONS.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
min	uint16_t	2	PWM	Minimum servo endpoint (servoParams(i)->min)
max	uint16_t	2	PWM	Maximum servo endpoint (servoParams(i)->max)
middle	uint16_t	2	PWM	Middle/Neutral servo position (servoParams(i)->middle)
rate	uint8_t	1	% (-100 to 100)	Servo rate/scaling (servoParams(i)->rate)

MSP2_INAV_SET_SERVO_CONFIG (8705 / 0x2201)

Description: Sets the configuration parameters for a single servo. Supersedes MSP_SET_SERVO_CONFIGURATION.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
servoIndex	uint8_t	1	Index	Index of the servo to configure (0 to MAX_SUPPORTED_SERVOS - 1)
min	uint16_t	2	PWM	Sets minimum servo endpoint
max	uint16_t	2	PWM	Sets maximum servo endpoint
middle	uint16_t	2	PWM	Sets middle/neutral servo position
rate	uint8_t	1	%	Sets servo rate/scaling

Reply Payload: None

Notes: Expects 8 bytes. Returns error if index invalid. Calls servoComputeScalingFactors().

MSP2_INAV_GEOZONE (8720 / 0x2210)

Description: Get configuration for a specific Geozone.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	-	Index of the geozone (0 to MAX_GEOZONES_IN_CONFIG - 1)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	-	Index requested
type	uint8_t	1	-	Define (GEOZONE_TYPE_EXCLUSIVE/INCLUSIVE): Zone type (Inclusion/Exclusion)
shape	uint8_t	1	-	Define (GEOZONE_SHAPE_CIRCULAR/POLYGHON): Zone shape (Polygon/Circular)
minAltitude	uint32_t	4	-	Minimum allowed altitude within the zone (cm)
maxAltitude	uint32_t	4	-	Maximum allowed altitude within the zone (cm)
isSeaLevelRef	uint8_t	1	-	Boolean: 1 if altitudes are relative to sea level, 0 if relative to home
fenceAction	uint8_t	1	geozoneActionState_e	Enum (geozoneActionState_e): Action to take upon boundary violation
vertexCount	uint8_t	1	-	Number of vertices defined for this zone

Notes: Requires USE_GEOZONE. Used by mspFcGeozoneOutCommand.

MSP2_INAV_SET_GEOZONE (8721 / 0x2211)

Description: Sets the main configuration for a specific Geozone (type, shape, altitude, action). This command resets (clears) all vertices associated with the zone.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	-	Index of the geozone (0 to MAX_GEOZONES_IN_CONFIG - 1)
type	uint8_t	1	-	Define (GEOZONE_TYPE_EXCLUSIVE/INCLUSIVE): Zone type (Inclusion/Exclusion)
shape	uint8_t	1	-	Define (GEOZONE_SHAPE_CIRCULAR/POLYGHON): Zone shape (Polygon/Circular)
minAltitude	uint32_t	4	-	Minimum allowed altitude (cm)
maxAltitude	uint32_t	4	-	Maximum allowed altitude (cm)
isSeaLevelRef	uint8_t	1	-	Boolean: Altitude reference
fenceAction	uint8_t	1	geozoneActionState_e	Enum (geozoneActionState_e): Action to take upon boundary violation
vertexCount	uint8_t	1	-	Number of vertices to be defined (used for validation later)

Reply Payload: None

Notes: Requires USE_GEOZONE. Expects 14 bytes. Returns error if index invalid. Calls geozoneResetVertices(). Vertices must be set subsequently using MSP2_INAV_SET_GEOZONE_VERTEX.

MSP2_INAV_GEOZONE_VERTEX (8722 / 0x2212)

Description: Get a specific vertex (or center+radius for circular zones) of a Geozone.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	-	Index of the geozone
vertexId	uint8_t	1	-	Index of the vertex within the zone (0-based). For circles, 0 = center

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	Index	Geozone index requested
vertexId	uint8_t	1	Index	Vertex index requested
latitude	int32_t	4	deg * 1e7	Vertex latitude
longitude	int32_t	4	deg * 1e7	Vertex longitude
radius	uint32_t	4	cm	If vertex is circle, Radius of the circular zone

Notes: Requires USE_GEOZONE. Returns error if indexes are invalid or vertex doesn't exist. For circular zones, the radius is stored internally as the 'latitude' of the vertex with index 1.

MSP2_INAV_SET_GEOZONE_VERTEX (8723 / 0x2213)

Description: Sets a specific vertex (or center+radius for circular zones) for a Geozone.

Variant: polygon

Description: Polygonal Geozone

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	Index	Geozone index requested
vertexId	uint8_t	1	Index	Vertex index requested
latitude	int32_t	4	deg * 1e7	Vertex latitude
longitude	int32_t	4	deg * 1e7	Vertex longitude

Reply Payload: None

Variant: circle

Description: Circular Geozone

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
geozoneIndex	uint8_t	1	Index	Geozone index requested
vertexId	uint8_t	1	Index	Vertex index requested
latitude	int32_t	4	deg * 1e7	Vertex/Center latitude
longitude	int32_t	4	deg * 1e7	Vertex/Center longitude
radius	uint32_t	4	cm	Radius of the circular zone

Reply Payload: None

Notes: Requires USE_GEOZONE. Expects 10 bytes (Polygon) or 14 bytes (Circular). Returns error if indexes invalid or if trying to set vertex beyond vertexCount defined in MSP2_INAV_SET_GEOZONE. Calls geozoneSetVertex(). For circular zones, sets center (vertex 0) and radius (vertex 1's latitude).

MSP2_BETAFLIGHT_BIND (12288 / 0x3000)

Description: Initiates the receiver binding procedure for supported serial protocols (CRSF, SRXL2).

Request Payload: None

Reply Payload: None

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.