INAV MSP Messages reference

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

Basic Concepts:

• MSP Versions:
  • MSPv1: The original protocol. Uses command IDs from 0 to 254.
  • MSPv2: An extended version. Uses command IDs from 0x1000 onwards. Can be encapsulated within an MSPv1 frame (MSP_V2_FRAME ID 255) or used natively.
• Direction:
  • Out: Message sent from the Flight Controller (FC) to the Ground Control Station (GCS), OSD, or other peripheral. Usually a request for data or status.
  • In: Message sent from the GCS/OSD to the FC. Usually a command to set a parameter, perform an action, or provide data to the FC.
  • In/Out: Can function in both directions, often used for getting/setting related data where the request might specify a subset (e.g., get specific waypoint, get specific setting info).
• Payload: The data carried by the message, following the command ID. The structure (order, type, size of fields) is critical.
• Data Types: Common C data types are used (uint8_t, int16_t, uint32_t, float, etc.). Pay close attention to signed vs. unsigned types and sizes.
• Packing: Data fields are packed sequentially in the order listed. __attribute__((packed)) is often used in struct definitions to prevent compiler padding.

---

MSPv1 Core & Versioning Commands (0-5)

MSP_API_VERSION (1 / 0x01)

• Direction: Out
• Description: Provides the MSP protocol version and the INAV API version.
• Payload:

  Field	C Type	Size (Bytes)	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 / 0x02)

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

  Field	C Type	Size (Bytes)	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 / 0x03)

• Direction: Out
• Description: Provides the specific version number of the flight controller firmware.
• Payload:

  Field	C Type	Size (Bytes)	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 / 0x04)

• Direction: Out
• Description: Provides information about the specific hardware board and its capabilities.
• Payload:

  Field	C Type	Size (Bytes)	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[]	Variable	Target name string (e.g., "MATEKF405"). Length given by previous field.

• Notes: BOARD_IDENTIFIER_LENGTH is 4.

MSP_BUILD_INFO (5 / 0x05)

• Direction: Out
• Description: Provides build date, time, and Git revision of the firmware.
• Payload:

  Field	C Type	Size (Bytes)	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.

---

MSPv1 INAV Configuration Commands (6-24)

MSP_INAV_PID (6 / 0x06)

• Direction: Out
• Description: Retrieves legacy INAV-specific PID controller related settings. Many fields are now obsolete or placeholders.
• 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	Enum	Fixed value GYRO_LPF_256HZ.
  accLpfHz	uint8_t	1	Hz	Accelerometer LPF frequency (accelerometerConfig()->acc_lpf_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 / 0x07)

• Direction: In
• Description: Sets legacy INAV-specific PID controller related settings.
• Payload: (Matches MSP_INAV_PID structure)

  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	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.

• Notes: Expects 15 bytes.

MSP_NAME (10 / 0x0A)

• Direction: Out
• Description: Returns the user-defined craft name.
• Payload:

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

MSP_SET_NAME (11 / 0x0B)

• Direction: In
• Description: Sets the user-defined craft name.
• Payload:

  Field	C Type	Size (Bytes)	Description
  craftName	char[]	1 to MAX_NAME_LENGTH	The new craft name string. Automatically null-terminated by the FC.

• Notes: Maximum length is MAX_NAME_LENGTH.

MSP_NAV_POSHOLD (12 / 0x0C)

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

  Field	C Type	Size (Bytes)	Units	Description
  userControlMode	uint8_t	1	Enum	Navigation user control mode (navConfig()->general.flags.user_control_mode).
  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	Enum	Altitude Hold throttle control type (navConfig()->mc.althold_throttle_type).
  mcHoverThrottle	uint16_t	2	PWM	Multirotor hover throttle (currentBatteryProfile->nav.mc.hover_throttle).

MSP_SET_NAV_POSHOLD (13 / 0x0D)

• Direction: In
• Description: Sets navigation position hold and general manual/auto flight parameters.
• Payload: (Matches MSP_NAV_POSHOLD structure)

  Field	C Type	Size (Bytes)	Units	Description
  userControlMode	uint8_t	1	Enum	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	Enum	Sets navConfigMutable()->mc.althold_throttle_type.
  mcHoverThrottle	uint16_t	2	PWM	Sets currentBatteryProfileMutable->nav.mc.hover_throttle.

• Notes: Expects 13 bytes.

MSP_CALIBRATION_DATA (14 / 0x0E)

• Direction: Out
• Description: Retrieves sensor calibration data (Accelerometer zero/gain, Magnetometer zero/gain, Optical Flow scale).
• 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 / 0x0F)

• Direction: In
• Description: Sets sensor calibration data.
• Payload: (Matches MSP_CALIBRATION_DATA structure, excluding accCalibAxisFlags)

  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).

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

MSP_POSITION_ESTIMATION_CONFIG (16 / 0x10)

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

• Direction: In
• Description: Sets parameters related to the INAV position estimation fusion weights and GPS minimum satellite count.
• Payload: (Matches MSP_POSITION_ESTIMATION_CONFIG structure)

  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.

• Notes: Expects 12 bytes.

MSP_WP_MISSION_LOAD (18 / 0x12)

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

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

• 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)

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

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

• 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)

• Direction: Out
• Description: Retrieves information about the waypoint mission capabilities and the status of the currently loaded mission.
• Payload:

  Field	C Type	Size (Bytes)	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)

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

• Direction: In
• Description: Sets configuration parameters related to Return-to-Home (RTH) and automatic landing behaviors.
• Payload: (Matches MSP_RTH_AND_LAND_CONFIG structure)

  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	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.

• Notes: Expects 21 bytes.

MSP_FW_CONFIG (23 / 0x17)

• Direction: Out
• Description: Retrieves configuration parameters specific to Fixed Wing navigation.
• 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)

• Direction: In
• Description: Sets configuration parameters specific to Fixed Wing navigation.
• Payload: (Matches MSP_FW_CONFIG structure)

  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.

• Notes: Expects 12 bytes.

---

MSPv1 Cleanflight/Betaflight/INAV Feature Commands (34-58)

These commands were often introduced by Cleanflight or Betaflight and adopted/adapted by INAV.

MSP_MODE_RANGES (34 / 0x22)

• Direction: Out
• Description: Returns all defined mode activation ranges (aux channel assignments for flight modes).
• Payload: Repeated MAX_MODE_ACTIVATION_CONDITION_COUNT times:

  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)

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

• 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)

• Direction: Out
• Description: Returns a bitmask of enabled features.
• Payload:

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

• Notes: Feature bits are defined in feature.h.

MSP_SET_FEATURE (37 / 0x25)

• Direction: In
• Description: Sets the enabled features using a bitmask. Clears all previous features first.
• Payload:

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

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

MSP_BOARD_ALIGNMENT (38 / 0x26)

• Direction: Out
• Description: Returns the sensor board alignment angles relative to the craft frame.
• 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)

• Direction: In
• Description: Sets the sensor board alignment angles.
• Payload: (Matches MSP_BOARD_ALIGNMENT structure)

  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.

• Notes: Expects 6 bytes.

MSP_CURRENT_METER_CONFIG (40 / 0x28)

• Direction: Out
• Description: Retrieves the configuration for the current sensor.
• 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	Enum	Type of current sensor hardware (batteryMetersConfig()->current.type).
  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)

• Direction: In
• Description: Sets the configuration for the current sensor.
• Payload: (Matches MSP_CURRENT_METER_CONFIG structure)

  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	Enum	Sets batteryMetersConfigMutable()->current.type.
  capacity	uint16_t	2	mAh (legacy)	Sets currentBatteryProfileMutable->capacity.value (truncated to 16 bits).

• Notes: Expects 7 bytes.

MSP_MIXER (42 / 0x2A)

• Direction: Out
• Description: Retrieves the mixer type (Legacy, INAV always returns QuadX).
• Payload:

  Field	C Type	Size (Bytes)	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)

• Direction: In
• Description: Sets the mixer type (Legacy, ignored by INAV).
• Payload:

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

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

MSP_RX_CONFIG (44 / 0x2C)

• Direction: Out
• Description: Retrieves receiver configuration settings. Some fields are Betaflight compatibility placeholders.
• Payload:

  Field	C Type	Size (Bytes)	Units	Description
  serialRxProvider	uint8_t	1	Enum	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	Enum	Receiver type (Parallel PWM, PPM, Serial) (rxConfig()->receiverType).

MSP_SET_RX_CONFIG (45 / 0x2D)

• Direction: In
• Description: Sets receiver configuration settings.
• Payload: (Matches MSP_RX_CONFIG structure)

  Field	C Type	Size (Bytes)	Units	Description
  serialRxProvider	uint8_t	1	Enum	Sets rxConfigMutable()->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	Enum	Sets rxConfigMutable()->receiverType.

• Notes: Expects 24 bytes.

MSP_LED_COLORS (46 / 0x2E)

• Direction: Out
• Description: Retrieves the HSV color definitions for configurable LED colors.
• Payload: Repeated LED_CONFIGURABLE_COLOR_COUNT times:

  Field	C Type	Size (Bytes)	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)

• Direction: In
• Description: Sets the HSV color definitions for configurable LED colors.
• Payload: Repeated LED_CONFIGURABLE_COLOR_COUNT times:

  Field	C Type	Size (Bytes)	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. Expects LED_CONFIGURABLE_COLOR_COUNT * 4 bytes.

MSP_LED_STRIP_CONFIG (48 / 0x30)

• Direction: Out
• Description: Retrieves the configuration for each LED on the strip (legacy packed format).
• Payload: Repeated LED_MAX_STRIP_LENGTH times:

  Field	C Type	Size (Bytes)	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)

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

  Field	C Type	Size (Bytes)	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.

• 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)

• Direction: Out
• Description: Retrieves the channel used for analog RSSI input.
• Payload:

  Field	C Type	Size (Bytes)	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)

• Direction: In
• Description: Sets the channel used for analog RSSI input.
• Payload:

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

• 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)

• Direction: Out
• Description: Returns all defined RC adjustment ranges (tuning via aux channels).
• Payload: Repeated MAX_ADJUSTMENT_RANGE_COUNT times:

  Field	C Type	Size (Bytes)	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 enum.
  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)

• Direction: In
• Description: Sets a single RC adjustment range configuration by its index.
• Payload:

  Field	C Type	Size (Bytes)	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).

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

MSP_CF_SERIAL_CONFIG (54 / 0x36)

• Direction: Out
• Description: Deprecated command to get serial port configuration.
• Notes: Not implemented in INAV fc_msp.c. Use MSP2_COMMON_SERIAL_CONFIG.

MSP_SET_CF_SERIAL_CONFIG (55 / 0x37)

• Direction: In
• Description: Deprecated command to set serial port configuration.
• Notes: Not implemented in INAV fc_msp.c. Use MSP2_COMMON_SET_SERIAL_CONFIG.

MSP_VOLTAGE_METER_CONFIG (56 / 0x38)

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

• Direction: In
• Description: Sets legacy voltage meter configuration (scaled values).
• Payload: (Matches MSP_VOLTAGE_METER_CONFIG structure)

  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).

• Notes: Expects 4 bytes. Superseded by MSP2_INAV_SET_BATTERY_CONFIG.

MSP_SONAR_ALTITUDE (58 / 0x3A)

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

---

MSPv1 Baseflight/INAV Commands (64-99, plus others)

These commands originated in Baseflight or were added later in similar ranges.

MSP_RX_MAP (64 / 0x40)

• Direction: Out
• Description: Retrieves the RC channel mapping array (AETR, etc.).
• Payload:

  Field	C Type	Size (Bytes)	Description
  rcMap	uint8_t[MAX_MAPPABLE_RX_INPUTS]	MAX_MAPPABLE_RX_INPUTS	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)

• Direction: In
• Description: Sets the RC channel mapping array.
• Payload:

  Field	C Type	Size (Bytes)	Description
  rcMap	uint8_t[MAX_MAPPABLE_RX_INPUTS]	MAX_MAPPABLE_RX_INPUTS	Array defining the new channel mapping.

• Notes: Expects MAX_MAPPABLE_RX_INPUTS bytes.

MSP_REBOOT (68 / 0x44)

• Direction: Out (but triggers an action)
• Description: Commands the flight controller to reboot.
• 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)

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

  Field	C Type	Size (Bytes)	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)

• Direction: In/Out
• Description: Reads a block of data from the onboard dataflash (FlashFS).
• Request Payload:

  Field	C Type	Size (Bytes)	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)	Description
  address	uint32_t	4	The starting address from which data was actually read.
  data	uint8_t[]	Variable	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)

• Direction: In
• Description: Erases the entire onboard dataflash chip (FlashFS volume).
• Payload: None
• Notes: Requires USE_FLASHFS. This is a potentially long operation. Use with caution.

MSP_LOOP_TIME (73 / 0x49)

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

• Direction: In
• Description: Sets the configured loop time.
• Payload:

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

• Notes: Expects 2 bytes.

MSP_FAILSAFE_CONFIG (75 / 0x4B)

• Direction: Out
• Description: Retrieves the failsafe configuration settings.
• 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	Enum	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	Enum	Failsafe procedure if below min distance (failsafeConfig()->failsafe_min_distance_procedure).

MSP_SET_FAILSAFE_CONFIG (76 / 0x4C)

• Direction: In
• Description: Sets the failsafe configuration settings.
• Payload: (Matches MSP_FAILSAFE_CONFIG structure)

  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	Enum	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	Enum	Sets failsafeConfigMutable()->failsafe_min_distance_procedure.

• Notes: Expects 20 bytes.

MSP_SDCARD_SUMMARY (79 / 0x4F)

• Direction: Out
• Description: Retrieves summary information about the SD card status and filesystem.
• Payload:

  Field	C Type	Size (Bytes)	Description
  sdCardSupported	uint8_t	1	Bitmask: Bit 0 = 1 if SD card support compiled in (USE_SDCARD).
  sdCardState	uint8_t	1	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)

• Direction: Out
• Description: Legacy command to retrieve Blackbox configuration. Superseded by MSP2_BLACKBOX_CONFIG.
• Payload:

  Field	C Type	Size (Bytes)	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)

• Direction: In
• Description: Legacy command to set Blackbox configuration. Superseded by MSP2_SET_BLACKBOX_CONFIG.
• Payload: (Ignored)
• Notes: Not implemented in fc_msp.c. Use MSP2_SET_BLACKBOX_CONFIG.

MSP_TRANSPONDER_CONFIG (82 / 0x52)

• Direction: Out
• Description: Get VTX Transponder settings (likely specific to RaceFlight/Betaflight, not standard INAV VTX).
• Notes: Not implemented in INAV fc_msp.c.

MSP_SET_TRANSPONDER_CONFIG (83 / 0x53)

• Direction: In
• Description: Set VTX Transponder settings.
• Notes: Not implemented in INAV fc_msp.c.

MSP_OSD_CONFIG (84 / 0x54)

• Direction: Out
• Description: Retrieves OSD configuration settings and layout for screen 0.
• Payload:

  Field	C Type	Size (Bytes)	Units	Description
  osdDriverType	uint8_t	1	Enum	OSD_DRIVER_MAX7456 if USE_OSD, else OSD_DRIVER_NONE.
  videoSystem	uint8_t	1	Enum	Video system (Auto/PAL/NTSC) (osdConfig()->video_system). Sent even if OSD disabled.
  units	uint8_t	1	Enum	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)

• Direction: In
• Description: Sets OSD configuration or a single item's position on screen 0.
• Payload Format 1 (Set General Config):

  Field	C Type	Size (Bytes)	Units	Description
  addr	uint8_t	1	-	Must be 0xFF (-1).
  videoSystem	uint8_t	1	Enum	Sets osdConfigMutable()->video_system.
  units	uint8_t	1	Enum	Sets osdConfigMutable()->units.
  rssiAlarm	uint8_t	1	%	Sets osdConfigMutable()->rssi_alarm.
  capAlarm	uint16_t	2	mAh/mWh	Sets currentBatteryProfileMutable->capacity.warning.
  timerAlarm	uint16_t	2	seconds	Sets osdConfigMutable()->time_alarm.
  altAlarm	uint16_t	2	meters	Sets osdConfigMutable()->alt_alarm.
  distAlarm	uint16_t	2	meters	(Optional) Sets osdConfigMutable()->dist_alarm.
  negAltAlarm	uint16_t	2	meters	(Optional) Sets osdConfigMutable()->neg_alt_alarm.

• Payload Format 2 (Set Item Position):

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

• 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)

• Direction: Out
• Description: Reads character data from the OSD font memory.
• Notes: Not implemented in INAV fc_msp.c. Requires direct hardware access, typically done via DisplayPort.

MSP_OSD_CHAR_WRITE (87 / 0x57)

• Direction: In
• Description: Writes character data to the OSD font memory.
• Payload:

  Field	C Type	Size (Bytes)	Description
  address	uint8_t or uint16_t	1 or 2	Starting address in font memory. Size depends on total payload size.
  charData	uint8_t[]	Variable	Character bitmap data (54 or 64 bytes per char, depending on format).

• 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)

• Direction: Out
• Description: Retrieves the current VTX (Video Transmitter) configuration and capabilities.
• Payload: (Only sent if USE_VTX_CONTROL is defined and a VTX device is configured)

  Field	C Type	Size (Bytes)	Description
  vtxDeviceType	uint8_t	1	Enum (VTXDEV_*): 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)

• 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)

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

  Field	C Type	Size (Bytes)	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	Enum: 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)

• Direction: In
• Description: Sets advanced hardware-related configuration (PWM protocols, rates).
• Payload: (Matches MSP_ADVANCED_CONFIG structure)

  Field	C Type	Size (Bytes)	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.

• Notes: Expects 9 bytes.

MSP_FILTER_CONFIG (92 / 0x5C)

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

• Direction: In
• Description: Sets filter configuration settings. Handles different payload lengths for backward compatibility.
• Payload: (Fields added sequentially based on size)

  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)

• 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)

• Direction: Out
• Description: Retrieves advanced PID tuning parameters. Many fields are BF compatibility placeholders.
• 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)

• Direction: In
• Description: Sets advanced PID tuning parameters.
• Payload: (Matches MSP_PID_ADVANCED structure)

  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.

• Notes: Expects 17 bytes.

MSP_SENSOR_CONFIG (96 / 0x60)

• Direction: Out
• Description: Retrieves the configured hardware type for various sensors.
• Payload:

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

MSP_SET_SENSOR_CONFIG (97 / 0x61)

• Direction: In
• Description: Sets the configured hardware type for various sensors.
• Payload: (Matches MSP_SENSOR_CONFIG structure)

  Field	C Type	Size (Bytes)	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).

• Notes: Expects 6 bytes.

MSP_SPECIAL_PARAMETERS (98 / 0x62)

• Direction: Out
• Description: Betaflight specific, likely unused/unimplemented in INAV.
• Notes: Not implemented in INAV fc_msp.c.

MSP_SET_SPECIAL_PARAMETERS (99 / 0x63)

• Direction: In
• Description: Betaflight specific, likely unused/unimplemented in INAV.
• Notes: Not implemented in INAV fc_msp.c.

---

MSPv1 MultiWii Original Commands (100-127, 130)

These are commands originating from the MultiWii project.

MSP_STATUS (100 / 0x64)

• Direction: Out
• Description: Provides basic flight controller identity information. Not implemented in modern INAV, but used by legacy versions and MultiWii.
• 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	Enumeration	Mixer type
  MSP Version	uint8_t	1	n/a	Scaled version major*100+minor
  Platform Capability	uint32_t		Bitmask of MW capabilities

• Notes: Obsolete. Listed for legacy compatibility only.

MSP_STATUS (101 / 0x65)

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

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

• Direction: Out
• Description: Provides the current output values for all supported servos.
• 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)

• Direction: Out
• Description: Provides the current output values for the first 8 motors.
• 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)

• Direction: Out
• Description: Provides the current values of the received RC channels.
• Payload:

  Field	C Type	Size (Bytes)	Units	Description
  rcChannels	uint16_t[]	rxRuntimeConfig.channelCount * 2	PWM	Array of current RC channel values (typically 1000-2000). Length depends on detected channels.

MSP_RAW_GPS (106 / 0x6A)

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

  Field	C Type	Size (Bytes)	Units	Description
  fixType	uint8_t	1	Enum	GPS fix type (gpsSol.fixType).
  numSat	uint8_t	1	Count	Number of satellites used in solution (gpsSol.numSat).
  latitude	uint32_t	4	deg * 1e7	Latitude (gpsSol.llh.lat).
  longitude	uint32_t	4	deg * 1e7	Longitude (gpsSol.llh.lon).
  altitude	uint16_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)

• Direction: Out
• Description: Provides computed GPS values: distance and direction to home.
• 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)

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

• Direction: Out
• Description: Provides estimated altitude, vertical speed (variometer), and raw barometric altitude.
• Payload:

  Field	C Type	Size (Bytes)	Units	Description
  estimatedAltitude	uint32_t	4	cm	Estimated altitude above home/sea level (getEstimatedActualPosition(Z)).
  variometer	int16_t	2	cm/s	Estimated vertical speed (getEstimatedActualVelocity(Z)).
  baroAltitude	uint32_t	4	cm	Latest raw altitude from barometer (baroGetLatestAltitude()). 0 if USE_BARO disabled.

MSP_ANALOG (110 / 0x6E)

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

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

  Field	C Type	Size (Bytes)	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)

• Direction: Out
• Description: Provides the full bitmask of currently active flight modes (boxes).
• Payload:

  Field	C Type	Size (Bytes)	Description
  activeModes	boxBitmask_t	sizeof(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)

• Direction: Out
• Description: Retrieves miscellaneous configuration settings, mostly related to RC, GPS, Mag, and Battery voltage (legacy formats).
• 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	Enum	GPS provider type (gpsConfig()->provider). 0 if USE_GPS disabled.
  legacyGpsBaud	uint8_t	1	-	Always 0 (Legacy).
  gpsSbasMode	uint8_t	1	Enum	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)

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

  Field	C Type	Size (Bytes)	Description
  boxNamesString	char[]	Variable	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)

• Direction: Out
• Description: Provides a semicolon-separated string containing the names of the PID controllers.
• Payload:

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

MSP_WP (118 / 0x76)

• Direction: In/Out
• Description: Get/Set a single waypoint from the mission plan.
• Request Payload:

  Field	C Type	Size (Bytes)	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	Enum	Waypoint action type (navWaypointAction_e).
  latitude	uint32_t	4	deg * 1e7	Latitude coordinate.
  longitude	uint32_t	4	deg * 1e7	Longitude coordinate.
  altitude	uint32_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 navWaypointAction_e.

MSP_BOXIDS (119 / 0x77)

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

  Field	C Type	Size (Bytes)	Description
  boxIds	uint8_t[]	Variable	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)

• Direction: Out
• Description: Retrieves the configuration parameters for all supported servos (min, max, middle, rate). Legacy format with unused fields.
• Payload: Repeated MAX_SUPPORTED_SERVOS times:

  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)

• Direction: Out
• Description: Retrieves the current status of the navigation system.
• Payload:

  Field	C Type	Size (Bytes)	Description
  navMode	uint8_t	1	Enum (NAV_MODE_*): Current navigation mode (None, RTH, WP, Hold, etc.) (NAV_Status.mode).
  navState	uint8_t	1	Enum (NAV_STATE_*): Current navigation state (NAV_Status.state).
  activeWpAction	uint8_t	1	Enum (navWaypointAction_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	Enum (NAV_ERROR_*): Current navigation error code (NAV_Status.error).
  targetHeading	uint16_t	2	degrees: Target heading for heading controller (getHeadingHoldTarget()).

• Notes: Requires USE_GPS.

MSP_NAV_CONFIG (122 / 0x7A)

• Not implemented

MSP_3D (124 / 0x7C)

• Direction: Out
• Description: Retrieves settings related to 3D/reversible motor operation.
• 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)

• Direction: Out
• Description: Retrieves RC input deadband settings.
• 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)

• Direction: Out
• Description: Retrieves sensor alignment settings (legacy format).
• Payload:

  Field	C Type	Size (Bytes)	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)

• Direction: Out
• Description: Retrieves the color index assigned to each LED mode and function/direction combination, including special colors.
• Payload: Repeated (LED_MODE_COUNT * LED_DIRECTION_COUNT + LED_SPECIAL_COLOR_COUNT) times:

  Field	C Type	Size (Bytes)	Description
  modeIndex	uint8_t	1	Index of the LED mode (ledModeIndex_e). LED_MODE_COUNT for special colors.
  directionOrSpecialIndex	uint8_t	1	Index of the direction (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)

• Direction: Out
• Description: Provides battery state information, formatted primarily for DJI FPV Goggles compatibility.
• 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	Enum	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)

• Direction: In/Out (?)
• Description: Retrieves information about a specific VTX band from the VTX table. (Implementation missing in provided fc_msp.c)
• 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)

• Direction: In/Out
• Description: Retrieves information about a specific VTX power level from the VTX table.
• Request Payload:

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

• Reply Payload:

  Field	C Type	Size (Bytes)	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[]	Variable	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.

---

MSPv1 MultiWii Original Input Commands (200-221)

These commands are sent to the FC.

MSP_SET_RAW_RC (200 / 0xC8)

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

  Field	C Type	Size (Bytes)	Units	Description
  rcChannels	uint16_t[]	Variable (2 * channelCount)	PWM	Array of RC channel values (typically 1000-2000). Number of channels determined by payload size.

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

MSP_SET_RAW_GPS (201 / 0xC9)

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

  Field	C Type	Size (Bytes)	Units	Description
  fixType	uint8_t	1	Enum	GPS fix type.
  numSat	uint8_t	1	Count	Number of satellites.
  latitude	uint32_t	4	deg * 1e7	Latitude.
  longitude	uint32_t	4	deg * 1e7	Longitude.
  altitude	uint16_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).

• 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)

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

• Direction: In
• Description: Sets RC tuning parameters (rates, expos, TPA) for the current control rate profile.
• Payload: (Matches MSP_RC_TUNING outgoing structure)

  Field	C Type	Size (Bytes)	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.

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

MSP_ACC_CALIBRATION (205 / 0xCD)

• Direction: In
• Description: Starts the accelerometer calibration procedure.
• Payload: None
• Notes: Will fail if armed. Calls accStartCalibration().

MSP_MAG_CALIBRATION (206 / 0xCE)

• Direction: In
• Description: Starts the magnetometer calibration procedure.
• Payload: None
• Notes: Will fail if armed. Enables the CALIBRATE_MAG state flag.

MSP_SET_MISC (207 / 0xCF)

• Direction: In
• Description: Sets miscellaneous configuration settings (legacy formats/scaling).
• Payload: (Matches MSP_MISC outgoing structure)

  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	Enum	Sets gpsConfigMutable()->provider (if USE_GPS).
  legacyGpsBaud	uint8_t	1	-	Ignored.
  gpsSbasMode	uint8_t	1	Enum	Sets gpsConfigMutable()->sbasMode (if USE_GPS).
  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).

• Notes: Expects 22 bytes. Superseded by MSP2_INAV_SET_MISC.

MSP_RESET_CONF (208 / 0xD0)

• Direction: In
• Description: Resets all configuration settings to their default values and saves to EEPROM.
• Payload: None
• Notes: Will fail if armed. Suspends RX, calls resetEEPROM(), writeEEPROM(), readEEPROM(), resumes RX. Use with caution!

MSP_SET_WP (209 / 0xD1)

• Direction: In
• Description: Sets a single waypoint in the mission plan.
• Payload: (Matches MSP_WP reply structure)

  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	Enum	Waypoint action type.
  latitude	uint32_t	4	deg * 1e7	Latitude coordinate.
  longitude	uint32_t	4	deg * 1e7	Longitude coordinate.
  altitude	uint32_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.

• 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)

• Direction: In
• Description: Selects the active configuration profile and saves it.
• Payload:

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

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

MSP_SET_HEAD (211 / 0xD3)

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

  Field	C Type	Size (Bytes)	Units	Description
  heading	uint16_t	2	degrees	Target heading (0-359).

• Notes: Expects 2 bytes. Calls updateHeadingHoldTarget().

MSP_SET_SERVO_CONFIGURATION (212 / 0xD4)

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

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

MSP_SET_MOTOR (214 / 0xD6)

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

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

MSP_SET_NAV_CONFIG (215 / 0xD7)

• Not implemented

MSP_SET_3D (217 / 0xD9)

• Direction: In
• Description: Sets parameters related to 3D/reversible motor operation.
• Payload: (Matches MSP_3D outgoing structure)

  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.

• Notes: Expects 6 bytes. Requires reversible motor support.

MSP_SET_RC_DEADBAND (218 / 0xDA)

• Direction: In
• Description: Sets RC input deadband values.
• Payload: (Matches MSP_RC_DEADBAND outgoing structure)

  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.

• Notes: Expects 5 bytes.

MSP_SET_RESET_CURR_PID (219 / 0xDB)

• Direction: In
• Description: Resets the PIDs of the current profile to their default values. Does not save.
• Payload: None
• Notes: Calls PG_RESET_CURRENT(pidProfile). To save, follow with MSP_EEPROM_WRITE.

MSP_SET_SENSOR_ALIGNMENT (220 / 0xDC)

• Direction: In
• Description: Sets sensor alignment (legacy format).
• Payload: (Matches MSP_SENSOR_ALIGNMENT outgoing structure)

  Field	C Type	Size (Bytes)	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).

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

MSP_SET_LED_STRIP_MODECOLOR (221 / 0xDD)

• Direction: In
• Description: Sets the color index for a specific LED mode/function combination.
• Payload:

  Field	C Type	Size (Bytes)	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.

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

---

MSPv1 System & Debug Commands (239-254)

MSP_SET_ACC_TRIM (239 / 0xEF)

• Direction: In
• Description: Sets the accelerometer trim values (leveling calibration).
• Notes: Not implemented in INAV fc_msp.c. Use MSP_ACC_CALIBRATION.

MSP_ACC_TRIM (240 / 0xF0)

• Direction: Out
• Description: Gets the accelerometer trim values.
• Notes: Not implemented in INAV fc_msp.c. Calibration data via MSP_CALIBRATION_DATA.

MSP_SERVO_MIX_RULES (241 / 0xF1)

• Direction: Out
• Description: Retrieves the custom servo mixer rules (legacy format).
• Payload: Repeated MAX_SERVO_RULES times:

  Field	C Type	Size (Bytes)	Units	Description
  targetChannel	uint8_t	1	Index	Servo output channel index (0-based).
  inputSource	uint8_t	1	Enum	Input source for the mix (RC chan, Roll, Pitch...). See mixerSource_t.
  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)

• Direction: In
• Description: Sets a single custom servo mixer rule (legacy format).
• 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	Enum	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.

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

MSP_SET_PASSTHROUGH (245 / 0xF5)

• Direction: In/Out (Special: In command triggers passthrough mode, Reply confirms start)
• Description: Enables serial passthrough mode to peripherals like ESCs (BLHeli 4-way) or other serial devices.
• Request Payload (Legacy - 4way): None
• Request Payload (Extended):

  Field	C Type	Size (Bytes)	Description
  passthroughMode	uint8_t	1	Type of passthrough (mspPassthroughType_e: Serial ID, Serial Function, ESC 4way).
  passthroughArgument	uint8_t	1	Argument for the mode (e.g., Serial Port Identifier, Serial Function ID). Defaults to 0 if not sent.

• Reply Payload:

  Field	C Type	Size (Bytes)	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)

• Direction: Out
• Description: Retrieves the current Real-Time Clock time.
• 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)

• Direction: In
• Description: Sets the Real-Time Clock time.
• 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.

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

MSP_EEPROM_WRITE (250 / 0xFA)

• Direction: In
• Description: Saves the current configuration from RAM to non-volatile memory (EEPROM/Flash).
• Payload: None
• Notes: Will fail if armed. Suspends RX, calls writeEEPROM(), readEEPROM(), resumes RX.

MSP_DEBUGMSG (253 / 0xFD)

• Direction: Out
• Description: Retrieves debug ("serial printf") messages from the firmware.
• Payload:

  Field	C Type	Size (Bytes)	Description
  Message Text	char[]	Variable	NUL terminated debug message text.

MSP_DEBUG (254 / 0xFE)

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

  Field	C Type	Size (Bytes)	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)

• Direction: N/A (Indicator)
• 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.
• Notes: See MSPv2 documentation for the actual frame structure that follows this indicator.

---

MSPv1 Extended/INAV Commands (150-166)

MSP_STATUS_EX (150 / 0x96)

• Direction: Out
• Description: Provides extended flight controller status, including CPU load, arming flags, and calibration status, in addition to MSP_STATUS fields.
• Payload: (Starts with MSP_STATUS fields)

  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)

• Direction: Out
• Description: Provides the hardware status for each individual sensor system.
• 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	Enum	Gyro hardware status (getHwGyroStatus()).
  accStatus	uint8_t	1	Enum	Accelerometer hardware status (getHwAccelerometerStatus()).
  magStatus	uint8_t	1	Enum	Compass hardware status (getHwCompassStatus()).
  baroStatus	uint8_t	1	Enum	Barometer hardware status (getHwBarometerStatus()).
  gpsStatus	uint8_t	1	Enum	GPS hardware status (getHwGPSStatus()).
  rangefinderStatus	uint8_t	1	Enum	Rangefinder hardware status (getHwRangefinderStatus()).
  pitotStatus	uint8_t	1	Enum	Pitot hardware status (getHwPitotmeterStatus()).
  opflowStatus	uint8_t	1	Enum	Optical Flow hardware status (getHwOpticalFlowStatus()).

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

MSP_UID (160 / 0xA0)

• Direction: Out
• Description: Provides the unique identifier of the microcontroller.
• Payload:

  Field	C Type	Size (Bytes)	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)

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

  Field	C Type	Size (Bytes)	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)

• Direction: Out
• Description: Provides debugging statistics for the GPS communication link.
• 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_TX_INFO (187 / 0xBB)

• Direction: Out
• Description: Provides information potentially useful for transmitter LUA scripts.
• Payload:

  Field	C Type	Size (Bytes)	Description
  rssiSource	uint8_t	1	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_TX_INFO (186 / 0xBA)

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

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

• Notes: Calls setRSSIFromMSP(). Expects 1 byte.

---

MSPv2 Common Commands (0x1000 Range)

These commands are part of the MSPv2 specification and are intended for general configuration and interaction.

MSP2_COMMON_TZ (0x1001 / 4097)

• Direction: Out
• Description: Gets the time zone offset configuration.
• 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 (0x1002 / 4098)

• Direction: In
• Description: Sets the time zone offset configuration.
• Payload (Format 1 - Offset only):

  Field	C Type	Size (Bytes)	Units	Description
  tzOffsetMinutes	int16_t	2	Minutes	Sets timeConfigMutable()->tz_offset.

• Payload (Format 2 - Offset + DST):

  Field	C Type	Size (Bytes)	Units	Description
  tzOffsetMinutes	int16_t	2	Minutes	Sets timeConfigMutable()->tz_offset.
  tzAutoDst	uint8_t	1	Boolean	Sets timeConfigMutable()->tz_automatic_dst.

• Notes: Accepts 2 or 3 bytes.

MSP2_COMMON_SETTING (0x1003 / 4099)

• Direction: In/Out
• Description: Gets the value of a specific configuration setting, identified by name or index.
• Request Payload (By Name):

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

• Request Payload (By Index):

  Field	C Type	Size (Bytes)	Description
  zeroByte	uint8_t	1	Must be 0.
  settingIndex	uint16_t	2	Absolute index of the setting.

• Reply Payload:

  Field	C Type	Size (Bytes)	Description
  settingValue	uint8_t[]	Variable	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 (0x1004 / 4100)

• 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 (0x1005 / 4101)

• Direction: Out
• Description: Retrieves the current motor mixer configuration (throttle, roll, pitch, yaw weights for each motor) for the primary and secondary mixer profiles.
• Payload (Profile 1): Repeated MAX_SUPPORTED_MOTORS times:

  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.

• Payload (Profile 2 - Optional): Repeated MAX_SUPPORTED_MOTORS times (only if MAX_MIXER_PROFILE_COUNT > 1):

  Field	C Type	Size (Bytes)	Units	Description
  throttleWeight	uint16_t	2	Scaled (0-4000)	Profile 2 Throttle weight.
  rollWeight	uint16_t	2	Scaled (0-4000)	Profile 2 Roll weight.
  pitchWeight	uint16_t	2	Scaled (0-4000)	Profile 2 Pitch weight.
  yawWeight	uint16_t	2	Scaled (0-4000)	Profile 2 Yaw weight.

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

MSP2_COMMON_SET_MOTOR_MIXER (0x1006 / 4102)

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

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

MSP2_COMMON_SETTING_INFO (0x1007 / 4103)

• Direction: In/Out
• Description: Gets detailed information about a specific configuration setting (name, type, range, flags, current value, etc.).
• Request Payload: Same as MSP2_COMMON_SETTING request (name string or index).
• Reply Payload:

  Field	C Type	Size (Bytes)	Description
  settingName	char[]	Variable	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[]	Variable	(If mode == MODE_LOOKUP) Series of null-terminated strings for each possible value from min to max.
  settingValue	uint8_t[]	Variable	Current raw byte value of the setting.

• Notes: Very useful for configurators to dynamically build interfaces. Returns error if setting not found.

MSP2_COMMON_PG_LIST (0x1008 / 4104)

• Direction: In/Out
• 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 (Optional):

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

• Reply Payload: Repeated for each PGN found:

  Field	C Type	Size (Bytes)	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 (0x1009 / 4105)

• Direction: Out
• Description: Retrieves the configuration for all available serial ports.
• Payload: Repeated for each available serial port:

  Field	C Type	Size (Bytes)	Description
  identifier	uint8_t	1	Port identifier (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 (0x100A / 4106)

• Direction: In
• Description: Sets the configuration for one or more serial ports.
• Payload: Repeated for each port being configured:

  Field	C Type	Size (Bytes)	Description
  identifier	uint8_t	1	Port identifier (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.

• 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 (0x100B / 4107)

• Direction: In
• Description: Sets the position and status information for a "radar" Point of Interest (POI). Used for displaying other craft/objects on the OSD map.
• 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	Status of the POI (0=undefined, 1=armed, 2=lost).
  latitude	uint32_t	4	deg * 1e7	Latitude of the POI.
  longitude	uint32_t	4	deg * 1e7	Longitude of the POI.
  altitude	uint32_t	4	cm	Altitude of the POI.
  heading	uint16_t	2	degrees	Heading of the POI (0-359).
  speed	uint16_t	2	cm/s	Speed of the POI.
  linkQuality	uint8_t	1	0-4	Link quality indicator.

• Notes: Expects 19 bytes. Updates the radar_pois array.

MSP2_COMMON_SET_RADAR_ITD (0x100C / 4108)

• Direction: In
• Description: Sets radar information to display (likely internal/unused).
• Notes: Not implemented in INAV fc_msp.c.

MSP2_COMMON_SET_MSP_RC_LINK_STATS (0x100D / 4109)

• Direction: In
• 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.
• 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.

• 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 (0x100E / 4110)

• Direction: In
• 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.
• 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").

• 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).

---

MSPv2 INAV Specific Commands (0x2000 Range)

These commands are specific extensions added by the INAV project.

MSP2_INAV_STATUS (0x2000 / 8192)

• Direction: Out
• Description: Provides comprehensive flight controller status, extending MSP_STATUS_EX with full arming flags, battery profile, and mixer profile.
• 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	sizeof(boxBitmask_t)	Bitmask	Full bitmask of active flight modes (packBoxModeFlags()).
  mixerProfile	uint8_t	1	Index	Current mixer profile index (getConfigMixerProfile()).

MSP2_INAV_OPTICAL_FLOW (0x2001 / 8193)

• Direction: Out
• Description: Provides data from the optical flow sensor.
• 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 (0x2002 / 8194)

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

  Field	C Type	Size (Bytes)	Units	Description
  batteryFlags	uint8_t	1	Bitmask	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 (0x2003 / 8195)

• Direction: Out
• Description: Retrieves miscellaneous configuration settings, superseding MSP_MISC with higher precision and capacity fields.
• 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	Enum	GPS provider type (gpsConfig()->provider). 0 if USE_GPS disabled.
  legacyGpsBaud	uint8_t	1	-	Always 0 (Legacy).
  gpsSbasMode	uint8_t	1	Enum	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	Enum	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	Enum	Capacity unit (batteryMetersConfig()->capacity_unit).

MSP2_INAV_SET_MISC (0x2004 / 8196)

• Direction: In
• Description: Sets miscellaneous configuration settings, superseding MSP_SET_MISC.
• Payload: (Matches MSP2_INAV_MISC structure)

  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	Enum	Sets gpsConfigMutable()->provider (if USE_GPS).
  legacyGpsBaud	uint8_t	1	-	Ignored.
  gpsSbasMode	uint8_t	1	Enum	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	Enum	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	Enum	Sets batteryMetersConfigMutable()->capacity_unit (validated). Updates OSD energy unit if changed.

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

MSP2_INAV_BATTERY_CONFIG (0x2005 / 8197)

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

  Field	C Type	Size (Bytes)	Units	Description
  vbatScale	uint16_t	2	Scale	Voltage scale (batteryMetersConfig()->voltage.scale).
  vbatSource	uint8_t	1	Enum	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	Enum	Capacity unit (batteryMetersConfig()->capacity_unit).

• Notes: Fields are 0 if USE_ADC is not defined.

MSP2_INAV_SET_BATTERY_CONFIG (0x2006 / 8198)

• Direction: In
• Description: Sets the battery voltage/current sensor configuration and capacity settings for the current battery profile.
• Payload: (Matches MSP2_INAV_BATTERY_CONFIG structure)

  Field	C Type	Size (Bytes)	Units	Description
  vbatScale	uint16_t	2	Scale	Sets batteryMetersConfigMutable()->voltage.scale (if USE_ADC).
  vbatSource	uint8_t	1	Enum	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	Enum	Sets batteryMetersConfigMutable()->capacity_unit (validated). Updates OSD energy unit if changed.

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

MSP2_INAV_RATE_PROFILE (0x2007 / 8199)

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

  Field	C Type	Size (Bytes)	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 (0x2008 / 8200)

• Direction: In
• Description: Sets the rates and expos for the current control rate profile (stabilized and manual). Supersedes MSP_SET_RC_TUNING.
• Payload: (Matches MSP2_INAV_RATE_PROFILE structure)

  Field	C Type	Size (Bytes)	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).

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

MSP2_INAV_AIR_SPEED (0x2009 / 8201)

• Direction: Out
• Description: Retrieves the estimated or measured airspeed.
• 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 (0x200A / 8202)

• Direction: Out
• Description: Retrieves the output mapping configuration (identifies which timer outputs are used for Motors/Servos). Legacy version sending only 8-bit usage flags.
• Payload: Repeated for each Motor/Servo timer:

  Field	C Type	Size (Bytes)	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 (0x200B / 8203)

• Direction: Out
• Description: Retrieves configuration parameters for the multirotor braking mode feature.
• Payload: (Only if USE_MR_BRAKING_MODE defined)

  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 (0x200C / 8204)

• Direction: In
• Description: Sets configuration parameters for the multirotor braking mode feature.
• Payload: (Matches MSP2_INAV_MC_BRAKING structure, requires USE_MR_BRAKING_MODE)

  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.

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

MSP2_INAV_OUTPUT_MAPPING_EXT (0x200D / 8205)

• Direction: Out
• Description: Retrieves extended output mapping configuration (timer ID and usage flags). Obsolete, use MSP2_INAV_OUTPUT_MAPPING_EXT2.
• Payload: Repeated for each Motor/Servo timer:

  Field	C Type	Size (Bytes)	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 (0x200E / 8206)

• Direction: In/Out
• Description: Get or list the output mode override for hardware timers (e.g., force ONESHOT, DSHOT).
• Request Payload (Get All): None
• Request Payload (Get One):

  Field	C Type	Size (Bytes)	Description
  timerIndex	uint8_t	1	Index of the hardware timer definition (0 to HARDWARE_TIMER_DEFINITION_COUNT - 1).

• Reply Payload (List All): Repeated HARDWARE_TIMER_DEFINITION_COUNT times:

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

• Reply Payload (Get One):

  Field	C Type	Size (Bytes)	Description
  timerIndex	uint8_t	1	Timer index requested.
  outputMode	uint8_t	1	Output mode override for the requested timer.

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

MSP2_INAV_SET_TIMER_OUTPUT_MODE (0x200F / 8207)

• Direction: In
• Description: Set the output mode override for a specific hardware timer.
• Payload:

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

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

MSP2_INAV_OUTPUT_MAPPING_EXT2 (0x210D / 8461)

• Direction: Out
• Description: Retrieves the full extended output mapping configuration (timer ID, full 32-bit usage flags, and pin label). Supersedes MSP2_INAV_OUTPUT_MAPPING_EXT.
• Payload: Repeated for each Motor/Servo timer:

  Field	C Type	Size (Bytes)	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	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_MIXER (0x2010 / 8208)

• Direction: Out
• Description: Retrieves INAV-specific mixer configuration details.
• Payload:

  Field	C Type	Size (Bytes)	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	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	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 (0x2011 / 8209)

• Direction: In
• Description: Sets INAV-specific mixer configuration details.
• Payload: (Matches MSP2_INAV_MIXER structure)

  Field	C Type	Size (Bytes)	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.

• Notes: Expects 9 bytes. Calls mixerUpdateStateFlags().

MSP2_INAV_OSD_LAYOUTS (0x2012 / 8210)

• Direction: In/Out
• Description: Gets OSD layout information (counts, positions for a specific layout, or position for a specific item).
• Request Payload (Get Counts): None
• Request Payload (Get Layout):

  Field	C Type	Size (Bytes)	Description
  layoutIndex	uint8_t	1	Index of the OSD layout (0 to OSD_LAYOUT_COUNT - 1).

• Request Payload (Get Item):

  Field	C Type	Size (Bytes)	Description
  layoutIndex	uint8_t	1	Index of the OSD layout.
  itemIndex	uint16_t	2	Index of the OSD item (OSD_ITEM_* enum, 0 to OSD_ITEM_COUNT - 1).

• Reply Payload (Get Counts):

  Field	C Type	Size (Bytes)	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).

• Reply Payload (Get Layout):

  Field	C Type	Size (Bytes)	Description
  itemPositions	uint16_t[OSD_ITEM_COUNT]	OSD_ITEM_COUNT * 2	Packed X/Y positions for all items in the requested layout.

• Reply Payload (Get Item):

  Field	C Type	Size (Bytes)	Description
  itemPosition	uint16_t	2	Packed X/Y position for the requested item in the requested layout.

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

MSP2_INAV_OSD_SET_LAYOUT_ITEM (0x2013 / 8211)

• Direction: In
• Description: Sets the position of a single OSD item within a specific layout.
• 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	Index	Index of the OSD item (OSD_ITEM_* enum).
  itemPosition	uint16_t	2	Coordinates	Packed X/Y position (`(Y << 8)

• 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 (0x2014 / 8212)

• Direction: Out
• Description: Retrieves OSD alarm threshold settings.
• 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 (0x2015 / 8213)

• Direction: In
• Description: Sets OSD alarm threshold settings.
• Payload: (Matches most of MSP2_INAV_OSD_ALARMS structure)

  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).

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

MSP2_INAV_OSD_PREFERENCES (0x2016 / 8214)

• Direction: Out
• Description: Retrieves OSD display preferences (video system, units, styles, etc.).
• Payload:

  Field	C Type	Size (Bytes)	Description
  videoSystem	uint8_t	1	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	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	Enum: Measurement units (Metric/Imperial) (osdConfig()->units).
  statsEnergyUnit	uint8_t	1	Enum: Unit for energy display in post-flight stats (osdConfig()->stats_energy_unit).

• Notes: Requires USE_OSD.

MSP2_INAV_OSD_SET_PREFERENCES (0x2017 / 8215)

• Direction: In
• Description: Sets OSD display preferences.
• Payload: (Matches MSP2_INAV_OSD_PREFERENCES structure)

  Field	C Type	Size (Bytes)	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	Sets osdConfigMutable()->units.
  statsEnergyUnit	uint8_t	1	Sets osdConfigMutable()->stats_energy_unit.

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

MSP2_INAV_SELECT_BATTERY_PROFILE (0x2018 / 8216)

• Direction: In
• Description: Selects the active battery profile and saves configuration.
• Payload:

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

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

MSP2_INAV_DEBUG (0x2019 / 8217)

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

  Field	C Type	Size (Bytes)	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 (0x201A / 8218)

• Direction: Out
• Description: Retrieves the Blackbox configuration. Supersedes MSP_BLACKBOX_CONFIG.
• Payload:

  Field	C Type	Size (Bytes)	Description
  blackboxSupported	uint8_t	1	Boolean: 1 if Blackbox is supported (USE_BLACKBOX), 0 otherwise.
  blackboxDevice	uint8_t	1	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 (0x201B / 8219)

• Direction: In
• Description: Sets the Blackbox configuration. Supersedes MSP_SET_BLACKBOX_CONFIG.
• Payload: (Matches MSP2_BLACKBOX_CONFIG structure, excluding blackboxSupported)

  Field	C Type	Size (Bytes)	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.

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

MSP2_INAV_TEMP_SENSOR_CONFIG (0x201C / 8220)

• Direction: Out
• Description: Retrieves the configuration for all onboard temperature sensors.
• Payload: Repeated MAX_TEMP_SENSORS times:

  Field	C Type	Size (Bytes)	Description
  type	uint8_t	1	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 (0x201D / 8221)

• Direction: In
• Description: Sets the configuration for all onboard temperature sensors.
• Payload: Repeated MAX_TEMP_SENSORS times (matches MSP2_INAV_TEMP_SENSOR_CONFIG structure):

  Field	C Type	Size (Bytes)	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).

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

MSP2_INAV_TEMPERATURES (0x201E / 8222)

• Direction: Out
• Description: Retrieves the current readings from all configured temperature sensors.
• Payload: Repeated MAX_TEMP_SENSORS times:

  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 (0x201F / 8223)

• Direction: In/Out
• 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)	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	uint32_t	4	(If HITL_HAS_NEW_GPS_DATA) Simulated latitude (1e7 deg).
  gpsLon	uint32_t	4	(If HITL_HAS_NEW_GPS_DATA) Simulated longitude (1e7 deg).
  gpsAlt	uint32_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)	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[]	Variable	(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 (0x2020 / 8224)

• Direction: Out
• Description: Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles. Supersedes MSP_SERVO_MIX_RULES.
• Payload (Profile 1): Repeated MAX_SERVO_RULES times:

  Field	C Type	Size (Bytes)	Description
  targetChannel	uint8_t	1	Servo output channel index (0-based).
  inputSource	uint8_t	1	Enum: Input source (mixerSource_t).
  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).

• Payload (Profile 2 - Optional): Repeated MAX_SERVO_RULES times (only if MAX_MIXER_PROFILE_COUNT > 1):

  Field	C Type	Size (Bytes)	Description
  targetChannel	uint8_t	1	Profile 2 Target channel.
  inputSource	uint8_t	1	Profile 2 Input source.
  rate	uint16_t	2	Profile 2 Rate.
  speed	uint8_t	1	Profile 2 Speed.
  conditionId	uint8_t	1	Profile 2 Logic Condition ID.

• Notes: conditionId requires USE_PROGRAMMING_FRAMEWORK.

MSP2_INAV_SET_SERVO_MIXER (0x2021 / 8225)

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

  Field	C Type	Size (Bytes)	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	Enum: Input source (mixerSource_t).
  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.

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

MSP2_INAV_LOGIC_CONDITIONS (0x2022 / 8226)

• Direction: Out
• Description: Retrieves the configuration of all defined Logic Conditions.
• Payload: Repeated MAX_LOGIC_CONDITIONS times:

  Field	C Type	Size (Bytes)	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	Enum (logicConditionOp_e): Logical operation (AND, OR, XOR, etc.).
  operandAType	uint8_t	1	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	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 (0x2023 / 8227)

• Direction: In
• Description: Sets the configuration for a single Logic Condition by its index.
• Payload:

  Field	C Type	Size (Bytes)	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	Enum: Logical operation.
  operandAType	uint8_t	1	Enum: Type of operand A.
  operandAValue	uint32_t	4	Value/ID of operand A.
  operandBType	uint8_t	1	Enum: 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. Expects 15 bytes. Returns error if index is invalid.

MSP2_INAV_GLOBAL_FUNCTIONS (0x2024 / 8228)

• Not implemented

MSP2_INAV_SET_GLOBAL_FUNCTIONS (0x2025 / 8229)

• Not implemented

MSP2_INAV_LOGIC_CONDITIONS_STATUS (0x2026 / 8230)

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

  Field	C Type	Size (Bytes)	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 (0x2027 / 8231)

• Direction: Out
• Description: Retrieves the current values of all Global Variables (GVARS).
• Payload:

  Field	C Type	Size (Bytes)	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 (0x2028 / 8232)

• Direction: Out
• Description: Retrieves the configuration of all Programming PIDs.
• Payload: Repeated MAX_PROGRAMMING_PID_COUNT times:

  Field	C Type	Size (Bytes)	Description
  enabled	uint8_t	1	Boolean: 1 if the PID is enabled.
  setpointType	uint8_t	1	Enum (logicOperandType_e): Type of the setpoint source.
  setpointValue	uint32_t	4	Value/ID of the setpoint source.
  measurementType	uint8_t	1	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 (0x2029 / 8233)

• Direction: In
• Description: Sets the configuration for a single Programming PID by its index.
• Payload:

  Field	C Type	Size (Bytes)	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	Enum: Type of the setpoint source.
  setpointValue	uint32_t	4	Value/ID of the setpoint source.
  measurementType	uint8_t	1	Enum: 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. Expects 20 bytes. Returns error if index is invalid.

MSP2_INAV_PROGRAMMING_PID_STATUS (0x202A / 8234)

• Direction: Out
• Description: Retrieves the current output value of all Programming PIDs.
• Payload:

  Field	C Type	Size (Bytes)	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 (0x2030 / 8240)

• Direction: Out
• Description: Retrieves the standard PID controller gains (P, I, D, FF) for the current PID profile.
• Payload: Repeated PID_ITEM_COUNT times:

  Field	C Type	Size (Bytes)	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 (0x2031 / 8241)

• Direction: In
• Description: Sets the standard PID controller gains (P, I, D, FF) for the current PID profile.
• Payload: Repeated PID_ITEM_COUNT times:

  Field	C Type	Size (Bytes)	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).

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

MSP2_INAV_OPFLOW_CALIBRATION (0x2032 / 8242)

• Direction: In
• Description: Starts the optical flow sensor calibration procedure.
• Payload: None
• Notes: Requires USE_OPFLOW. Will fail if armed. Calls opflowStartCalibration().

MSP2_INAV_FWUPDT_PREPARE (0x2033 / 8243)

• Direction: In
• Description: Prepares the flight controller to receive a firmware update via MSP.
• Payload:

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

• 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 (0x2034 / 8244)

• Direction: In
• Description: Stores a chunk of firmware data received via MSP.
• Payload:

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

• 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 (0x2035 / 8245)

• Direction: In
• Description: Executes the firmware update process (flashes the stored firmware and reboots).
• Payload:

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

• 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 (0x2036 / 8246)

• Direction: In
• Description: Prepares the flight controller to perform a firmware rollback to the previously stored version.
• 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 (0x2037 / 8247)

• Direction: In
• Description: Executes the firmware rollback process (flashes the stored backup firmware and reboots).
• 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 (0x2038 / 8248)

• Direction: In/Out
• Description: Get or Set configuration for a specific Safe Home location.
• Request Payload (Get):

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

• Reply Payload (Get):

  Field	C Type	Size (Bytes)	Description
  safehomeIndex	uint8_t	1	Index requested.
  enabled	uint8_t	1	Boolean: 1 if this safe home is enabled.
  latitude	uint32_t	4	Latitude (1e7 deg).
  longitude	uint32_t	4	Longitude (1e7 deg).

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

MSP2_INAV_SET_SAFEHOME (0x2039 / 8249)

• Direction: In
• Description: Sets the configuration for a specific Safe Home location.
• Payload:

  Field	C Type	Size (Bytes)	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	uint32_t	4	Latitude (1e7 deg).
  longitude	uint32_t	4	Longitude (1e7 deg).

• 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 (0x203A / 8250)

• Direction: Out
• Description: Retrieves miscellaneous runtime information including timers and throttle status.
• 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 (0x203B / 8251)

• Direction: In/Out
• Description: Gets the configuration for a single Logic Condition by its index.
• Request Payload:

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

• Reply Payload: (Matches structure of one entry in MSP2_INAV_LOGIC_CONDITIONS)

  Field	C Type	Size (Bytes)	Description
  enabled	uint8_t	1	Boolean: 1 if enabled.
  activatorId	uint8_t	1	Activator ID.
  operation	uint8_t	1	Enum: Logical operation.
  operandAType	uint8_t	1	Enum: Type of operand A.
  operandAValue	uint32_t	4	Value/ID of operand A.
  operandBType	uint8_t	1	Enum: 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 (0x2040 / 8256)

• Direction: Out
• Description: Retrieves the RPM reported by each ESC via telemetry.
• Payload: Repeated getMotorCount() times:

  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 (0x2041 / 8257)

• Direction: Out
• Description: Retrieves the full telemetry data structure reported by each ESC.
• Payload:

  Field	C Type	Size (Bytes)	Description
  motorCount	uint8_t	1	Number of motors reporting telemetry (getMotorCount()).
  escData	escSensorData_t[]	motorCount * sizeof(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 (0x2048 / 8264)

• Direction: Out
• Description: Retrieves the full configuration for each LED on the strip using the ledConfig_t structure. Supersedes MSP_LED_STRIP_CONFIG.
• Payload: Repeated LED_MAX_STRIP_LENGTH times:

  Field	C Type	Size (Bytes)	Description
  ledConfig	ledConfig_t	sizeof(ledConfig_t)	Full configuration structure for the LED.

• 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 (0x2049 / 8265)

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

  Field	C Type	Size (Bytes)	Description
  ledIndex	uint8_t	1	Index of the LED to configure (0 to LED_MAX_STRIP_LENGTH - 1).
  ledConfig	ledConfig_t	sizeof(ledConfig_t)	Full configuration structure for the LED.

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

MSP2_INAV_FW_APPROACH (0x204A / 8266)

• Direction: In/Out
• Description: Get or Set configuration for a specific Fixed Wing Autoland approach.
• Request Payload (Get):

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

• Reply Payload (Get):

  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	Enum	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 (0x204B / 8267)

• Direction: In
• Description: Sets the configuration for a specific Fixed Wing Autoland approach.
• Payload: (Matches MSP2_INAV_FW_APPROACH reply structure)

  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	Enum	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.

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

MSP2_INAV_GPS_UBLOX_COMMAND (0x2050 / 8272)

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

  Field	C Type	Size (Bytes)	Description
  ubxCommand	uint8_t[]	Variable (>= 8)	Raw U-Blox UBX protocol command frame (including header, class, ID, length, payload, checksum).

• 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 (0x2060 / 8288)

• Direction: Out
• Description: Retrieves Rate Dynamics configuration parameters for the current control rate profile.
• 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 (0x2061 / 8289)

• Direction: In
• Description: Sets Rate Dynamics configuration parameters for the current control rate profile.
• Payload: (Matches MSP2_INAV_RATE_DYNAMICS structure)

  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.

• Notes: Requires USE_RATE_DYNAMICS. Expects 6 bytes.

MSP2_INAV_EZ_TUNE (0x2070 / 8304)

• Direction: Out
• Description: Retrieves the current EZ-Tune parameters.
• Payload:

  Field	C Type	Size (Bytes)	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 (0x2071 / 8305)

• Direction: In
• Description: Sets the EZ-Tune parameters and triggers an update.
• Payload: (Matches MSP2_INAV_EZ_TUNE structure, potentially omitting snappiness)

  Field	C Type	Size (Bytes)	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.

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

MSP2_INAV_SELECT_MIXER_PROFILE (0x2080 / 8320)

• Direction: In
• Description: Selects the active mixer profile and saves configuration.
• Payload:

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

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

MSP2_ADSB_VEHICLE_LIST (0x2090 / 8336)

• Direction: Out
• Description: Retrieves the list of currently tracked ADSB (Automatic Dependent Surveillance–Broadcast) vehicles.
• Payload:

  Field	C Type	Size (Bytes)	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.
  Vehicle Data (Repeated maxVehicles times):
  callsign	char[ADSB_CALL_SIGN_MAX_LENGTH]	ADSB_CALL_SIGN_MAX_LENGTH	Vehicle callsign (padded with nulls).
  icao	uint32_t	4	ICAO 24-bit address.
  latitude	uint32_t	4	Latitude (1e7 deg).
  longitude	uint32_t	4	Longitude (1e7 deg).
  altitude	uint32_t	4	Altitude (cm).
  heading	uint16_t	2	Heading (degrees).
  tslc	uint8_t	1	Time Since Last Communication (seconds).
  emitterType	uint8_t	1	Enum: Type of ADSB emitter.
  ttl	uint8_t	1	Time-to-live counter for this entry.

• Notes: Requires USE_ADSB.

MSP2_INAV_CUSTOM_OSD_ELEMENTS (0x2100 / 8448)

• Direction: Out
• Description: Retrieves counts related to custom OSD elements defined by the programming framework.
• Payload:

  Field	C Type	Size (Bytes)	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 (0x2101 / 8449)

• Direction: In/Out
• 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 (0x2102 / 8450)

• Direction: In
• 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_SERVO_CONFIG (0x2200 / 8704)

• Direction: Out
• Description: Retrieves the configuration parameters for all supported servos (min, max, middle, rate). Supersedes MSP_SERVO_CONFIGURATIONS.
• Payload: Repeated MAX_SUPPORTED_SERVOS times:

  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 (0x2201 / 8705)

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

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

MSP2_INAV_GEOZONE (0x2210 / 8720)

• Direction: In/Out
• Description: Get configuration for a specific Geozone.
• Request Payload (Get):

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

• Reply Payload (Get):

  Field	C Type	Size (Bytes)	Description
  geozoneIndex	uint8_t	1	Index requested.
  type	uint8_t	1	Enum (GEOZONE_TYPE_*): Zone type (Inclusion/Exclusion).
  shape	uint8_t	1	Enum (GEOZONE_SHAPE_*): 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	Enum (GEOZONE_ACTION_*): 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 (0x2211 / 8721)

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

  Field	C Type	Size (Bytes)	Description
  geozoneIndex	uint8_t	1	Index of the geozone (0 to MAX_GEOZONES_IN_CONFIG - 1).
  type	uint8_t	1	Enum (GEOZONE_TYPE_*): Zone type.
  shape	uint8_t	1	Enum (GEOZONE_SHAPE_*): Zone shape.
  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	Enum (GEOZONE_ACTION_*): Fence action.
  vertexCount	uint8_t	1	Number of vertices to be defined (used for validation later).

• 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 (0x2212 / 8722)

• Direction: In/Out
• Description: Get a specific vertex (or center+radius for circular zones) of a Geozone.
• Request Payload (Get):

  Field	C Type	Size (Bytes)	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 (Get - Polygon):

  Field	C Type	Size (Bytes)	Units	Description
  geozoneIndex	uint8_t	1	Index	Geozone index requested.
  vertexId	uint8_t	1	Index	Vertex index requested.
  latitude	uint32_t	4	deg * 1e7	Vertex latitude.
  longitude	uint32_t	4	deg * 1e7	Vertex longitude.

• Reply Payload (Get - Circular):

  Field	C Type	Size (Bytes)	Units	Description
  geozoneIndex	uint8_t	1	Index	Geozone index requested.
  vertexId	uint8_t	1	Index	Vertex index requested (always 0 for center).
  centerLatitude	uint32_t	4	deg * 1e7	Center latitude.
  centerLongitude	uint32_t	4	deg * 1e7	Center longitude.
  radius	uint32_t	4	cm	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 (0x2213 / 8723)

• Direction: In
• Description: Sets a specific vertex (or center+radius for circular zones) for a Geozone.
• Payload (Polygon):

  Field	C Type	Size (Bytes)	Units	Description
  geozoneIndex	uint8_t	1	Index	Geozone index.
  vertexId	uint8_t	1	Index	Vertex index (0-based).
  latitude	uint32_t	4	deg * 1e7	Vertex latitude.
  longitude	uint32_t	4	deg * 1e7	Vertex longitude.

• Payload (Circular):

  Field	C Type	Size (Bytes)	Units	Description
  geozoneIndex	uint8_t	1	Index	Geozone index.
  vertexId	uint8_t	1	Index	Vertex index (must be 0 for center).
  centerLatitude	uint32_t	4	deg * 1e7	Center latitude.
  centerLongitude	uint32_t	4	deg * 1e7	Center longitude.
  radius	uint32_t	4	cm	Radius of the circular zone.

• 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).

---

MSPv2 Betaflight Commands (0x3000 Range)

MSP2_BETAFLIGHT_BIND (0x3000 / 12288)

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

---

MSPv2 Sensor Input Commands (0x1F00 Range)

These commands are typically sent to the FC from external sensor modules connected via a serial port configured for MSP sensor input. They usually expect no reply (MSP_RESULT_NO_REPLY).

MSP2_SENSOR_RANGEFINDER (0x1F01 / 7937)

• Direction: In
• Description: Provides rangefinder data (distance, quality) from an external MSP-based sensor.
• Payload: (mspSensorRangefinderDataMessage_t)

  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.

• Notes: Requires USE_RANGEFINDER_MSP. Calls mspRangefinderReceiveNewData().

MSP2_SENSOR_OPTIC_FLOW (0x1F02 / 7938)

• Direction: In
• Description: Provides optical flow data (motion, quality) from an external MSP-based sensor.
• Payload: (mspSensorOpflowDataMessage_t)

  Field	C Type	Size (Bytes)	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.

• Notes: Requires USE_OPFLOW_MSP. Calls mspOpflowReceiveNewData().

MSP2_SENSOR_GPS (0x1F03 / 7939)

• Direction: In
• Description: Provides detailed GPS data from an external MSP-based GPS module.
• Payload: (mspSensorGpsDataMessage_t)

  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	Enum	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).

• Notes: Requires USE_GPS_PROTO_MSP. Calls mspGPSReceiveNewData().

MSP2_SENSOR_COMPASS (0x1F04 / 7940)

• Direction: In
• Description: Provides magnetometer data from an external MSP-based compass module.
• Payload: (mspSensorCompassDataMessage_t)

  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.

• Notes: Requires USE_MAG_MSP. Calls mspMagReceiveNewData().

MSP2_SENSOR_BAROMETER (0x1F05 / 7941)

• Direction: In
• Description: Provides barometer data from an external MSP-based barometer module.
• Payload: (mspSensorBaroDataMessage_t)

  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.

• Notes: Requires USE_BARO_MSP. Calls mspBaroReceiveNewData().

MSP2_SENSOR_AIRSPEED (0x1F06 / 7942)

• Direction: In
• Description: Provides airspeed data from an external MSP-based pitot sensor module.
• Payload: (mspSensorAirspeedDataMessage_t)

  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.

• Notes: Requires USE_PITOT_MSP. Calls mspPitotmeterReceiveNewData().

MSP2_SENSOR_HEADTRACKER (0x1F07 / 7943)

• Direction: In
• 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.