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docs: add the three MSP commands the registry is missing #12018

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3a60a1d
docs: add MSP2_INAV_MAG_UNALIGNED to the message registry
MrScothh Sep 23, 2026
997affd
docs: add the SRXL2 ESC messages to the MSP registry
MrScothh Sep 23, 2026
9b430ba
docs: bump the message registry to 2.1.2
MrScothh Sep 23, 2026
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45 changes: 45 additions & 0 deletions docs/development/msp/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -471,6 +471,9 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
[8744 - MSP2_INAV_TIMESYNC](#msp2_inav_timesync)
[8752 - MSP2_INAV_SET_AUX_RC](#msp2_inav_set_aux_rc)
[8753 - MSP2_INAV_WIND](#msp2_inav_wind)
[8754 - MSP2_INAV_MAG_UNALIGNED](#msp2_inav_mag_unaligned)
[8755 - MSP2_INAV_ESC_SRXL2_STATUS](#msp2_inav_esc_srxl2_status)
[8756 - MSP2_INAV_ESC_SRXL2_CALIBRATE](#msp2_inav_esc_srxl2_calibrate)
[12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)
[12289 - MSP2_RX_BIND](#msp2_rx_bind)

Expand Down Expand Up @@ -5002,6 +5005,48 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:

**Notes:** Requires `USE_WIND_ESTIMATOR`; returns zeroes when wind estimation is not compiled in or not yet valid. Check bit 0 of `flags` before using speed/angle values.

## <a id="msp2_inav_mag_unaligned"></a>`MSP2_INAV_MAG_UNALIGNED (8754 / 0x2232)`
**Description:** Retrieves the calibrated compass reading in the sensor's own frame, before the board and sensor alignment are applied.

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

**Reply Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `magX` | `int16_t` | 2 | Raw units | Compass X reading with zero offset and gain calibration applied, before any alignment rotation (`mag.magADCUnaligned[X]`). 0 if `USE_MAG` is not defined |
| `magY` | `int16_t` | 2 | Raw units | Compass Y reading, as `magX` |
| `magZ` | `int16_t` | 2 | Raw units | Compass Z reading, as `magX` |

**Notes:** Always answers with 6 bytes; they are zero on targets built without `USE_MAG`.

## <a id="msp2_inav_esc_srxl2_status"></a>`MSP2_INAV_ESC_SRXL2_STATUS (8755 / 0x2233)`
**Description:** Reports the Spektrum Smart ESC (SRXL2) link and the state of its throttle range calibration.

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

**Reply Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `calibrationPhase` | `uint8_t` | 1 | [srxl2CalPhase_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-srxl2calphase_e) | Where the throttle range calibration is (`srxl2MotorCalibrationPhase()`): 0 off, 1 full throttle waiting for the ESC to power up, 2 holding high while the ESC takes the endpoint, 3 low, 4 high driven by hand, 5 low driven by hand |
| `linked` | `uint8_t` | 1 | Boolean | 1 if every SRXL2 port has an ESC that completed its handshake and was heard within the link timeout (`srxl2MotorIsConnected()`), otherwise 0 |
| `lastCalibrationResult` | `uint8_t` | 1 | [srxl2CalResult_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-srxl2calresult_e) | Why the last request to start a calibration was refused, or 0 if it was not (`srxl2MotorCalibrationLastResult()`): 1 armed, 2 no SRXL2 port, 3 battery connected, 4 no battery voltage sensor |
| `portCount` | `uint8_t` | 1 | Count | SRXL2 ports opened (`srxl2MotorCount()`) |
| `motorCount` | `uint8_t` | 1 | Count | Motors the mixer wants (`getMotorCount()`). Arming is refused while this is more than `portCount` |

**Notes:** Requires `USE_MOTOR_SRXL2`. `lastCalibrationResult` exists because `MSP2_INAV_ESC_SRXL2_CALIBRATE` has no reply to carry a refusal reason in.

## <a id="msp2_inav_esc_srxl2_calibrate"></a>`MSP2_INAV_ESC_SRXL2_CALIBRATE (8756 / 0x2234)`
**Description:** Starts, drives or aborts the SRXL2 throttle range calibration.

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `phase` | `uint8_t` | 1 | [srxl2CalPhase_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-srxl2calphase_e) | What to do (`srxl2CalPhase_e`): 0 abort, 1 start the unattended sequence, 4 drive high by hand, 5 drive low by hand. Other values are refused |

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

**Notes:** Requires `USE_MOTOR_SRXL2`. Fails when the driver refuses: armed, no SRXL2 port, battery already connected for the unattended sequence, or no voltage sensor to detect the ESC powering up. `MSP2_INAV_ESC_SRXL2_STATUS` reports which. Phases 1 and 4 command full throttle with the aircraft disarmed; both end on a timeout, and arming cancels any phase.

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

Expand Down
92 changes: 91 additions & 1 deletion docs/development/msp/msp_messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
"version": {
"major": 2,
"minor": 1,
"patch": 1
"patch": 2
},
"messages": {
"MSP_API_VERSION": {
Expand Down Expand Up @@ -11897,6 +11897,96 @@
"notes": "Requires `USE_WIND_ESTIMATOR`; returns zeroes when wind estimation is not compiled in or not yet valid. Check bit 0 of `flags` before using speed/angle values.",
"description": "Retrieves the estimated horizontal wind speed and direction from the internal wind estimator."
},
"MSP2_INAV_MAG_UNALIGNED": {
"code": 8754,
"mspv": 2,
"request": null,
"reply": {
"payload": [
{
"name": "magX",
"ctype": "int16_t",
"desc": "Compass X reading with zero offset and gain calibration applied, before any alignment rotation (`mag.magADCUnaligned[X]`). 0 if `USE_MAG` is not defined",
"units": "Raw units"
},
{
"name": "magY",
"ctype": "int16_t",
"desc": "Compass Y reading, as `magX`",
"units": "Raw units"
},
{
"name": "magZ",
"ctype": "int16_t",
"desc": "Compass Z reading, as `magX`",
"units": "Raw units"
}
]
},
"notes": "Always answers with 6 bytes; they are zero on targets built without `USE_MAG`.",
"description": "Retrieves the calibrated compass reading in the sensor's own frame, before the board and sensor alignment are applied."
},
"MSP2_INAV_ESC_SRXL2_STATUS": {
"code": 8755,
"mspv": 2,
"request": null,
"reply": {
"payload": [
{
"name": "calibrationPhase",
"ctype": "uint8_t",
"desc": "Where the throttle range calibration is (`srxl2MotorCalibrationPhase()`): 0 off, 1 full throttle waiting for the ESC to power up, 2 holding high while the ESC takes the endpoint, 3 low, 4 high driven by hand, 5 low driven by hand",
"units": "Enum",
"enum": "srxl2CalPhase_e"
},
{
"name": "linked",
"ctype": "uint8_t",
"desc": "1 if every SRXL2 port has an ESC that completed its handshake and was heard within the link timeout (`srxl2MotorIsConnected()`), otherwise 0",
"units": "Boolean"
},
{
"name": "lastCalibrationResult",
"ctype": "uint8_t",
"desc": "Why the last request to start a calibration was refused, or 0 if it was not (`srxl2MotorCalibrationLastResult()`): 1 armed, 2 no SRXL2 port, 3 battery connected, 4 no battery voltage sensor",
"units": "Enum",
"enum": "srxl2CalResult_e"
},
{
"name": "portCount",
"ctype": "uint8_t",
"desc": "SRXL2 ports opened (`srxl2MotorCount()`)",
"units": "Count"
},
{
"name": "motorCount",
"ctype": "uint8_t",
"desc": "Motors the mixer wants (`getMotorCount()`). Arming is refused while this is more than `portCount`",
"units": "Count"
}
]
},
"notes": "Requires `USE_MOTOR_SRXL2`. `lastCalibrationResult` exists because `MSP2_INAV_ESC_SRXL2_CALIBRATE` has no reply to carry a refusal reason in.",
"description": "Reports the Spektrum Smart ESC (SRXL2) link and the state of its throttle range calibration."
},
"MSP2_INAV_ESC_SRXL2_CALIBRATE": {
"code": 8756,
"mspv": 2,
"request": {
"payload": [
{
"name": "phase",
"ctype": "uint8_t",
"desc": "What to do (`srxl2CalPhase_e`): 0 abort, 1 start the unattended sequence, 4 drive high by hand, 5 drive low by hand. Other values are refused",
"units": "Enum",
"enum": "srxl2CalPhase_e"
}
]
},
"reply": null,
"notes": "Requires `USE_MOTOR_SRXL2`. Fails when the driver refuses: armed, no SRXL2 port, battery already connected for the unattended sequence, or no voltage sensor to detect the ESC powering up. `MSP2_INAV_ESC_SRXL2_STATUS` reports which. Phases 1 and 4 command full throttle with the aircraft disarmed; both end on a timeout, and arming cancels any phase.",
"description": "Starts, drives or aborts the SRXL2 throttle range calibration."
},
"MSP2_BETAFLIGHT_BIND": {
"code": 12288,
"mspv": 2,
Expand Down
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