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7d213af
Drop MSP_MISC frame
DzikuVx Apr 10, 2024
30f7eb6
Merge upstream/maintenance-10.x to resolve conflicts with PR #9921
sensei-hacker Aug 30, 2026
853be53
Remove leftover MSP_SET_MISC reference from MSP2_INAV_SET_MISC descri…
sensei-hacker Aug 30, 2026
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60 changes: 2 additions & 58 deletions docs/development/msp/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -280,7 +280,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
[110 - MSP_ANALOG](#msp_analog)
[111 - MSP_RC_TUNING](#msp_rc_tuning)
[113 - MSP_ACTIVEBOXES](#msp_activeboxes)
[114 - MSP_MISC](#msp_misc)
[116 - MSP_BOXNAMES](#msp_boxnames)
[117 - MSP_PIDNAMES](#msp_pidnames)
[118 - MSP_WP](#msp_wp)
Expand Down Expand Up @@ -311,7 +310,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
[204 - MSP_SET_RC_TUNING](#msp_set_rc_tuning)
[205 - MSP_ACC_CALIBRATION](#msp_acc_calibration)
[206 - MSP_MAG_CALIBRATION](#msp_mag_calibration)
[207 - MSP_SET_MISC](#msp_set_misc)
[208 - MSP_RESET_CONF](#msp_reset_conf)
[209 - MSP_SET_WP](#msp_set_wp)
[210 - MSP_SELECT_SETTING](#msp_select_setting)
Expand Down Expand Up @@ -2008,33 +2006,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:

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

## <a id="msp_misc"></a>`MSP_MISC (114 / 0x72)`
**Description:** Retrieves miscellaneous configuration settings, mostly related to RC, GPS, Mag, and Battery voltage (legacy formats).

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

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

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

## <a id="msp_boxnames"></a>`MSP_BOXNAMES (116 / 0x74)`
**Description:** Provides a semicolon-separated string containing the names of all available flight modes (boxes).

Expand Down Expand Up @@ -2443,33 +2414,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:

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

## <a id="msp_set_misc"></a>`MSP_SET_MISC (207 / 0xcf)`
**Description:** Sets miscellaneous configuration settings (legacy formats/scaling).

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

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

**Notes:** Expects 22 bytes. Superseded by `MSP2_INAV_SET_MISC`.

## <a id="msp_reset_conf"></a>`MSP_RESET_CONF (208 / 0xd0)`
**Description:** Resets all configuration settings to their default values and saves to EEPROM.

Expand Down Expand Up @@ -3192,7 +3136,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
**Notes:** Requires `USE_CURRENT_METER`/`USE_ADC` for current-related fields; values fall back to zero when unavailable. Capacity fields are reported in the units configured by `batteryMetersConfig()->capacity_unit` (mAh or mWh).

## <a id="msp2_inav_misc"></a>`MSP2_INAV_MISC (8195 / 0x2003)`
**Description:** Retrieves miscellaneous configuration settings, superseding `MSP_MISC` with higher precision and capacity fields.
**Description:** Retrieves miscellaneous configuration settings with higher precision and capacity fields.

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

Expand Down Expand Up @@ -3222,7 +3166,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
| `capacityUnit` | `uint8_t` | 1 | [batCapacityUnit_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-batcapacityunit_e) | Enum `batCapacityUnit_e` Capacity unit (`batteryMetersConfig()->capacity_unit`) |

## <a id="msp2_inav_set_misc"></a>`MSP2_INAV_SET_MISC (8196 / 0x2004)`
**Description:** Sets miscellaneous configuration settings, superseding `MSP_SET_MISC`.
**Description:** Sets miscellaneous configuration settings.

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
Expand Down
223 changes: 4 additions & 219 deletions docs/development/msp/msp_messages.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"version": {
"major": 2,
"minor": 1,
"major": 3,
"minor": 0,
"patch": 0
},
"messages": {
Expand Down Expand Up @@ -4054,116 +4054,6 @@
"notes": "Use this instead of `MSP_STATUS` or `MSP_STATUS_EX` if more than 32 modes are possible.",
"description": "Provides the full bitmask of currently active flight modes (boxes)."
},
"MSP_MISC": {
"code": 114,
"mspv": 1,
"replaced_by": ["MSP2_INAV_MISC"],
"request": null,
"reply": {
"payload": [
{
"name": "midRc",
"ctype": "uint16_t",
"desc": "Mid RC value (`PWM_RANGE_MIDDLE`, typically 1500)",
"units": "PWM"
},
{
"name": "legacyMinThrottle",
"ctype": "uint16_t",
"desc": "Always 0 (Legacy)",
"value": 0
},
{
"name": "maxThrottle",
"ctype": "uint16_t",
"desc": "Maximum throttle command (`getMaxThrottle()`)",
"units": "PWM"
},
{
"name": "minCommand",
"ctype": "uint16_t",
"desc": "Minimum motor command when disarmed (`motorConfig()->mincommand`)",
"units": "PWM"
},
{
"name": "failsafeThrottle",
"ctype": "uint16_t",
"desc": "Failsafe throttle level (`currentBatteryProfile->failsafe_throttle`)",
"units": "PWM"
},
{
"name": "gpsType",
"ctype": "uint8_t",
"desc": "Enum `gpsProvider_e` GPS provider type (`gpsConfig()->provider`). 0 if `USE_GPS` disabled",
"units": "Enum",
"enum": "gpsProvider_e"
},
{
"name": "legacyGpsBaud",
"ctype": "uint8_t",
"desc": "Always 0 (Legacy)",
"value": 0
},
{
"name": "gpsSbasMode",
"ctype": "uint8_t",
"desc": "Enum `sbasMode_e` GPS SBAS mode (`gpsConfig()->sbasMode`). 0 if `USE_GPS` disabled",
"units": "Enum",
"enum": "sbasMode_e"
},
{
"name": "legacyMwCurrentOut",
"ctype": "uint8_t",
"desc": "Always 0 (Legacy)",
"value": 0
},
{
"name": "rssiChannel",
"ctype": "uint8_t",
"desc": "RSSI channel index (1-based) (`rxConfig()->rssi_channel`)",
"units": "Index"
},
{
"name": "reserved1",
"ctype": "uint8_t",
"desc": "Always 0",
"value": 0
},
{
"name": "magDeclination",
"ctype": "uint16_t",
"desc": "Magnetic declination / 10 (`compassConfig()->mag_declination / 10`). 0 if `USE_MAG` disabled",
"units": "0.1 degrees"
},
{
"name": "vbatScale",
"ctype": "uint8_t",
"desc": "Voltage scale / 10 (`batteryMetersConfig()->voltage.scale / 10`). 0 if `USE_ADC` disabled",
"units": "Scale / 10"
},
{
"name": "vbatMinCell",
"ctype": "uint8_t",
"desc": "Min cell voltage / 10 (`currentBatteryProfile->voltage.cellMin / 10`). 0 if `USE_ADC` disabled",
"units": "0.1V"
},
{
"name": "vbatMaxCell",
"ctype": "uint8_t",
"desc": "Max cell voltage / 10 (`currentBatteryProfile->voltage.cellMax / 10`). 0 if `USE_ADC` disabled",
"units": "0.1V"
},
{
"name": "vbatWarningCell",
"ctype": "uint8_t",
"desc": "Warning cell voltage / 10 (`currentBatteryProfile->voltage.cellWarning / 10`). 0 if `USE_ADC` disabled",
"units": "0.1V"
}
]
},
"notes": "Superseded by `MSP2_INAV_MISC` and other specific commands which offer better precision and more fields.",
"description": "Retrieves miscellaneous configuration settings, mostly related to RC, GPS, Mag, and Battery voltage (legacy formats)."
},
"MSP_BOXNAMES": {
"code": 116,
"mspv": 1,
Expand Down Expand Up @@ -5159,111 +5049,6 @@
"notes": "Will fail if armed. Enables the `CALIBRATE_MAG` state flag.",
"description": "Starts the magnetometer calibration procedure."
},
"MSP_SET_MISC": {
"code": 207,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_MISC"],
"request": {
"payload": [
{
"name": "midRc",
"ctype": "uint16_t",
"desc": "Ignored",
"units": "PWM"
},
{
"name": "legacyMinThrottle",
"ctype": "uint16_t",
"desc": "Ignored"
},
{
"name": "legacyMaxThrottle",
"ctype": "uint16_t",
"desc": "Ignored"
},
{
"name": "minCommand",
"ctype": "uint16_t",
"desc": "Sets `motorConfigMutable()->mincommand` (constrained 0-PWM_RANGE_MAX)",
"units": "PWM"
},
{
"name": "failsafeThrottle",
"ctype": "uint16_t",
"desc": "Sets `currentBatteryProfileMutable->failsafe_throttle` (constrained PWM_RANGE_MIN/MAX)",
"units": "PWM"
},
{
"name": "gpsType",
"ctype": "uint8_t",
"desc": "Enum `gpsProvider_e` (Sets `gpsConfigMutable()->provider`)",
"units": "Enum",
"enum": "gpsProvider_e"
},
{
"name": "legacyGpsBaud",
"ctype": "uint8_t",
"desc": "Ignored"
},
{
"name": "gpsSbasMode",
"ctype": "uint8_t",
"desc": "Enum `sbasMode_e` (Sets `gpsConfigMutable()->sbasMode`)",
"units": "Enum",
"enum": "sbasMode_e"
},
{
"name": "legacyMwCurrentOut",
"ctype": "uint8_t",
"desc": "Ignored"
},
{
"name": "rssiChannel",
"ctype": "uint8_t",
"desc": "Sets `rxConfigMutable()->rssi_channel` (constrained 0-MAX_SUPPORTED_RC_CHANNEL_COUNT). Updates source",
"units": "Index"
},
{
"name": "reserved1",
"ctype": "uint8_t",
"desc": "Ignored"
},
{
"name": "magDeclination",
"ctype": "uint16_t",
"desc": "Sets `compassConfigMutable()->mag_declination = value * 10` (if `USE_MAG`)",
"units": "0.1 degrees"
},
{
"name": "vbatScale",
"ctype": "uint8_t",
"desc": "Sets `batteryMetersConfigMutable()->voltage.scale = value * 10` (if `USE_ADC`)",
"units": "Scale / 10"
},
{
"name": "vbatMinCell",
"ctype": "uint8_t",
"desc": "Sets `currentBatteryProfileMutable->voltage.cellMin = value * 10` (if `USE_ADC`)",
"units": "0.1V"
},
{
"name": "vbatMaxCell",
"ctype": "uint8_t",
"desc": "Sets `currentBatteryProfileMutable->voltage.cellMax = value * 10` (if `USE_ADC`)",
"units": "0.1V"
},
{
"name": "vbatWarningCell",
"ctype": "uint8_t",
"desc": "Sets `currentBatteryProfileMutable->voltage.cellWarning = value * 10` (if `USE_ADC`)",
"units": "0.1V"
}
]
},
"reply": null,
"notes": "Expects 22 bytes. Superseded by `MSP2_INAV_SET_MISC`.",
"description": "Sets miscellaneous configuration settings (legacy formats/scaling)."
},
"MSP_RESET_CONF": {
"code": 208,
"mspv": 1,
Expand Down Expand Up @@ -7098,7 +6883,7 @@
]
},
"notes": "",
"description": "Retrieves miscellaneous configuration settings, superseding `MSP_MISC` with higher precision and capacity fields."
"description": "Retrieves miscellaneous configuration settings with higher precision and capacity fields."
},
"MSP2_INAV_SET_MISC": {
"code": 8196,
Expand Down Expand Up @@ -7236,7 +7021,7 @@
},
"reply": null,
"notes": "Expects 41 bytes. Performs validation on `vbatSource` and `capacityUnit`.",
"description": "Sets miscellaneous configuration settings, superseding `MSP_SET_MISC`."
"description": "Sets miscellaneous configuration settings."
},
"MSP2_INAV_BATTERY_CONFIG": {
"code": 8197,
Expand Down
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