INAV MSP Frame Changelog

MSP API Version 2.3

MSP2_INAV_MC_BRAKING / MSP2_INAV_SET_MC_BRAKING

New MSP frames used to setup mixer properties.

Frame IDs:

• MSP2_INAV_MC_BRAKING, Frame ID 0x200B
• MSP2_INAV_SET_MC_BRAKING, Frame ID 0x200C

Length	Setting	Notes
2	nav_mc_braking_speed_threshold
2	nav_mc_braking_disengage_speed
2	nav_mc_braking_timeout
1	nav_mc_braking_boost_factor
2	nav_mc_braking_boost_timeout
2	nav_mc_braking_boost_speed_threshold
2	nav_mc_braking_boost_disengage_speed
1	nav_mc_braking_bank_angle

MSP API Version 2.2

Since mixerMode is no longer used, legacy MSP frames will return always mixer mode 3 (QuadX) and attempt to set mixer mode via MSP will be ignored. This affects following MSP frames:

1. MSP_IDENT
2. MSP_MIXER
3. MSP_BF_CONFIG
4. MSP_SET_MIXER
5. MSP_SET_BF_CONFIG

MSP2_INAV_MIXER / MSP2_INAV_SET_MIXER

New MSP frames used to setup mixer properties.

Frame IDs:

• MSP2_INAV_MIXER, Frame ID 0x2010
• MSP2_INAV_SET_MIXER, Frame ID 0x2011

Length	Setting	Notes
1	yaw_motor_direction
2	yaw_jump_prevention_limit
1	platform_type
1	has_flaps

INAV 1.9 MSP Version 2.1

MSP2_COMMON_MOTOR_MIXER / MSP2_COMMON_SET_MOTOR_MIXER

Frame IDs:

• MMSP2_COMMON_MOTOR_MIXER, Frame ID 0x1005
• MSP2_COMMON_SET_MOTOR_MIXER, Frame ID 0x1006

INAV 1.7.1 MSP API Version 1.26

MSP_FW_CONFIG / MSP_SET_FW_CONFIG

Get and set Fixed Wing options

Frame IDs:

• MSP_FW_CONFIG, Frame ID 23
• MSP_SET_FW_CONFIG, Frame ID 24

Length	Setting	Notes
2	nav_fw_cruise_thr
2	nav_fw_min_thr
2	nav_fw_max_thr
1	nav_fw_bank_angle
1	nav_fw_climb_angle
1	nav_fw_dive_angle
1	nav_fw_pitch2thr
2	nav_fw_loiter_radius

MSP_RTH_AND_LAND_CONFIG / MSP_SET_RTH_AND_LAND_CONFIG

Get and set Return-To-Home and Land options

Frame IDs:

• MSP_RTH_AND_LAND_CONFIG, Frame ID 21
• MSP_SET_RTH_AND_LAND_CONFIG, Frame ID 22

Length	Setting	Notes
2	nav_min_rth_distance
1	nav_rth_climb_first	boolean
1	nav_rth_climb_ignore_emerg	boolean
1	nav_rth_tail_first	boolean
1	nav_rth_allow_landing	boolean
1	nav_rth_alt_mode	dictionary
2	nav_rth_abort_threshold
2	nav_rth_altitude
2	nav_landing_speed
2	nav_land_slowdown_minalt
2	nav_land_slowdown_maxalt
2	nav_emerg_landing_speed

INAV 1.6 MSP API Version 1.24

MSP_WP_MISSION_LOAD / MSP_WP_MISSION_SAVE

Load/save waypoint mission to non-volatile storage

Frame IDs:

• MSP_WP_MISSION_LOAD, Frame ID 18
• MSP_WP_MISSION_SAVE, Frame ID 19

Length	Notes
1	Mission ID (reserved)

MSP_POSITION_ESTIMATION_CONFIG

Frame IDs:

• MSP_POSITION_ESTIMATION_CONFIG, Frame ID 16
• MSP_SET_POSITION_ESTIMATION_CONFIG, Frame ID 17

Length	Setting	Notes
2	inav_w_z_baro_p	float as value * 100
2	inav_w_z_gps_p	float as value * 100
2	inav_w_z_gps_v	float as value * 100
2	inav_w_xy_gps_p	float as value * 100
2	inav_w_xy_gps_v	float as value * 100
1	inav_gps_min_sats
1	inav_use_gps_velned	ON/OFF
6	reserved

MSP_CALIBRATION_DATA

Sensors calibration data

Length	Setting	Notes
2	acczero_x
2	acczero_y
2	acczero_z
2	accgain_x
2	accgain_y
2	accgain_z
2	magzero_x
2	magzero_y
2	magzero_z
8	reserved

Frame IDs:

• MSP_CALIBRATION_DATA, Frame ID 14
• MSP_SET_CALIBRATION_DATA, Frame ID 15

MSP_NAV_POSHOLD

Basic position hold settings. Mostly, but not only, for multirotor

Frame IDs:

• MSP_NAV_POSHOLD, Frame ID 12
• MSP_SET_NAV_POSHOLD, Frame ID 13

Length	Setting	Notes
1	nav_user_control_mode	dictionary
2	nav_max_speed
2	nav_max_climb_rate
2	nav_manual_speed
2	nav_manual_climb_rate
1	nav_mc_bank_angle
1	nav_use_midthr_for_althold	ON/OFF
2	nav_mc_hover_thr
8	reserved

INAV 1.5 MSP API Version 1.23

For iNav 1.5 and later, the MSP_STATUS/sensor field reports sensor failure. This updates MSP_SENSOR (see http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol) in a backwards compatible manner to report additional sensors and sensor health. The sensor field is reported as:

Bit	Usage
0	Set if ACC present
1	Set if BARO present
2	Set if MAG present
3	Set if GPS present
4	Set if SONAR present
5	Reserved for OPFLOW (not implemented)
6	Set if PITOT present
15	Set on sensor failure

The sensor hardware failure indication is backwards compatible with versions prior to 1.5 (and other Multiwii / Cleanflight derivatives).

MSP_SENSOR_CONFIG

Frame IDs:

• MSP_SENSOR_CONFIG, Frame ID 96
• MSP_SET_SENSOR_CONFIG, Frame ID 97

length	setting	Notes
1	acc_hardware
1	baro_hardware
1	mag_hardware
1	pitot_hardware
1	Reserved for rangefinder	not yet implemented
1	Reserved for OpFlow	not yet implemented

INAV 1.4 MSP API Version 1.22

MSP_INAV_PID

Frame IDs:

• MSP_INAV_PID, Frame ID 6
• MSP_SET_INAV_PID, Frame ID 7

length	setting	Notes
1	async_mode
2	acc_task_frequency
2	attitude_task_frequency
1	mag_hold_rate_limit
1	MAG_HOLD_ERROR_LPF_FREQ	not implemented yet as configurable
2	yaw_jump_prevention_limit
1	gyro_lpf
1	acc_soft_lpf_hz
4	reserved	reserved for further usage

MSP_FILTER_CONFIG

Compatible with Betaflight

Frame IDs:

• MSP_FILTER_CONFIG Frame ID 92
• MSP_SET_FILTER_CONFIG Frame ID 93

length	setting	Notes
1	gyro_soft_lpf_hz
2	dterm_lpf_hz
2	yaw_lpf_hz
2	gyro_soft_notch_hz_1	Since INAV 1.6
2	gyro_soft_notch_cutoff_1	Since INAV 1.6
2	dterm_soft_notch_hz	Since INAV 1.6
2	dterm_soft_notch_cutoff	Since INAV 1.6
2	gyro_soft_notch_hz_2	Since INAV 1.6
2	gyro_soft_notch_cutoff_2	Since INAV 1.6

MSP_PID_ADVANCED

Compatible with Betaflight

Frame IDs:

• MSP_PID_ADVANCED Frame ID 94
• MSP_SET_PID_ADVANCED Frame ID 95

length	setting	Notes
2	rollPitchItermIgnoreRate
2	yawItermIgnoreRate
2	yaw_p_limit
1	not used	Betaflight deltaMethod
1	not used	Betaflight vbatPidCompensation
1	not used	Betaflight setpointRelaxRatio
1	dterm_setpoint_weight	Since INAV 1.6
2	pidsum_limit	Since INAV 1.6
1	not used	Betaflight itermThrottleGain
2	rate_accel_limit_roll_pitch	divided by 10
2	rate_accel_limit_yaw	divided by 10

INAV 1.3 MSP API 1.21

case MSP_ADVANCED_CONFIG:

Frame IDs:

• MSP_ADVANCED_CONFIG, Frame ID 90
• MSP_SET_ADVANCED_CONFIG, Frame ID 91

length	setting	Notes
1	gyro_sync_denom
1	not used	Betaflight masterConfig.pid_process_denom
1	not used	Betaflight masterConfig.motorConfig.useUnsyncedPwm
1	motor_pwm_protocol	dictionary
2	motor_pwm_rate
2	servo_pwm_rate
1	gyro_sync	boolean

##Change log:

• 2016-11-20 - scaling of rate_accel_limit_roll_pitch and rate_accel_limit_yaw in MSP_PID_ADVANCED changed from 1000 to 10
• 2016-12-11 - added MSP_STATUS update for iNav 1.5
• 2017-01-15 - added dterm_setpoint_weight added to MSP_PID_ADVANCED frame
• 2017-01-15 - MSP_CALIBRATION_DATA
• 2017-01-18 - pidsum_limit in MSP_PID_ADVANCED
• 2017-01-23 - MSP_POSITION_ESTIMATOR