MSP Messages reference

INAV MSP Messages reference

This page is auto-generated from the Master INAV-MSP definition file (temporary link until merge)

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

For list of enums, see Enum documentation page

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

JSON file rev: 1 - 17026ea2745c17ce7ca73eafc26eb91e

Warning: Verification needed, exercise caution until completely verified for accuracy and cleared, especially for integer signs. Source-based generation/validation is forthcoming. Refer to source for absolute certainty

If you find an error, it must be corrected in the JSON spec, not this markdown.

Guide:

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

Format:

JSON format example:

    "MSP_API_VERSION": {
        "code": 1,
        "mspv": 1,
        "request": null,
        "reply": {
            "payload": [
                {
                    "name": "mspProtocolVersion",
                    "ctype": "uint8_t",
                    "units": "",
                    "desc": "MSP Protocol version (`MSP_PROTOCOL_VERSION`, typically 0)."
                },
                {
                    "name": "apiVersionMajor",
                    "ctype": "uint8_t",
                    "units": "",
                    "desc": "INAV API Major version (`API_VERSION_MAJOR`)."
                },
                {
                    "name": "apiVersionMinor",
                    "ctype": "uint8_t",
                    "units": "",
                    "desc": "INAV API Minor version (`API_VERSION_MINOR`)."
                }
            ],
        },
        "notes": "Used by configurators to check compatibility.",
        "description": "Provides the MSP protocol version and the INAV API version."
    },

Message fields:

name: MSP message name
code: Integer message code
description: String with description of message
request: null or dict of data sent
reply: null or dict of data received
variable_len: Optional boolean, if true, message does not have a predefined fixed length and needs appropriate handling
variants: Optional special case, message has different cases of reply/request. Key/description is not a strict expression or code; just a readable condition
not_implemented: Optional special case, message is not implemented
notes: String with details of message\

Data dict fields:

payload: Array of payload fields
repeating: Optional Special Case, integer or string of how many times the entire payload is repeated\

Payload fields:

Fields:

name: field name from code
ctype: C value type
desc: Optional string with description and details of field
units: Optional defined units
enum: Optional string of enum struct if value is an enum array: Optional boolean to denote field is array of more values
array_ctype: If array, string to describe type of each element
array_size: If array, Integer OR String to define array size, 0 if undefined, string is unparseable (ie: probably needs to be corrected)
repeating: Optional Special case, contains array of more payload fields that are added Times * Key
payload: If repeating, contains more payload fields
polymorph: Optional boolean special case, field does not have a defined C type and could be anything\

Simple value

{
    "name": "mspProtocolVersion",
    "ctype": "uint8_t",
    "units": "",
    "desc": "MSP Protocol version (`MSP_PROTOCOL_VERSION`, typically 0)."
},

Fixed length array

{
    "name": "fcVariantIdentifier",
    "ctype": "char[4]",
    "desc": "4-character identifier string (e.g., \"INAV\"). Defined by `flightControllerIdentifier",
    "array": true,
    "array_ctype": "char",
    "array_size": 4,
    "units": ""
}

Undefined length array

{
    "name": "firmwareChunk",
    "ctype": "uint8_t[]",
    "desc": "Chunk of firmware data",
    "array": true,
    "array_ctype": "uint8_t",
    "array_size": 0,
}

As of yet unknown length array

{
    "name": "elementText",
    "ctype": "char[]",
    "desc": "Static text bytes, not NUL-terminated"
    "array": true,
    "array_ctype": "char",
    "array_size": "OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1"
}

Nested array with struct

{
    "repeating": "maxVehicles",
    "payload": [
        {
            "name": "adsbVehicle",
            "ctype": "adsbVehicle_t[]",
            "desc": "Array of `adsbVehicle_t` Repeated `maxVehicles` times",
            "repeating": "maxVehicles",
            "array": true,
            "array_ctype": "adsbVehicle_t",
            "array_size": 0,
            "units": ""
        }
    ]
}

Index

MSPv1

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

MSPv2

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

`MSP_API_VERSION (1 / 0x1)`

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

Request Payload: None

Reply Payload:

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

Notes: Used by configurators to check compatibility.

`MSP_FC_VARIANT (2 / 0x2)`

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

Request Payload: None

Reply Payload:

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

Notes: See FLIGHT_CONTROLLER_IDENTIFIER_LENGTH.

`MSP_FC_VERSION (3 / 0x3)`

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

Request Payload: None

Reply Payload:

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

`MSP_BOARD_INFO (4 / 0x4)`

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

Request Payload: None

Reply Payload:

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

Notes: BOARD_IDENTIFIER_LENGTH is 4.

`MSP_BUILD_INFO (5 / 0x5)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	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[8]`	8	Short Git revision string. `GIT_SHORT_REVISION_LENGTH`.

`MSP_INAV_PID (6 / 0x6)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`legacyAsyncProcessing`	`uint8_t`	1	-	Legacy, unused. Always 0
`legacyAsyncValue1`	`uint16_t`	2	-	Legacy, unused. Always 0
`legacyAsyncValue2`	`int16_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`	`int16_t`	2	-	Legacy, unused. Always 0
`legacyGyroLpf`	`uint8_t`	1	Hz	Fixed value `GYRO_LPF_256HZ`
`accLpfHz`	`uint8_t`	1	Hz	Accelerometer LPF frequency (`accelerometerConfig()->acc_lpf_hz`) cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
`reserved1`	`uint8_t`	1	-	Reserved. Always 0
`reserved2`	`uint8_t`	1	-	Reserved. Always 0
`reserved3`	`uint8_t`	1	-	Reserved. Always 0
`reserved4`	`uint8_t`	1	-	Reserved. Always 0

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

`MSP_SET_INAV_PID (7 / 0x7)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`legacyAsyncProcessing`	`uint8_t`	1	-	Legacy, ignored
`legacyAsyncValue1`	`int16_t`	2	-	Legacy, ignored
`legacyAsyncValue2`	`int16_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`	`int16_t`	2	-	Legacy, ignored
`legacyGyroLpf`	`uint8_t`	1	-	Ignored (historically mapped to `gyro_lpf_e` values).
`accLpfHz`	`uint8_t`	1	Hz	Sets `accelerometerConfigMutable()->acc_lpf_hz`.
`reserved1`	`uint8_t`	1	-	Ignored
`reserved2`	`uint8_t`	1	-	Ignored
`reserved3`	`uint8_t`	1	-	Ignored
`reserved4`	`uint8_t`	1	-	Ignored

Reply Payload: None

Notes: Expects 15 bytes.

`MSP_NAME (10 / 0xa)`

Description: Returns the user-defined craft name.

Request Payload: None

Reply Payload:

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

`MSP_SET_NAME (11 / 0xb)`

Description: Sets the user-defined craft name.

Request Payload:

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

Reply Payload: None

Notes: Maximum length is MAX_NAME_LENGTH.

`MSP_NAV_POSHOLD (12 / 0xc)`

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

Request Payload: None

Reply Payload:

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

`MSP_SET_NAV_POSHOLD (13 / 0xd)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`userControlMode`	`uint8_t`	1	navUserControlMode_e	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 `navConfigMutable()->fw.max_auto_climb_rate` or `navConfigMutable()->mc.max_auto_climb_rate` based on `mixerConfig()->platformType`.
`maxManualSpeed`	`uint16_t`	2	cm/s	Sets `navConfigMutable()->general.max_manual_speed`.
`maxManualClimbRate`	`uint16_t`	2	cm/s	Sets `navConfigMutable()->fw.max_manual_climb_rate` or `navConfigMutable()->mc.max_manual_climb_rate`.
`mcMaxBankAngle`	`uint8_t`	1	degrees	Sets `navConfigMutable()->mc.max_bank_angle`.
`mcAltHoldThrottleType`	`uint8_t`	1	navMcAltHoldThrottle_e	Enum `navMcAltHoldThrottle_e`; updates `navConfigMutable()->mc.althold_throttle_type`.
`mcHoverThrottle`	`uint16_t`	2	PWM	Sets `currentBatteryProfileMutable->nav.mc.hover_throttle`.

Reply Payload: None

Notes: Expects 13 bytes.

`MSP_CALIBRATION_DATA (14 / 0xe)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`accCalibAxisFlags`	`uint8_t`	1	Bitmask	Bitmask: Flags indicating which axes of the accelerometer have been calibrated (`accGetCalibrationAxisFlags()`)
`accZeroX`	`int16_t`	2	Raw ADC	Accelerometer zero offset for X-axis (`accelerometerConfig()->accZero.raw[X]`)
`accZeroY`	`int16_t`	2	Raw ADC	Accelerometer zero offset for Y-axis (`accelerometerConfig()->accZero.raw[Y]`)
`accZeroZ`	`int16_t`	2	Raw ADC	Accelerometer zero offset for Z-axis (`accelerometerConfig()->accZero.raw[Z]`)
`accGainX`	`int16_t`	2	Raw ADC	Accelerometer gain/scale for X-axis (`accelerometerConfig()->accGain.raw[X]`)
`accGainY`	`int16_t`	2	Raw ADC	Accelerometer gain/scale for Y-axis (`accelerometerConfig()->accGain.raw[Y]`)
`accGainZ`	`int16_t`	2	Raw ADC	Accelerometer gain/scale for Z-axis (`accelerometerConfig()->accGain.raw[Z]`)
`magZeroX`	`int16_t`	2	Raw ADC	Magnetometer zero offset for X-axis (`compassConfig()->magZero.raw[X]`). 0 if `USE_MAG` disabled
`magZeroY`	`int16_t`	2	Raw ADC	Magnetometer zero offset for Y-axis (`compassConfig()->magZero.raw[Y]`). 0 if `USE_MAG` disabled
`magZeroZ`	`int16_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`	`int16_t`	2	Raw ADC	Magnetometer gain/scale for X-axis (`compassConfig()->magGain[X]`). 0 if `USE_MAG` disabled
`magGainY`	`int16_t`	2	Raw ADC	Magnetometer gain/scale for Y-axis (`compassConfig()->magGain[Y]`). 0 if `USE_MAG` disabled
`magGainZ`	`int16_t`	2	Raw ADC	Magnetometer gain/scale for Z-axis (`compassConfig()->magGain[Z]`). 0 if `USE_MAG` disabled

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

`MSP_SET_CALIBRATION_DATA (15 / 0xf)`

Description: Sets sensor calibration data.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`accZeroX`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[X]`.
`accZeroY`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[Y]`.
`accZeroZ`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accZero.raw[Z]`.
`accGainX`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[X]`.
`accGainY`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[Y]`.
`accGainZ`	`int16_t`	2	Raw ADC	Sets `accelerometerConfigMutable()->accGain.raw[Z]`.
`magZeroX`	`int16_t`	2	Raw ADC	Sets `compassConfigMutable()->magZero.raw[X]` (if `USE_MAG`)
`magZeroY`	`int16_t`	2	Raw ADC	Sets `compassConfigMutable()->magZero.raw[Y]` (if `USE_MAG`)
`magZeroZ`	`int16_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`	`int16_t`	2	Raw ADC	Sets `compassConfigMutable()->magGain[X]` (if `USE_MAG`)
`magGainY`	`int16_t`	2	Raw ADC	Sets `compassConfigMutable()->magGain[Y]` (if `USE_MAG`)
`magGainZ`	`int16_t`	2	Raw ADC	Sets `compassConfigMutable()->magGain[Z]` (if `USE_MAG`)

Reply Payload: None

Notes: Minimum payload 18 bytes. Adds +6 bytes for magnetometer zeros, +2 for optical flow scale, and +6 for magnetometer gains when those features (USE_MAG, USE_OPFLOW) are compiled in.

`MSP_POSITION_ESTIMATION_CONFIG (16 / 0x10)`

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

Request Payload: None

Reply Payload:

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

`MSP_SET_POSITION_ESTIMATION_CONFIG (17 / 0x11)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 12 bytes.

`MSP_WP_MISSION_LOAD (18 / 0x12)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_WP_MISSION_SAVE (19 / 0x13)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_WP_GETINFO (20 / 0x14)`

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

Request Payload: None

Reply Payload:

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

`MSP_RTH_AND_LAND_CONFIG (21 / 0x15)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`minRthDistance`	`uint16_t`	2	cm	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: Return tail-first during RTH (`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	navRthAltMode_e	RTH altitude control mode (`navConfig()->general.flags.rth_alt_control_mode`).
`rthAbortThreshold`	`uint16_t`	2	cm	Distance increase threshold to abort RTH (`navConfig()->general.rth_abort_threshold`)
`rthAltitude`	`uint16_t`	2	cm	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	cm	Altitude below which `landMinAltVspd` applies (`navConfig()->general.land_slowdown_minalt`)
`landSlowdownMaxAlt`	`uint16_t`	2	cm	Altitude above which `landMaxAltVspd` applies (`navConfig()->general.land_slowdown_maxalt`)
`emergDescentRate`	`uint16_t`	2	cm/s	Vertical speed during emergency landing descent (`navConfig()->general.emerg_descent_rate`)

`MSP_SET_RTH_AND_LAND_CONFIG (22 / 0x16)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`minRthDistance`	`uint16_t`	2	cm	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	navRthAltMode_e	Sets `navConfigMutable()->general.flags.rth_alt_control_mode`.
`rthAbortThreshold`	`uint16_t`	2	cm	Sets `navConfigMutable()->general.rth_abort_threshold`.
`rthAltitude`	`uint16_t`	2	cm	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	cm	Sets `navConfigMutable()->general.land_slowdown_minalt`.
`landSlowdownMaxAlt`	`uint16_t`	2	cm	Sets `navConfigMutable()->general.land_slowdown_maxalt`.
`emergDescentRate`	`uint16_t`	2	cm/s	Sets `navConfigMutable()->general.emerg_descent_rate`.

Reply Payload: None

Notes: Expects 21 bytes.

`MSP_FW_CONFIG (23 / 0x17)`

Description: Retrieves configuration parameters specific to Fixed Wing navigation.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`cruiseThrottle`	`uint16_t`	2	PWM	Cruise throttle command (`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	us/deg	Pitch-to-throttle gain (`currentBatteryProfile->nav.fw.pitch_to_throttle`); PWM microseconds per degree (10 units ≈ 1% throttle).
`loiterRadius`	`uint16_t`	2	cm	Default loiter radius (`navConfig()->fw.loiter_radius`).

`MSP_SET_FW_CONFIG (24 / 0x18)`

Description: Sets configuration parameters specific to Fixed Wing navigation.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`cruiseThrottle`	`uint16_t`	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.cruise_throttle`.
`minThrottle`	`uint16_t`	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.min_throttle`.
`maxThrottle`	`uint16_t`	2	PWM	Sets `currentBatteryProfileMutable->nav.fw.max_throttle`.
`maxBankAngle`	`uint8_t`	1	degrees	Sets `navConfigMutable()->fw.max_bank_angle`.
`maxClimbAngle`	`uint8_t`	1	degrees	Sets `navConfigMutable()->fw.max_climb_angle`.
`maxDiveAngle`	`uint8_t`	1	degrees	Sets `navConfigMutable()->fw.max_dive_angle`.
`pitchToThrottle`	`uint8_t`	1	us/deg	Sets `currentBatteryProfileMutable->nav.fw.pitch_to_throttle` (PWM microseconds per degree; 10 units ≈ 1% throttle).
`loiterRadius`	`uint16_t`	2	cm	Sets `navConfigMutable()->fw.loiter_radius`.

Reply Payload: None

Notes: Expects 12 bytes.

`MSP_MODE_RANGES (34 / 0x22)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`modePermanentId`	`uint8_t`	1	ID	Permanent ID of the flight mode (maps to `boxId` via `findBoxByActiveBoxId`). 0 if entry unused
`auxChannelIndex`	`uint8_t`	1	Index	0-based index of the AUX channel used for activation
`rangeStartStep`	`uint8_t`	1	step	Start step (0-48). Each step is 25 PWM units; 0 is <=900 and 48 is >=2100.
`rangeEndStep`	`uint8_t`	1	step	End step (0-48). Uses the same 25-PWM step mapping as rangeStartStep.

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

`MSP_SET_MODE_RANGE (35 / 0x23)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`rangeIndex`	`uint8_t`	1	Index	Index of the mode range to set (0 to `MAX_MODE_ACTIVATION_CONDITION_COUNT - 1`)
`modePermanentId`	`uint8_t`	1	ID	Permanent ID of the flight mode to assign
`auxChannelIndex`	`uint8_t`	1	Index	0-based index of the AUX channel
`rangeStartStep`	`uint8_t`	1	step	Start step (0-48). Each step is 25 PWM units; 0 is <=900 and 48 is >=2100.
`rangeEndStep`	`uint8_t`	1	step	End step (0-48). Uses the same 25-PWM step mapping as rangeStartStep.

Reply Payload: None

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

`MSP_FEATURE (36 / 0x24)`

Description: Returns a bitmask of enabled features.

Request Payload: None

Reply Payload:

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

Notes: Feature bits are defined in feature.h.

`MSP_SET_FEATURE (37 / 0x25)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_BOARD_ALIGNMENT (38 / 0x26)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`rollAlign`	`int16_t`	2	deci-degrees	Board alignment roll angle (`boardAlignment()->rollDeciDegrees`). Negative values tilt left.
`pitchAlign`	`int16_t`	2	deci-degrees	Board alignment pitch angle (`boardAlignment()->pitchDeciDegrees`). Negative values nose down.
`yawAlign`	`int16_t`	2	deci-degrees	Board alignment yaw angle (`boardAlignment()->yawDeciDegrees`). Negative values rotate counter-clockwise.

Notes: Ranges are typically -1800 to +1800 (i.e. -180.0° to +180.0°).

`MSP_SET_BOARD_ALIGNMENT (39 / 0x27)`

Description: Sets the sensor board alignment angles.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`rollAlign`	`int16_t`	2	deci-degrees	Sets `boardAlignmentMutable()->rollDeciDegrees`.
`pitchAlign`	`int16_t`	2	deci-degrees	Sets `boardAlignmentMutable()->pitchDeciDegrees`.
`yawAlign`	`int16_t`	2	deci-degrees	Sets `boardAlignmentMutable()->yawDeciDegrees`.

Reply Payload: None

Notes: Expects 6 bytes encoded as little-endian signed deci-degrees (-1800 to +1800 typical).

`MSP_CURRENT_METER_CONFIG (40 / 0x28)`

Description: Retrieves the configuration for the current sensor.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`scale`	`int16_t`	2	0.1 mV/A	Current sensor scale factor (`batteryMetersConfig()->current.scale`). Stored in 0.1 mV/A; signed for calibration.
`offset`	`int16_t`	2	mV	Current sensor offset (`batteryMetersConfig()->current.offset`). Signed millivolt adjustment.
`type`	`uint8_t`	1	currentSensor_e	Enum `currentSensor_e` Type of current sensor hardware
`capacity`	`uint16_t`	2	mAh (legacy)	Battery capacity (constrained 0-65535) (`currentBatteryProfile->capacity.value`). Note: This is legacy, use `MSP2_INAV_BATTERY_CONFIG` for full 32-bit capacity

Notes: Scale and offset are signed values matching batteryMetersConfig()->current fields.

`MSP_SET_CURRENT_METER_CONFIG (41 / 0x29)`

Description: Sets the configuration for the current sensor.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`scale`	`int16_t`	2	0.1 mV/A	Sets `batteryMetersConfigMutable()->current.scale` (0.1 mV/A, signed).
`offset`	`int16_t`	2	mV	Sets `batteryMetersConfigMutable()->current.offset` (signed millivolts).
`type`	`uint8_t`	1	currentSensor_e	Enum `currentSensor_e` Sets `batteryMetersConfigMutable()->current.type`.
`capacity`	`uint16_t`	2	mAh (legacy)	Sets `currentBatteryProfileMutable->capacity.value` (truncated to 16 bits)

Reply Payload: None

Notes: Expects 7 bytes. Signed values use little-endian two's complement.

`MSP_MIXER (42 / 0x2a)`

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

Request Payload: None

Reply 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)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_RX_CONFIG (44 / 0x2c)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`serialRxProvider`	`uint8_t`	1	rxSerialReceiverType_e	Enum `rxSerialReceiverType_e`. Serial RX provider (`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	PWM	Minimum expected pulse width (`rxConfig()->rx_min_usec`)
`rxMaxUsec`	`uint16_t`	2	PWM	Maximum expected pulse width (`rxConfig()->rx_max_usec`)
`bfCompatRcInterpolation`	`uint8_t`	1	-	BF compatibility. Always 0
`bfCompatRcInterpolationInt`	`uint8_t`	1	-	BF compatibility. Always 0
`bfCompatAirModeThreshold`	`uint16_t`	2	-	BF compatibility. Always 0
`reserved1`	`uint8_t`	1	-	Reserved/Padding. Always 0
`reserved2`	`uint32_t`	4	-	Reserved/Padding. Always 0
`reserved3`	`uint8_t`	1	-	Reserved/Padding. Always 0
`bfCompatFpvCamAngle`	`uint8_t`	1	-	BF compatibility. Always 0
`receiverType`	`uint8_t`	1	rxReceiverType_e	Enum `rxReceiverType_e` Receiver type (Parallel PWM, PPM, Serial) ('rxConfig()->receiverType')

`MSP_SET_RX_CONFIG (45 / 0x2d)`

Description: Sets receiver configuration settings.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`serialRxProvider`	`uint8_t`	1	rxSerialReceiverType_e	Enum `rxSerialReceiverType_e`. 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	PWM	Sets `rxConfigMutable()->rx_min_usec`.
`rxMaxUsec`	`uint16_t`	2	PWM	Sets `rxConfigMutable()->rx_max_usec`.
`bfCompatRcInterpolation`	`uint8_t`	1	-	Ignored
`bfCompatRcInterpolationInt`	`uint8_t`	1	-	Ignored
`bfCompatAirModeThreshold`	`uint16_t`	2	-	Ignored
`reserved1`	`uint8_t`	1	-	Ignored
`reserved2`	`uint32_t`	4	-	Ignored
`reserved3`	`uint8_t`	1	-	Ignored
`bfCompatFpvCamAngle`	`uint8_t`	1	-	Ignored
`receiverType`	`uint8_t`	1	rxReceiverType_e	Enum `rxReceiverType_e` Sets `rxConfigMutable()->receiverType`.

Reply Payload: None

Notes: Expects 24 bytes.

`MSP_LED_COLORS (46 / 0x2e)`

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

Request Payload: None

Reply Payload:

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

Notes: Only available if USE_LED_STRIP is defined.

`MSP_SET_LED_COLORS (47 / 0x2f)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_LED_STRIP_CONFIG (48 / 0x30)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_SET_LED_STRIP_CONFIG (49 / 0x31)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_RSSI_CONFIG (50 / 0x32)`

Description: Retrieves the channel used for analog RSSI input.

Request Payload: None

Reply Payload:

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

`MSP_SET_RSSI_CONFIG (51 / 0x33)`

Description: Sets the channel used for analog RSSI input.

Request Payload:

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

Reply Payload: None

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

`MSP_ADJUSTMENT_RANGES (52 / 0x34)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`adjustmentIndex`	`uint8_t`	1	-	Index of the adjustment slot (0 to `MAX_SIMULTANEOUS_ADJUSTMENT_COUNT - 1`)
`auxChannelIndex`	`uint8_t`	1	-	0-based index of the AUX channel controlling the adjustment value
`rangeStartStep`	`uint8_t`	1	step	Start step (0-48). Each step is 25 PWM units; 0 is <=900 and 48 is >=2100.
`rangeEndStep`	`uint8_t`	1	step	End step (0-48). Uses the same 25-PWM step mapping as rangeStartStep.
`adjustmentFunction`	`uint8_t`	1	adjustmentFunction_e	Function/parameter being adjusted (see `adjustmentFunction_e`).
`auxSwitchChannelIndex`	`uint8_t`	1	-	0-based index of the AUX channel acting as an enable switch (or 0 if always enabled)

Notes: See adjustmentRange_t.

`MSP_SET_ADJUSTMENT_RANGE (53 / 0x35)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`rangeIndex`	`uint8_t`	1	-	Index of the adjustment range to set (0 to `MAX_ADJUSTMENT_RANGE_COUNT - 1`)
`adjustmentIndex`	`uint8_t`	1	-	Adjustment slot index (0 to `MAX_SIMULTANEOUS_ADJUSTMENT_COUNT - 1`)
`auxChannelIndex`	`uint8_t`	1	-	0-based index of the control AUX channel
`rangeStartStep`	`uint8_t`	1	step	Start step (0-48). Each step is 25 PWM units; 0 is <=900 and 48 is >=2100.
`rangeEndStep`	`uint8_t`	1	step	End step (0-48). Uses the same 25-PWM step mapping as rangeStartStep.
`adjustmentFunction`	`uint8_t`	1	adjustmentFunction_e	Function/parameter being adjusted.
`auxSwitchChannelIndex`	`uint8_t`	1	-	0-based index of the enable switch AUX channel (or 0)

Reply Payload: None

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

`MSP_CF_SERIAL_CONFIG (54 / 0x36)`

Description: Deprecated command to get serial port configuration.

Request Payload: None

Reply Payload: None

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

`MSP_SET_CF_SERIAL_CONFIG (55 / 0x37)`

Description: Deprecated command to set serial port configuration.

Request Payload: None

Reply Payload: None

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

`MSP_VOLTAGE_METER_CONFIG (56 / 0x38)`

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

Request Payload: None

Reply Payload:

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

Notes: Superseded by MSP2_INAV_BATTERY_CONFIG.

`MSP_SET_VOLTAGE_METER_CONFIG (57 / 0x39)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 4 bytes. Superseded by MSP2_INAV_SET_BATTERY_CONFIG.

`MSP_SONAR_ALTITUDE (58 / 0x3a)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`rangefinderAltitude`	`int32_t`	4	cm	Latest altitude reading from the rangefinder (`rangefinderGetLatestAltitude()`). 0 if `USE_RANGEFINDER` disabled or no reading.

`MSP_RX_MAP (64 / 0x40)`

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

Request Payload: None

Reply Payload:

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

Notes: MAX_MAPPABLE_RX_INPUTS is currently 4 (Roll, Pitch, Yaw, Throttle).

`MSP_SET_RX_MAP (65 / 0x41)`

Description: Sets the RC channel mapping array.

Request Payload:

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

Reply Payload: None

Notes: Expects MAX_MAPPABLE_RX_INPUTS bytes (currently 4).

`MSP_REBOOT (68 / 0x44)`

Description: Commands the flight controller to reboot.

Request Payload: None

Reply Payload: None

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

`MSP_DATAFLASH_SUMMARY (70 / 0x46)`

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

Request Payload: None

Reply Payload:

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

Notes: Requires USE_FLASHFS.

`MSP_DATAFLASH_READ (71 / 0x47)`

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

Request Payload:

Field	C Type	Size (Bytes)	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[]`	-	The data read from flash. Length is MIN(requested size, remaining buffer space, remaining flashfs data)

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

`MSP_DATAFLASH_ERASE (72 / 0x48)`

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

Request Payload: None

Reply Payload: None

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

`MSP_LOOP_TIME (73 / 0x49)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_SET_LOOP_TIME (74 / 0x4a)`

Description: Sets the configured loop time.

Request Payload:

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

Reply Payload: None

Notes: Expects 2 bytes.

`MSP_FAILSAFE_CONFIG (75 / 0x4b)`

Description: Retrieves the failsafe configuration settings.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`failsafeDelay`	`uint8_t`	1	0.1s	Delay before failsafe stage 1 activates (`failsafeConfig()->failsafe_delay`)
`failsafeOffDelay`	`uint8_t`	1	0.1s	Delay after signal recovery before returning control (`failsafeConfig()->failsafe_off_delay`)
`failsafeThrottle`	`uint16_t`	2	PWM	Throttle level during failsafe stage 2 (`currentBatteryProfile->failsafe_throttle`)
`legacyKillSwitch`	`uint8_t`	1	-	Legacy flag, always 0
`failsafeThrottleLowDelay`	`uint16_t`	2	0.1s	Delay for throttle-based failsafe detection (`failsafeConfig()->failsafe_throttle_low_delay`). Units of 0.1 seconds.
`failsafeProcedure`	`uint8_t`	1	failsafeProcedure_e	Enum `failsafeProcedure_e` Failsafe procedure (Drop, RTH, Land, etc.) ('failsafeConfig()->failsafe_procedure')
`failsafeRecoveryDelay`	`uint8_t`	1	0.1s	Delay after RTH finishes before attempting recovery (`failsafeConfig()->failsafe_recovery_delay`)
`failsafeFWRollAngle`	`int16_t`	2	deci-degrees	Fixed-wing failsafe roll angle (`failsafeConfig()->failsafe_fw_roll_angle`). Signed deci-degrees.
`failsafeFWPitchAngle`	`int16_t`	2	deci-degrees	Fixed-wing failsafe pitch angle (`failsafeConfig()->failsafe_fw_pitch_angle`). Signed deci-degrees.
`failsafeFWYawRate`	`int16_t`	2	deg/s	Fixed-wing failsafe yaw rate (`failsafeConfig()->failsafe_fw_yaw_rate`). Signed degrees per second.
`failsafeStickThreshold`	`uint16_t`	2	PWM units	Stick movement threshold to exit failsafe (`failsafeConfig()->failsafe_stick_motion_threshold`)
`failsafeMinDistance`	`uint16_t`	2	cm	Minimum distance from home for RTH failsafe (`failsafeConfig()->failsafe_min_distance`). Units of centimeters.
`failsafeMinDistanceProc`	`uint8_t`	1	failsafeProcedure_e	Enum `failsafeProcedure_e` Failsafe procedure if below min distance ('failsafeConfig()->failsafe_min_distance_procedure')

`MSP_SET_FAILSAFE_CONFIG (76 / 0x4c)`

Description: Sets the failsafe configuration settings.

Request Payload:

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

Reply Payload: None

Notes: Expects 20 bytes.

`MSP_SDCARD_SUMMARY (79 / 0x4f)`

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

Request Payload: None

Reply Payload:

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

Notes: Requires USE_SDCARD and USE_ASYNCFATFS.

`MSP_BLACKBOX_CONFIG (80 / 0x50)`

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

Request Payload: None

Reply Payload:

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

Notes: Returns fixed zero values. Use MSP2_BLACKBOX_CONFIG.

`MSP_SET_BLACKBOX_CONFIG (81 / 0x51)`

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

Request Payload: None

Reply Payload: None

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

`MSP_TRANSPONDER_CONFIG (82 / 0x52)`

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

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

`MSP_SET_TRANSPONDER_CONFIG (83 / 0x53)`

Description: Set VTX Transponder settings.

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

`MSP_OSD_CONFIG (84 / 0x54)`

Description: Retrieves OSD configuration settings and layout for screen 0. Coordinates are packed as (Y << 8) | X. When USE_OSD is not compiled in, only osdDriverType = OSD_DRIVER_NONE is returned.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`osdDriverType`	`uint8_t`	1	osdDriver_e	Enum `osdDriver_e`: `OSD_DRIVER_MAX7456` if `USE_OSD`, else `OSD_DRIVER_NONE`.
`videoSystem`	`uint8_t`	1	videoSystem_e	Enum `videoSystem_e`: Video system (Auto/PAL/NTSC) (`osdConfig()->video_system`). Sent even if OSD disabled
`units`	`uint8_t`	1	osd_unit_e	Enum `osd_unit_e` Measurement units (Metric/Imperial) (`osdConfig()->units`). Sent even if OSD disabled
`rssiAlarm`	`uint8_t`	1	%	RSSI alarm threshold (`osdConfig()->rssi_alarm`). Sent even if OSD disabled
`capAlarm`	`uint16_t`	2	mAh/mWh	Capacity alarm threshold (`currentBatteryProfile->capacity.warning`). Truncated to 16 bits. Sent even if OSD disabled.
`timerAlarm`	`uint16_t`	2	minutes	Timer alarm threshold in minutes (`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	packed	Packed X/Y position for each OSD item on screen 0 (`osdLayoutsConfig()->item_pos[0][i]`). Sent even if OSD disabled

Notes: 1 byte if USE_OSD disabled; full payload (1 + fields + 2*OSD_ITEM_COUNT bytes) otherwise.

`MSP_SET_OSD_CONFIG (85 / 0x55)`

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

Variant: `dataSize >= 10`

Description: dataSize >= 10

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`selector`	`uint8_t`	1	-	Must be 0xFF (-1) to indicate a configuration update.
`videoSystem`	`uint8_t`	1	videoSystem_e	Enum `videoSystem_e`: Video system (Auto/PAL/NTSC) (`osdConfig()->video_system`).
`units`	`uint8_t`	1	osd_unit_e	Enum `osd_unit_e` Measurement units (Metric/Imperial) (`osdConfig()->units`).
`rssiAlarm`	`uint8_t`	1	%	RSSI alarm threshold (`osdConfig()->rssi_alarm`).
`capAlarm`	`uint16_t`	2	mAh/mWh	Capacity alarm threshold (`currentBatteryProfile->capacity.warning`). Truncated to 16 bits.
`timerAlarm`	`uint16_t`	2	minutes	Timer alarm threshold in minutes (`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`). Optional trailing field.
`negAltAlarm`	`uint16_t`	2	meters	Negative altitude alarm threshold (`osdConfig()->neg_alt_alarm`). Optional trailing field.

Reply Payload: None

Variant: `dataSize == 3`

Description: Single item position update

Request Payload:

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

Reply Payload: None

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

`MSP_OSD_CHAR_READ (86 / 0x56)`

Description: Reads character data from the OSD font memory.

Request Payload: None

Reply Payload: None

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

`MSP_OSD_CHAR_WRITE (87 / 0x57)`

Description: Writes character data to the OSD font memory.

Variant: `payloadSize >= OSD_CHAR_BYTES + 2 (>=66 bytes)`

Description: 16-bit character index with full 64-byte payload (visible + metadata).

Request Payload:

Field	C Type	Size (Bytes)	Description
`address`	`uint16_t`	2	Character slot index (0-1023).
`charData`	`uint8_t[OSD_CHAR_BYTES]`	OSD_CHAR_BYTES * 1	All 64 bytes, including driver metadata.

Reply Payload: None

Variant: `payloadSize == OSD_CHAR_BYTES + 1 (65 bytes)`

Description: 8-bit character index with full 64-byte payload.

Request Payload:

Field	C Type	Size (Bytes)	Description
`address`	`uint8_t`	1	Character slot index (0-255).
`charData`	`uint8_t[OSD_CHAR_BYTES]`	OSD_CHAR_BYTES * 1	All 64 bytes, including driver metadata.

Reply Payload: None

Variant: `payloadSize == OSD_CHAR_VISIBLE_BYTES + 2 (56 bytes)`

Description: 16-bit character index with only the 54 visible bytes.

Request Payload:

Field	C Type	Size (Bytes)	Description
`address`	`uint16_t`	2	Character slot index (0-1023).
`charData`	`uint8_t[OSD_CHAR_VISIBLE_BYTES]`	OSD_CHAR_VISIBLE_BYTES * 1	Visible pixel data only (no metadata).

Reply Payload: None

Variant: `payloadSize == OSD_CHAR_VISIBLE_BYTES + 1 (55 bytes)`

Description: 8-bit character index with only the 54 visible bytes.

Request Payload:

Field	C Type	Size (Bytes)	Description
`address`	`uint8_t`	1	Character slot index (0-255).
`charData`	`uint8_t[OSD_CHAR_VISIBLE_BYTES]`	OSD_CHAR_VISIBLE_BYTES * 1	Visible pixel data only (no metadata).

Reply Payload: None

Notes: Requires USE_OSD. Minimum payload is OSD_CHAR_VISIBLE_BYTES + 1 (8-bit address + 54 bytes). Payload size determines the address width and whether the extra metadata bytes are present. Writes characters via displayWriteFontCharacter().

`MSP_VTX_CONFIG (88 / 0x58)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`vtxDeviceType`	`uint8_t`	1	vtxDevType_e	Enum (`vtxDevType_e`): Type of VTX device detected/configured. `VTXDEV_UNKNOWN` if none
`band`	`uint8_t`	1	-	VTX band number (from `vtxSettingsConfig`)
`channel`	`uint8_t`	1	-	VTX channel number (from `vtxSettingsConfig`)
`power`	`uint8_t`	1	-	VTX power level index (from `vtxSettingsConfig()`).
`pitMode`	`uint8_t`	1	-	Boolean: 1 if VTX is currently in pit mode, 0 otherwise.
`vtxReady`	`uint8_t`	1	-	Boolean: 1 if VTX device reported ready, 0 otherwise
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e	Enum `vtxLowerPowerDisarm_e`: Low-power behaviour while disarmed (`vtxSettingsConfig()->lowPowerDisarm`).
`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: Returns 1 byte (VTXDEV_UNKNOWN) when no VTX is detected or USE_VTX_CONTROL is disabled; otherwise sends full payload. 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)`

Description: Sets VTX band/channel and related options. Fields are a progressive superset based on payload length.

Variant: `payloadSize >= 14`

Description: Full payload (Betaflight 1.42+): includes explicit band/channel/frequency and capability counts.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`bandChanOrFreq`	`uint16_t`	2	-	Encoded band/channel if <= `VTXCOMMON_MSP_BANDCHAN_CHKVAL`; otherwise frequency placeholder.
`power`	`uint8_t`	1	-
`pitMode`	`uint8_t`	1	-
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e
`pitModeFreq`	`uint16_t`	2	-
`band`	`uint8_t`	1	-
`channel`	`uint8_t`	1	-
`frequency`	`uint16_t`	2	-
`bandCount`	`uint8_t`	1	-	Read and ignored.
`channelCount`	`uint8_t`	1	-	Read and ignored.
`powerCount`	`uint8_t`	1	-	If 0 < value < current capability, caps `vtxDevice->capability.powerCount`.

Reply Payload: None

Variant: `payloadSize >= 11`

Description: Extends payload with explicit frequency.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`bandChanOrFreq`	`uint16_t`	2	-
`power`	`uint8_t`	1	-
`pitMode`	`uint8_t`	1	-
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e
`pitModeFreq`	`uint16_t`	2	-
`band`	`uint8_t`	1	-
`channel`	`uint8_t`	1	-
`frequency`	`uint16_t`	2	-	Read and ignored by INAV.

Reply Payload: None

Variant: `payloadSize >= 9`

Description: Adds explicit band/channel overrides (API 1.42 extension).

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`bandChanOrFreq`	`uint16_t`	2	-
`power`	`uint8_t`	1	-
`pitMode`	`uint8_t`	1	-
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e
`pitModeFreq`	`uint16_t`	2	-
`band`	`uint8_t`	1	-	1..N; overrides band when present.
`channel`	`uint8_t`	1	-	1..8; overrides channel when present.

Reply Payload: None

Variant: `payloadSize >= 7`

Description: Adds pit-mode frequency placeholder.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`bandChanOrFreq`	`uint16_t`	2	-
`power`	`uint8_t`	1	-
`pitMode`	`uint8_t`	1	-
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e
`pitModeFreq`	`uint16_t`	2	-	Read and skipped.

Reply Payload: None

Variant: `payloadSize >= 5`

Description: Adds low-power disarm behaviour.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`bandChanOrFreq`	`uint16_t`	2	-
`power`	`uint8_t`	1	-
`pitMode`	`uint8_t`	1	-
`lowPowerDisarm`	`uint8_t`	1	vtxLowerPowerDisarm_e	0=Off, 1=Always, 2=Until first arm.

Reply Payload: None

Variant: `payloadSize >= 4`

Description: Adds power index and pit mode flag.

Request Payload:

Field	C Type	Size (Bytes)
`bandChanOrFreq`	`uint16_t`	2
`power`	`uint8_t`	1
`pitMode`	`uint8_t`	1

Reply Payload: None

Variant: `payloadSize == 2`

Description: Minimum payload (band/channel encoded in 0..63).

Request Payload:

Field	C Type	Size (Bytes)	Description
`bandChanOrFreq`	`uint16_t`	2	If <= `VTXCOMMON_MSP_BANDCHAN_CHKVAL`, decoded as band/channel; otherwise treated as a frequency placeholder.

Reply Payload: None

Notes: Requires dataSize >= 2. If no VTX device or device type is VTXDEV_UNKNOWN, fields are read and discarded. The first uint16 is interpreted as band/channel when value <= VTXCOMMON_MSP_BANDCHAN_CHKVAL, otherwise treated as a frequency value that is not applied by this path. Subsequent fields are applied only if present. If dataSize < 2 the command returns MSP_RESULT_ERROR.

`MSP_ADVANCED_CONFIG (90 / 0x5a)`

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

Request Payload: None

Reply Payload:

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

`MSP_SET_ADVANCED_CONFIG (91 / 0x5b)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 9 bytes.

`MSP_FILTER_CONFIG (92 / 0x5c)`

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

Request Payload: None

Reply Payload:

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

`MSP_SET_FILTER_CONFIG (93 / 0x5d)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires at least 22 bytes; intermediate length checks enforce legacy Betaflight frame layout and call pidInitFilters() once the D-term notch placeholders are consumed.

`MSP_PID_ADVANCED (94 / 0x5e)`

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

Request Payload: None

Reply Payload:

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

Notes: Acceleration limits are scaled by 10 for compatibility.

`MSP_SET_PID_ADVANCED (95 / 0x5f)`

Description: Sets advanced PID tuning parameters.

Request Payload:

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

Reply Payload: None

Notes: Expects 17 bytes.

`MSP_SENSOR_CONFIG (96 / 0x60)`

Description: Retrieves the configured hardware type for various sensors.

Request Payload: None

Reply Payload:

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

`MSP_SET_SENSOR_CONFIG (97 / 0x61)`

Description: Sets the configured hardware type for various sensors.

Request Payload:

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

Reply Payload: None

Notes: Expects 6 bytes.

`MSP_SPECIAL_PARAMETERS (98 / 0x62)`

Description: Betaflight specific

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

`MSP_SET_SPECIAL_PARAMETERS (99 / 0x63)`

Description: Betaflight specific

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

`MSP_IDENT (100 / 0x64)`

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

Request Payload: None

Reply Payload:

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

Notes: Obsolete. Listed for legacy compatibility only.

`MSP_STATUS (101 / 0x65)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`cycleTime`	`uint16_t`	2	µs	Main loop cycle time (`cycleTime`)
`i2cErrors`	`uint16_t`	2	Count	Number of I2C errors encountered (`i2cGetErrorCounter()`). 0 if `USE_I2C` not defined
`sensorStatus`	`uint16_t`	2	Bitmask	Bitmask: available/active sensors (`packSensorStatus()`). See notes
`activeModesLow`	`uint32_t`	4	Bitmask	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: OPFLOW, 6: PITOT, 7: TEMP; Bit 15: hardware failure). activeModesLow only contains the first 32 modes; use MSP_ACTIVEBOXES for the full set.

`MSP_RAW_IMU (102 / 0x66)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_SERVO (103 / 0x67)`

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

Request Payload: None

Reply Payload:

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

`MSP_MOTOR (104 / 0x68)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`motorOutputs`	`int16_t[8]`	16	PWM	Array of current motor output values (typically 1000-2000). Values beyond `MAX_SUPPORTED_MOTORS` are 0

`MSP_RC (105 / 0x69)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`rcChannels`	`int16_t[]`	-	PWM	Array of current RC channel values (typically 1000-2000). Length depends on detected channels

Notes: Array length equals rxRuntimeConfig.channelCount.

`MSP_RAW_GPS (106 / 0x6a)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_COMP_GPS (107 / 0x6b)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`distanceToHome`	`uint16_t`	2	meters	Distance to the home point (`GPS_distanceToHome`)
`directionToHome`	`int16_t`	2	degrees	Direction to the home point (0-360) (`GPS_directionToHome`)
`gpsHeartbeat`	`uint8_t`	1	Boolean	Indicates if GPS data is being received (`gpsSol.flags.gpsHeartbeat`)

Notes: Only available if USE_GPS is defined.

`MSP_ATTITUDE (108 / 0x6c)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`roll`	`int16_t`	2	deci-degrees	Roll angle (`attitude.values.roll`)
`pitch`	`int16_t`	2	deci-degrees	Pitch angle (`attitude.values.pitch`)
`yaw`	`uint16_t`	2	deci-degrees	Yaw/Heading angle (`attitude.values.yaw`)

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

`MSP_ALTITUDE (109 / 0x6d)`

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

Request Payload: None

Reply Payload:

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

`MSP_ANALOG (110 / 0x6e)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_RC_TUNING (111 / 0x6f)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_ACTIVEBOXES (113 / 0x71)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_MISC (114 / 0x72)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_BOXNAMES (116 / 0x74)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_PIDNAMES (117 / 0x75)`

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

Request Payload: None

Reply Payload:

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

`MSP_WP (118 / 0x76)`

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

Request Payload:

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

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`waypointIndex`	`uint8_t`	1	Index	Index of the returned waypoint
`action`	`uint8_t`	1	navWaypointActions_e	Enum `navWaypointActions_e` Waypoint action type
`latitude`	`int32_t`	4	deg * 1e7	Latitude coordinate
`longitude`	`int32_t`	4	deg * 1e7	Longitude coordinate
`altitude`	`int32_t`	4	cm	Altitude coordinate (relative to home or sea level, see flag)
`param1`	`int16_t`	2	Varies	Parameter 1 (meaning depends on action)
`param2`	`int16_t`	2	Varies	Parameter 2 (meaning depends on action)
`param3`	`int16_t`	2	Varies	Parameter 3 (meaning depends on action)
`flag`	`uint8_t`	1	Bitmask	Bitmask: Waypoint flags (`NAV_WP_FLAG_*`)

Notes: See navWaypoint_t and navWaypointActions_e.

`MSP_BOXIDS (119 / 0x77)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_SERVO_CONFIGURATIONS (120 / 0x78)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`min`	`int16_t`	2	PWM	Minimum servo endpoint (`servoParams(i)->min`)
`max`	`int16_t`	2	PWM	Maximum servo endpoint (`servoParams(i)->max`)
`middle`	`int16_t`	2	PWM	Middle/Neutral servo position (`servoParams(i)->middle`)
`rate`	`int8_t`	1	% (-100 to 100)	Servo rate/scaling (`servoParams(i)->rate`, -125..125). Encoded as two's complement
`reserved1`	`uint8_t`	1	-	Always 0
`reserved2`	`uint8_t`	1	-	Always 0
`legacyForwardChan`	`uint8_t`	1	-	Always 255 (Legacy)
`legacyReversedSources`	`uint32_t`	4	-	Always 0 (Legacy)

Notes: Superseded by MSP2_INAV_SERVO_CONFIG which has a cleaner structure.

`MSP_NAV_STATUS (121 / 0x79)`

Description: Retrieves the current status of the navigation system.

Request Payload: None

Reply Payload:

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

Notes: Requires USE_GPS.

`MSP_NAV_CONFIG (122 / 0x7a)`

Request Payload: None

Reply Payload: None

`MSP_3D (124 / 0x7c)`

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

Request Payload: None

Reply Payload:

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

Notes: Requires reversible motor support.

`MSP_RC_DEADBAND (125 / 0x7d)`

Description: Retrieves RC input deadband settings.

Request Payload: None

Reply Payload:

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

`MSP_SENSOR_ALIGNMENT (126 / 0x7e)`

Description: Retrieves sensor alignment settings (legacy format).

Request Payload: None

Reply Payload:

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

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

`MSP_LED_STRIP_MODECOLOR (127 / 0x7f)`

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

Request Payload: None

Reply Payload:

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

Notes: Only available if USE_LED_STRIP is defined. Entries where modeIndex == LED_MODE_COUNT describe special colors.

`MSP_BATTERY_STATE (130 / 0x82)`

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

Request Payload: None

Reply Payload:

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

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

`MSP_VTXTABLE_BAND (137 / 0x89)`

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

Request Payload: None

Reply Payload: None

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

`MSP_VTXTABLE_POWERLEVEL (138 / 0x8a)`

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

Request Payload:

Field	C Type	Size (Bytes)	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[]`	-	Power level label string (e.g., "25", "200"). Length given by previous field

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

`MSP_STATUS_EX (150 / 0x96)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`cycleTime`	`uint16_t`	2	µs	Main loop cycle time
`i2cErrors`	`uint16_t`	2	Count	I2C errors
`sensorStatus`	`uint16_t`	2	Bitmask	Bitmask: Sensor status
`activeModesLow`	`uint32_t`	4	Bitmask	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	Bitmask: Flight controller arming flags (`armingFlags`). Note: Truncated to 16 bits
`accCalibAxisFlags`	`uint8_t`	1	Bitmask	Bitmask: Accelerometer calibrated axes flags (`accGetCalibrationAxisFlags()`)

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

`MSP_SENSOR_STATUS (151 / 0x97)`

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

Request Payload: None

Reply Payload:

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

Notes: Status values map to the hardwareSensorStatus_e enum: HW_SENSOR_NONE, HW_SENSOR_OK, HW_SENSOR_UNAVAILABLE, HW_SENSOR_UNHEALTHY.

`MSP_UID (160 / 0xa0)`

Description: Provides the unique identifier of the microcontroller.

Request Payload: None

Reply 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)`

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

Request Payload: None

Reply 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)
`hdopHundredsDigit`	`uint8_t`	1	Hundreds digit of HDOP (stub always writes 0)
`hdopTensDigit`	`uint8_t`	1	Tens digit of HDOP (`gpsSol.hdop / 100`, truncated)
`hdopUnitsDigit`	`uint8_t`	1	Units digit of HDOP (`gpsSol.hdop / 100`, duplicated by stub)

Notes: Requires USE_GPS. This is just a stub in INAV and does not provide actual per-satellite signal info. HDOP digits are not formatted correctly: tens and units both contain gpsSol.hdop / 100.

`MSP_GPSSTATISTICS (166 / 0xa6)`

Description: Provides debugging statistics for the GPS communication link.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`lastMessageDt`	`uint16_t`	2	ms	Time since last valid GPS message (`gpsStats.lastMessageDt`)
`errors`	`uint32_t`	4	Count	Number of GPS communication errors (`gpsStats.errors`)
`timeouts`	`uint32_t`	4	Count	Number of GPS communication timeouts (`gpsStats.timeouts`)
`packetCount`	`uint32_t`	4	Count	Number of valid GPS packets received (`gpsStats.packetCount`)
`hdop`	`uint16_t`	2	HDOP * 100	Horizontal Dilution of Precision (`gpsSol.hdop`)
`eph`	`uint16_t`	2	cm	Estimated Horizontal Position Accuracy (`gpsSol.eph`)
`epv`	`uint16_t`	2	cm	Estimated Vertical Position Accuracy (`gpsSol.epv`)

Notes: Requires USE_GPS.

`MSP_OSD_VIDEO_CONFIG (180 / 0xb4)`

Request Payload: None

Reply Payload: None

`MSP_SET_OSD_VIDEO_CONFIG (181 / 0xb5)`

Request Payload: None

Reply Payload: None

`MSP_DISPLAYPORT (182 / 0xb6)`

Request Payload: None

Reply Payload: None

`MSP_SET_TX_INFO (186 / 0xba)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`rssi`	`uint8_t`	1	Raw	RSSI value (0-255) provided by the external source; firmware scales it to 10-bit (`value << 2`)

Reply Payload: None

Notes: Calls setRSSIFromMSP(). Expects 1 byte.

`MSP_TX_INFO (187 / 0xbb)`

Description: Provides information potentially useful for transmitter LUA scripts.

Request Payload: None

Reply Payload:

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

Notes: See rssiSource_e.

`MSP_SET_RAW_RC (200 / 0xc8)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_SET_RAW_GPS (201 / 0xc9)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`fixType`	`uint8_t`	1	gpsFixType_e	Enum `gpsFixType_e` GPS fix type
`numSat`	`uint8_t`	1	Count	Number of satellites
`latitude`	`int32_t`	4	deg * 1e7	Latitude
`longitude`	`int32_t`	4	deg * 1e7	Longitude
`altitude`	`uint16_t`	2	m	Altitude in meters (converted to centimeters internally; limited to 0-65535 m)
`speed`	`uint16_t`	2	cm/s	Ground speed (`gpsSol.groundSpeed`)

Reply Payload: None

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

`MSP_SET_BOX (203 / 0xcb)`

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

Request Payload: None

Reply Payload: None

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

`MSP_SET_RC_TUNING (204 / 0xcc)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_ACC_CALIBRATION (205 / 0xcd)`

Description: Starts the accelerometer calibration procedure.

Request Payload: None

Reply Payload: None

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

`MSP_MAG_CALIBRATION (206 / 0xce)`

Description: Starts the magnetometer calibration procedure.

Request Payload: None

Reply Payload: None

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

`MSP_SET_MISC (207 / 0xcf)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 22 bytes. Superseded by MSP2_INAV_SET_MISC.

`MSP_RESET_CONF (208 / 0xd0)`

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

Request Payload: None

Reply Payload: None

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

`MSP_SET_WP (209 / 0xd1)`

Description: Sets a single waypoint in the mission plan.

Request Payload:

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

Reply Payload: None

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

`MSP_SELECT_SETTING (210 / 0xd2)`

Description: Selects the active configuration profile and saves it.

Request Payload:

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

Reply Payload: None

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

`MSP_SET_HEAD (211 / 0xd3)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 2 bytes. Calls updateHeadingHoldTarget().

`MSP_SET_SERVO_CONFIGURATION (212 / 0xd4)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_SET_MOTOR (214 / 0xd6)`

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

Request Payload:

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

Reply Payload: None

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

`MSP_SET_NAV_CONFIG (215 / 0xd7)`

Request Payload: None

Reply Payload: None

`MSP_SET_3D (217 / 0xd9)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 6 bytes. Requires reversible motor support.

`MSP_SET_RC_DEADBAND (218 / 0xda)`

Description: Sets RC input deadband values.

Request Payload:

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

Reply Payload: None

Notes: Expects 5 bytes.

`MSP_SET_RESET_CURR_PID (219 / 0xdb)`

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

Request Payload: None

Reply Payload: None

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

`MSP_SET_SENSOR_ALIGNMENT (220 / 0xdc)`

Description: Sets sensor alignment (legacy format).

Request Payload:

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

Reply Payload: None

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

`MSP_SET_LED_STRIP_MODECOLOR (221 / 0xdd)`

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

Request Payload:

Field	C Type	Size (Bytes)	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 (`ledDirectionId_e`) or special color (`ledSpecialColorIds_e`)
`colorIndex`	`uint8_t`	1	Index of the color to assign from `ledStripConfig()->colors`

Reply Payload: None

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

`MSP_SET_ACC_TRIM (239 / 0xef)`

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

Request Payload: None

Reply Payload: None

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

`MSP_ACC_TRIM (240 / 0xf0)`

Description: Gets the accelerometer trim values.

Request Payload: None

Reply Payload: None

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

`MSP_SERVO_MIX_RULES (241 / 0xf1)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`targetChannel`	`uint8_t`	1	Index	Servo output channel index (0-based)
`inputSource`	`uint8_t`	1	inputSource_e	Enum `inputSource_e` Input source for the mix (RC chan, Roll, Pitch...)
`rate`	`int16_t`	2	%	Mixing rate/weight (`-1000` to `+1000`, percent with sign)
`speed`	`uint8_t`	1	0-255	Speed/Slew rate limit (`0`=instant, higher slows response)
`reserved1`	`uint8_t`	1	-	Always 0
`legacyMax`	`uint8_t`	1	-	Always 100 (Legacy)
`legacyBox`	`uint8_t`	1	-	Always 0 (Legacy)

Notes: Superseded by MSP2_INAV_SERVO_MIXER.

`MSP_SET_SERVO_MIX_RULE (242 / 0xf2)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`ruleIndex`	`uint8_t`	1	Index	Index of the rule to set (0 to `MAX_SERVO_RULES - 1`)
`targetChannel`	`uint8_t`	1	Index	Servo output channel index
`inputSource`	`uint8_t`	1	inputSource_e	Enum `inputSource_e` Input source for the mix
`rate`	`int16_t`	2	%	Mixing rate/weight (`-1000` to `+1000`, percent with sign)
`speed`	`uint8_t`	1	0-255	Speed/Slew rate limit (`0`=instant, higher slows response)
`legacyMinMax`	`uint16_t`	2	-	Ignored
`legacyBox`	`uint8_t`	1	-	Ignored

Reply Payload: None

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

`MSP_SET_PASSTHROUGH (245 / 0xf5)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	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: Accepts 0 bytes (defaults to ESC 4-way) or up to 2 bytes for mode/argument. If successful, sets mspPostProcessFn to the appropriate handler (mspSerialPassthroughFn or esc4wayProcess). This handler takes over the serial port after the reply is sent. Requires USE_SERIAL_4WAY_BLHELI_INTERFACE for ESC passthrough.

`MSP_RTC (246 / 0xf6)`

Description: Retrieves the current Real-Time Clock time.

Request Payload: None

Reply Payload:

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

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

`MSP_SET_RTC (247 / 0xf7)`

Description: Sets the Real-Time Clock time.

Request Payload:

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

Reply Payload: None

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

`MSP_EEPROM_WRITE (250 / 0xfa)`

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

Request Payload: None

Reply Payload: None

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

`MSP_RESERVE_1 (251 / 0xfb)`

Request Payload: None

Reply Payload: None

`MSP_RESERVE_2 (252 / 0xfc)`

Request Payload: None

Reply Payload: None

`MSP_DEBUGMSG (253 / 0xfd)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`Message Text`	`char[]`	-	Debug message text (not NUL-terminated). See serial printf debugging

Notes: Published via the LOG UART or shared MSP/LOG port using mspSerialPushPort().

`MSP_DEBUG (254 / 0xfe)`

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

Request Payload: None

Reply Payload:

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

Notes: Useful for developers. Values are truncated to the lower 16 bits of each debug[] entry. See MSP2_INAV_DEBUG for full 32-bit values.

`MSP_V2_FRAME (255 / 0xff)`

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

Request Payload: None

Reply Payload: None

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

`MSP2_COMMON_TZ (4097 / 0x1001)`

Description: Gets the time zone offset configuration.

Request Payload: None

Reply Payload:

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

`MSP2_COMMON_SET_TZ (4098 / 0x1002)`

Description: Sets the time zone offset configuration.

Variant: `dataSize == 2`

Description: dataSize == 2

Request Payload:

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

Reply Payload: None

Variant: `dataSize == 3`

Description: dataSize == 3

Request Payload:

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

Reply Payload: None

Notes: Accepts 2 or 3 bytes.

`MSP2_COMMON_SETTING (4099 / 0x1003)`

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

Request Payload:

Field	C Type	Size (Bytes)	Description
`settingIdentifier`	`Varies`	-	Setting name (null-terminated string) OR index selector (`0x00` followed by `uint16_t` index)

Reply Payload:

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

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

`MSP2_COMMON_SET_SETTING (4100 / 0x1004)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_COMMON_MOTOR_MIXER (4101 / 0x1005)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`motorMix`	`uint16_t[4]`	8	Scaled (0-4000)	Weights for a single motor `[throttle, roll, pitch, yaw]`, each encoded as `(mix + 2.0) * 1000` (range 0-4000)

Notes: Scaling is (float_weight + 2.0) * 1000. primaryMotorMixer() provides the data. If multiple mixer profiles are enabled (MAX_MIXER_PROFILE_COUNT > 1), an additional block of mixes for the next profile follows immediately.

`MSP2_COMMON_SET_MOTOR_MIXER (4102 / 0x1006)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_COMMON_SETTING_INFO (4103 / 0x1007)`

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

Request Payload: None

Reply Payload:

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

`MSP2_COMMON_PG_LIST (4104 / 0x1008)`

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

Request Payload:

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

Reply Payload:

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 (4105 / 0x1009)`

Description: Retrieves the configuration for all available serial ports.

Request Payload: None

Reply Payload:

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

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

`MSP2_COMMON_SET_SERIAL_CONFIG (4106 / 0x100a)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_COMMON_SET_RADAR_POS (4107 / 0x100b)`

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

Request Payload:

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

Reply Payload: None

Notes: Expects 19 bytes. POI index is clamped to RADAR_MAX_POIS - 1. Updates the radar_pois array.

`MSP2_COMMON_SET_RADAR_ITD (4108 / 0x100c)`

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

Request Payload: None

Reply Payload: None

Notes: Not implemented in INAV fc_msp.c.

`MSP2_COMMON_SET_MSP_RC_LINK_STATS (4109 / 0x100d)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_COMMON_SET_MSP_RC_INFO (4110 / 0x100e)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_COMMON_GET_RADAR_GPS (4111 / 0x100f)`

Description: Provides the GPS positions (latitude, longitude, altitude) for each radar point of interest.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`poiLatitude`	`int32_t`	4	deg * 1e7	Latitude of a radar POI
`poiLongitude`	`int32_t`	4	deg * 1e7	Longitude of a radar POI
`poiAltitude`	`int32_t`	4	cm	Altitude of a radar POI

Notes: Returns the stored GPS coordinates for all radar POIs (radar_pois[i].gps).

`MSP2_SENSOR_RANGEFINDER (7937 / 0x1f01)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_RANGEFINDER_MSP. Calls mspRangefinderReceiveNewData().

`MSP2_SENSOR_OPTIC_FLOW (7938 / 0x1f02)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_OPFLOW_MSP. Calls mspOpflowReceiveNewData().

`MSP2_SENSOR_GPS (7939 / 0x1f03)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_GPS_PROTO_MSP. Calls mspGPSReceiveNewData().

`MSP2_SENSOR_COMPASS (7940 / 0x1f04)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_MAG_MSP. Calls mspMagReceiveNewData().

`MSP2_SENSOR_BAROMETER (7941 / 0x1f05)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_BARO_MSP. Calls mspBaroReceiveNewData().

`MSP2_SENSOR_AIRSPEED (7942 / 0x1f06)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_PITOT_MSP. Calls mspPitotmeterReceiveNewData().

`MSP2_SENSOR_HEADTRACKER (7943 / 0x1f07)`

Description: Provides head tracker orientation data.

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_STATUS (8192 / 0x2000)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`cycleTime`	`uint16_t`	2	µs	Main loop cycle time
`i2cErrors`	`uint16_t`	2	Count	I2C errors
`sensorStatus`	`uint16_t`	2	Bitmask	Bitmask: Sensor status
`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	Bitmask: Full 32-bit flight controller arming flags (`armingFlags`)
`activeModes`	`boxBitmask_t`	-	Bitmask	Bitmask words for active flight modes (`packBoxModeFlags()`)
`mixerProfile`	`uint8_t`	1	Index	Current mixer profile index (`getConfigMixerProfile()`)

Notes: sensorStatus bits follow packSensorStatus() (bit 15 indicates hardware failure). profileAndBattProfile packs the current config profile in the low nibble and the battery profile in the high nibble. activeModes is emitted as a little-endian array of 32-bit words sized to CHECKBOX_ITEM_COUNT.

`MSP2_INAV_OPTICAL_FLOW (8193 / 0x2001)`

Description: Provides data from the optical flow sensor.

Request Payload: None

Reply Payload:

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

Notes: Requires USE_OPFLOW.

`MSP2_INAV_ANALOG (8194 / 0x2002)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`batteryFlags`	`uint8_t`	1	Bitmask	Bitmask: Bit0=Full on plug-in, Bit1=Use capacity thresholds, Bits2-3=`batteryState_e` (`getBatteryState()`), Bits4-7=Cell count (`getBatteryCellCount()`)
`vbat`	`uint16_t`	2	0.01V	Battery voltage (`getBatteryVoltage()`)
`amperage`	`int16_t`	2	0.01A	Current draw (`getAmperage()`)
`powerDraw`	`uint32_t`	4	0.01W	Power draw (`getPower()`)
`mAhDrawn`	`uint32_t`	4	mAh	Consumed capacity (`getMAhDrawn()`)
`mWhDrawn`	`uint32_t`	4	mWh	Consumed energy (`getMWhDrawn()`)
`remainingCapacity`	`uint32_t`	4	Capacity unit (`batteryMetersConfig()->capacity_unit`)	Estimated remaining capacity (`getBatteryRemainingCapacity()`)
`percentageRemaining`	`uint8_t`	1	%	Estimated remaining capacity percentage (`calculateBatteryPercentage()`)
`rssi`	`uint16_t`	2	Raw (0-1023)	RSSI value (`getRSSI()`)

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).

`MSP2_INAV_MISC (8195 / 0x2003)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`midRc`	`uint16_t`	2	PWM	Mid RC value (`PWM_RANGE_MIDDLE`)
`legacyMinThrottle`	`uint16_t`	2	-	Always 0 (Legacy)
`maxThrottle`	`uint16_t`	2	PWM	Maximum throttle command (`getMaxThrottle()`)
`minCommand`	`uint16_t`	2	PWM	Minimum motor command (`motorConfig()->mincommand`)
`failsafeThrottle`	`uint16_t`	2	PWM	Failsafe throttle level (`currentBatteryProfile->failsafe_throttle`)
`gpsType`	`uint8_t`	1	gpsProvider_e	Enum `gpsProvider_e` GPS provider type (`gpsConfig()->provider`). 0 if `USE_GPS` disabled
`legacyGpsBaud`	`uint8_t`	1	-	Always 0 (Legacy)
`gpsSbasMode`	`uint8_t`	1	sbasMode_e	Enum `sbasMode_e` GPS SBAS mode (`gpsConfig()->sbasMode`). 0 if `USE_GPS` disabled
`rssiChannel`	`uint8_t`	1	Index	RSSI channel index (1-based, 0 disables) (`rxConfig()->rssi_channel`)
`magDeclination`	`int16_t`	2	0.1 degrees	Magnetic declination / 10 (`compassConfig()->mag_declination / 10`). 0 if `USE_MAG` disabled
`vbatScale`	`uint16_t`	2	Scale	Voltage scale (`batteryMetersConfig()->voltage.scale`). 0 if `USE_ADC` disabled
`vbatSource`	`uint8_t`	1	batVoltageSource_e	Enum `batVoltageSource_e` Voltage source (`batteryMetersConfig()->voltageSource`). 0 if `USE_ADC` disabled
`cellCount`	`uint8_t`	1	Count	Configured cell count (`currentBatteryProfile->cells`). 0 if `USE_ADC` disabled
`vbatCellDetect`	`uint16_t`	2	0.01V	Cell detection voltage (`currentBatteryProfile->voltage.cellDetect`). 0 if `USE_ADC` disabled
`vbatMinCell`	`uint16_t`	2	0.01V	Min cell voltage (`currentBatteryProfile->voltage.cellMin`). 0 if `USE_ADC` disabled
`vbatMaxCell`	`uint16_t`	2	0.01V	Max cell voltage (`currentBatteryProfile->voltage.cellMax`). 0 if `USE_ADC` disabled
`vbatWarningCell`	`uint16_t`	2	0.01V	Warning cell voltage (`currentBatteryProfile->voltage.cellWarning`). 0 if `USE_ADC` disabled
`capacityValue`	`uint32_t`	4	mAh/mWh	Battery capacity (`currentBatteryProfile->capacity.value`)
`capacityWarning`	`uint32_t`	4	mAh/mWh	Capacity warning threshold (`currentBatteryProfile->capacity.warning`)
`capacityCritical`	`uint32_t`	4	mAh/mWh	Capacity critical threshold (`currentBatteryProfile->capacity.critical`)
`capacityUnit`	`uint8_t`	1	batCapacityUnit_e	Enum `batCapacityUnit_e` Capacity unit (`batteryMetersConfig()->capacity_unit`)

`MSP2_INAV_SET_MISC (8196 / 0x2004)`

Description: Sets miscellaneous configuration settings, superseding MSP_SET_MISC.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`midRc`	`uint16_t`	2	PWM	Ignored
`legacyMinThrottle`	`uint16_t`	2	-	Ignored
`legacyMaxThrottle`	`uint16_t`	2	-	Ignored
`minCommand`	`uint16_t`	2	PWM	Sets `motorConfigMutable()->mincommand` (constrained)
`failsafeThrottle`	`uint16_t`	2	PWM	Sets `currentBatteryProfileMutable->failsafe_throttle` (constrained)
`gpsType`	`uint8_t`	1	gpsProvider_e	Enum `gpsProvider_e` Sets `gpsConfigMutable()->provider` (if `USE_GPS`)
`legacyGpsBaud`	`uint8_t`	1	-	Ignored
`gpsSbasMode`	`uint8_t`	1	sbasMode_e	Enum `sbasMode_e` Sets `gpsConfigMutable()->sbasMode` (if `USE_GPS`)
`rssiChannel`	`uint8_t`	1	Index	Sets `rxConfigMutable()->rssi_channel` (1-based, 0 disables) when <= `MAX_SUPPORTED_RC_CHANNEL_COUNT`
`magDeclination`	`int16_t`	2	0.1 degrees	Sets `compassConfigMutable()->mag_declination = value * 10` (if `USE_MAG`)
`vbatScale`	`uint16_t`	2	Scale	Sets `batteryMetersConfigMutable()->voltage.scale` (if `USE_ADC`)
`vbatSource`	`uint8_t`	1	batVoltageSource_e	Enum `batVoltageSource_e` Sets `batteryMetersConfigMutable()->voltageSource` (if `USE_ADC`, validated)
`cellCount`	`uint8_t`	1	Count	Sets `currentBatteryProfileMutable->cells` (if `USE_ADC`)
`vbatCellDetect`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellDetect` (if `USE_ADC`)
`vbatMinCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellMin` (if `USE_ADC`)
`vbatMaxCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellMax` (if `USE_ADC`)
`vbatWarningCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellWarning` (if `USE_ADC`)
`capacityValue`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.value`
`capacityWarning`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.warning`
`capacityCritical`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.critical`
`capacityUnit`	`uint8_t`	1	batCapacityUnit_e	Enum `batCapacityUnit_e` Sets `batteryMetersConfigMutable()->capacity_unit` (validated, updates OSD energy unit if changed)

Reply Payload: None

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

`MSP2_INAV_BATTERY_CONFIG (8197 / 0x2005)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`vbatScale`	`uint16_t`	2	Scale	Voltage scale (`batteryMetersConfig()->voltage.scale`)
`vbatSource`	`uint8_t`	1	batVoltageSource_e	Enum `batVoltageSource_e` Voltage source (`batteryMetersConfig()->voltageSource`)
`cellCount`	`uint8_t`	1	Count	Configured cell count (`currentBatteryProfile->cells`)
`vbatCellDetect`	`uint16_t`	2	0.01V	Cell detection voltage (`currentBatteryProfile->voltage.cellDetect`)
`vbatMinCell`	`uint16_t`	2	0.01V	Min cell voltage (`currentBatteryProfile->voltage.cellMin`)
`vbatMaxCell`	`uint16_t`	2	0.01V	Max cell voltage (`currentBatteryProfile->voltage.cellMax`)
`vbatWarningCell`	`uint16_t`	2	0.01V	Warning cell voltage (`currentBatteryProfile->voltage.cellWarning`)
`currentOffset`	`int16_t`	2	mV	Current sensor offset (`batteryMetersConfig()->current.offset`)
`currentScale`	`int16_t`	2	0.1 mV/A	Current sensor scale (`batteryMetersConfig()->current.scale`)
`capacityValue`	`uint32_t`	4	mAh/mWh	Battery capacity (`currentBatteryProfile->capacity.value`)
`capacityWarning`	`uint32_t`	4	mAh/mWh	Capacity warning threshold (`currentBatteryProfile->capacity.warning`)
`capacityCritical`	`uint32_t`	4	mAh/mWh	Capacity critical threshold (`currentBatteryProfile->capacity.critical`)
`capacityUnit`	`uint8_t`	1	batCapacityUnit_e	Enum `batCapacityUnit_e` Capacity unit (`batteryMetersConfig()->capacity_unit`)

Notes: Fields are 0 if USE_ADC is not defined.

`MSP2_INAV_SET_BATTERY_CONFIG (8198 / 0x2006)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`vbatScale`	`uint16_t`	2	Scale	Sets `batteryMetersConfigMutable()->voltage.scale` (if `USE_ADC`)
`vbatSource`	`uint8_t`	1	batVoltageSource_e	Enum `batVoltageSource_e` Sets `batteryMetersConfigMutable()->voltageSource` (if `USE_ADC`, validated)
`cellCount`	`uint8_t`	1	Count	Sets `currentBatteryProfileMutable->cells` (if `USE_ADC`)
`vbatCellDetect`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellDetect` (if `USE_ADC`)
`vbatMinCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellMin` (if `USE_ADC`)
`vbatMaxCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellMax` (if `USE_ADC`)
`vbatWarningCell`	`uint16_t`	2	0.01V	Sets `currentBatteryProfileMutable->voltage.cellWarning` (if `USE_ADC`)
`currentOffset`	`int16_t`	2	mV	Sets `batteryMetersConfigMutable()->current.offset`
`currentScale`	`int16_t`	2	0.1 mV/A	Sets `batteryMetersConfigMutable()->current.scale`
`capacityValue`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.value`
`capacityWarning`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.warning`
`capacityCritical`	`uint32_t`	4	mAh/mWh	Sets `currentBatteryProfileMutable->capacity.critical`
`capacityUnit`	`uint8_t`	1	batCapacityUnit_e	Enum `batCapacityUnit_e` Sets `batteryMetersConfigMutable()->capacity_unit` (validated, updates OSD energy unit if changed)

Reply Payload: None

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

`MSP2_INAV_RATE_PROFILE (8199 / 0x2007)`

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

Request Payload: None

Reply Payload:

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

`MSP2_INAV_SET_RATE_PROFILE (8200 / 0x2008)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_AIR_SPEED (8201 / 0x2009)`

Description: Retrieves the estimated or measured airspeed.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`airspeed`	`uint32_t`	4	cm/s	Estimated/measured airspeed (`getAirspeedEstimate()`, cm/s). 0 if unavailable

Notes: Requires USE_PITOT; returns 0 when pitot functionality is not enabled or calibrated.

`MSP2_INAV_OUTPUT_MAPPING (8202 / 0x200a)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`usageFlags`	`uint8_t`	1	Timer usage flags (lower 8 bits of `timerHardware[i].usageFlags`, e.g. `TIM_USE_MOTOR`, `TIM_USE_SERVO`)

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

`MSP2_INAV_MC_BRAKING (8203 / 0x200b)`

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

Request Payload: None

Reply Payload:

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

Notes: Payload is empty if USE_MR_BRAKING_MODE is not defined.

`MSP2_INAV_SET_MC_BRAKING (8204 / 0x200c)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_OUTPUT_MAPPING_EXT (8205 / 0x200d)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`timerId`	`uint8_t`	1	Hardware timer identifier (e.g., `TIM1`, `TIM2`). Value depends on target
`usageFlags`	`uint8_t`	1	Timer usage flags (lower 8 bits of `timerHardware[i].usageFlags`, e.g. `TIM_USE_MOTOR`, `TIM_USE_SERVO`)

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

`MSP2_INAV_TIMER_OUTPUT_MODE (8206 / 0x200e)`

Description: Reads timer output mode overrides.

Variant: `dataSize == 0`

Description: List all timers

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`timerIndex`	`uint8_t`	1	-	Timer index
`outputMode`	`uint8_t`	1	outputMode_e	OUTPUT_MODE_*

Variant: `dataSize == 1`

Description: Query one timer

Request Payload:

Field	C Type	Size (Bytes)	Description
`timerIndex`	`uint8_t`	1	0..HARDWARE_TIMER_DEFINITION_COUNT-1

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`timerIndex`	`uint8_t`	1	-	Echoed timer index
`outputMode`	`uint8_t`	1	outputMode_e	OUTPUT_MODE_*

Notes: Non-SITL only. HARDWARE_TIMER_DEFINITION_COUNT is target specific. Returns MSP_RESULT_ACK on success, MSP_RESULT_ERROR on invalid timer index.

`MSP2_INAV_SET_TIMER_OUTPUT_MODE (8207 / 0x200f)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_MIXER (8208 / 0x2010)`

Description: Retrieves INAV-specific mixer configuration details.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`motorDirectionInverted`	`uint8_t`	1	-	Boolean: 1 if motor direction is reversed globally (`mixerConfig()->motorDirectionInverted`)
`reserved1`	`uint8_t`	1	-	Always 0 (Was yaw jump prevention limit)
`motorStopOnLow`	`uint8_t`	1	-	Boolean: 1 if motors stop at minimum throttle (`mixerConfig()->motorstopOnLow`)
`platformType`	`uint8_t`	1	platformType_e	Enum (`platformType_e`): Vehicle platform type (Multirotor, Airplane, etc.) (`mixerConfig()->platformType`)
`hasFlaps`	`uint8_t`	1	-	Boolean: 1 if the current mixer configuration includes flaps (`mixerConfig()->hasFlaps`)
`appliedMixerPreset`	`int16_t`	2	mixerPreset_e	Enum (`mixerPreset_e`): Mixer preset currently applied (`mixerConfig()->appliedMixerPreset`)
`maxMotors`	`uint8_t`	1	-	Constant: Maximum motors supported (`MAX_SUPPORTED_MOTORS`)
`maxServos`	`uint8_t`	1	-	Constant: Maximum servos supported (`MAX_SUPPORTED_SERVOS`)

`MSP2_INAV_SET_MIXER (8209 / 0x2011)`

Description: Sets INAV-specific mixer configuration details.

Request Payload:

Field	C Type	Size (Bytes)	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`	`int16_t`	2	Sets `mixerConfigMutable()->appliedMixerPreset`
`maxMotors`	`uint8_t`	1	Ignored
`maxServos`	`uint8_t`	1	Ignored

Reply Payload: None

Notes: Expects 9 bytes. Calls mixerUpdateStateFlags().

`MSP2_INAV_OSD_LAYOUTS (8210 / 0x2012)`

Description: Retrieves OSD layout metadata or item positions for specific layouts/items.

Variant: `dataSize == 0`

Description: Query layout/item counts

Request Payload: None

Reply Payload:

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`)

Variant: `dataSize == 1`

Description: Fetch all item positions for a layout

Request Payload:

Field	C Type	Size (Bytes)	Description
`layoutIndex`	`uint8_t`	1	Layout index (0 to `OSD_LAYOUT_COUNT - 1`)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`itemPosition`	`uint16_t`	2	packed coords	Packed X/Y position (`osdLayoutsConfig()->item_pos[layoutIndex][item]`)

Variant: `dataSize == 3`

Description: Fetch a single item position

Request Payload:

Field	C Type	Size (Bytes)	Description
`layoutIndex`	`uint8_t`	1	Layout index (0 to `OSD_LAYOUT_COUNT - 1`)
`itemIndex`	`uint16_t`	2	OSD item index (0 to `OSD_ITEM_COUNT - 1`)

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`itemPosition`	`uint16_t`	2	packed coords	Packed X/Y position (`osdLayoutsConfig()->item_pos[layoutIndex][itemIndex]`)

Notes: Requires USE_OSD. Returns MSP_RESULT_ACK on success, MSP_RESULT_ERROR if indexes are out of range.

`MSP2_INAV_OSD_SET_LAYOUT_ITEM (8211 / 0x2013)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`layoutIndex`	`uint8_t`	1	Index	Index of the OSD layout (0 to `OSD_LAYOUT_COUNT - 1`)
`itemIndex`	`uint8_t`	1	Index	Index of the OSD item
`itemPosition`	`uint16_t`	2	Coordinates	Packed X/Y position using `OSD_POS(x, y)` with `OSD_VISIBLE_FLAG` bit

Reply Payload: None

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

`MSP2_INAV_OSD_ALARMS (8212 / 0x2014)`

Description: Retrieves OSD alarm threshold settings.

Request Payload: None

Reply Payload:

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

Notes: Requires USE_OSD.

`MSP2_INAV_OSD_SET_ALARMS (8213 / 0x2015)`

Description: Sets OSD alarm threshold settings.

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_OSD_PREFERENCES (8214 / 0x2016)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`videoSystem`	`uint8_t`	1	videoSystem_e	Enum `videoSystem_e`: 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	osd_crosshairs_style_e	Enum `osd_crosshairs_style_e`: Style of the center crosshairs (`osdConfig()->crosshairs_style`)
`leftSidebarScroll`	`uint8_t`	1	osd_sidebar_scroll_e	Enum `osd_sidebar_scroll_e`: Left sidebar scroll behavior (`osdConfig()->left_sidebar_scroll`)
`rightSidebarScroll`	`uint8_t`	1	osd_sidebar_scroll_e	Enum `osd_sidebar_scroll_e`: Right sidebar scroll behavior (`osdConfig()->right_sidebar_scroll`)
`sidebarScrollArrows`	`uint8_t`	1	-	Boolean: Show arrows for scrollable sidebars (`osdConfig()->sidebar_scroll_arrows`)
`units`	`uint8_t`	1	osd_unit_e	Enum: `osd_unit_e` Measurement units (Metric/Imperial) (`osdConfig()->units`)
`statsEnergyUnit`	`uint8_t`	1	osd_stats_energy_unit_e	Enum `osd_stats_energy_unit_e`: Unit for energy display in post-flight stats (`osdConfig()->stats_energy_unit`)

Notes: Requires USE_OSD.

`MSP2_INAV_OSD_SET_PREFERENCES (8215 / 0x2017)`

Description: Sets OSD display preferences.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`videoSystem`	`uint8_t`	1	videoSystem_e	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	osd_crosshairs_style_e	Sets `osdConfigMutable()->crosshairs_style`
`leftSidebarScroll`	`uint8_t`	1	osd_sidebar_scroll_e	Sets `osdConfigMutable()->left_sidebar_scroll`
`rightSidebarScroll`	`uint8_t`	1	osd_sidebar_scroll_e	Sets `osdConfigMutable()->right_sidebar_scroll`
`sidebarScrollArrows`	`uint8_t`	1	-	Sets `osdConfigMutable()->sidebar_scroll_arrows`
`units`	`uint8_t`	1	osd_unit_e	Sets `osdConfigMutable()->units` (enum `osd_unit_e`)
`statsEnergyUnit`	`uint8_t`	1	osd_stats_energy_unit_e	Sets `osdConfigMutable()->stats_energy_unit`

Reply Payload: None

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

`MSP2_INAV_SELECT_BATTERY_PROFILE (8216 / 0x2018)`

Description: Selects the active battery profile and saves configuration.

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_DEBUG (8217 / 0x2019)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`debugValues`	`int32_t[DEBUG32_VALUE_COUNT]`	DEBUG32_VALUE_COUNT * 4	Values from the `debug` array (signed, typically 8 entries)

Notes: DEBUG32_VALUE_COUNT is usually 8.

`MSP2_BLACKBOX_CONFIG (8218 / 0x201a)`

Description: Retrieves the Blackbox configuration. Supersedes MSP_BLACKBOX_CONFIG.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`blackboxSupported`	`uint8_t`	1	-	Boolean: 1 if Blackbox is supported (`USE_BLACKBOX`), 0 otherwise
`blackboxDevice`	`uint8_t`	1	BlackboxDevice	Enum `BlackboxDevice`: 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: If USE_BLACKBOX is disabled, only the first four fields are returned (all zero).

`MSP2_SET_BLACKBOX_CONFIG (8219 / 0x201b)`

Description: Sets the Blackbox configuration. Supersedes MSP_SET_BLACKBOX_CONFIG.

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_TEMP_SENSOR_CONFIG (8220 / 0x201c)`

Description: Retrieves the configuration for all onboard temperature sensors.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`type`	`uint8_t`	1	tempSensorType_e	Enum (`tempSensorType_e`): Type of the temperature sensor
`address`	`uint64_t`	8	-	Sensor address/ID (e.g., for 1-Wire sensors)
`alarmMin`	`int16_t`	2	0.1°C	Min temperature alarm threshold (`sensorConfig->alarm_min`)
`alarmMax`	`int16_t`	2	0.1°C	Max temperature alarm threshold (`sensorConfig->alarm_max`)
`osdSymbol`	`uint8_t`	1	-	Index: OSD symbol to use for this sensor (0 to `TEMP_SENSOR_SYM_COUNT`)
`label`	`char[TEMPERATURE_LABEL_LEN]`	TEMPERATURE_LABEL_LEN	-	User-defined label for the sensor

Notes: Requires USE_TEMPERATURE_SENSOR.

`MSP2_INAV_SET_TEMP_SENSOR_CONFIG (8221 / 0x201d)`

Description: Sets the configuration for all onboard temperature sensors.

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`type`	`uint8_t`	1	tempSensorType_e	Sets sensor type (`tempSensorType_e`)
`address`	`uint64_t`	8	-	Sets sensor address/ID
`alarmMin`	`int16_t`	2	0.1°C	Sets min alarm threshold (`tempSensorConfigMutable(index)->alarm_min`)
`alarmMax`	`int16_t`	2	0.1°C	Sets max alarm threshold (`tempSensorConfigMutable(index)->alarm_max`)
`osdSymbol`	`uint8_t`	1	-	Sets OSD symbol index (validated)
`label`	`char[TEMPERATURE_LABEL_LEN]`	TEMPERATURE_LABEL_LEN	-	Sets sensor label (converted to uppercase)

Reply Payload: None

Notes: Requires USE_TEMPERATURE_SENSOR. Payload must include MAX_TEMP_SENSORS consecutive tempSensorConfig_t structures (labels are uppercased).

`MSP2_INAV_TEMPERATURES (8222 / 0x201e)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`temperature`	`int16_t`	2	0.1°C	Current temperature reading. -1000 if sensor is invalid or reading failed

Notes: Requires USE_TEMPERATURE_SENSOR.

`MSP_SIMULATOR (8223 / 0x201f)`

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

Request Payload:

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

Reply Payload:

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

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

`MSP2_INAV_SERVO_MIXER (8224 / 0x2020)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`targetChannel`	`uint8_t`	1	-	Servo output channel index (0-based)
`inputSource`	`uint8_t`	1	inputSource_e	Enum `inputSource_e` Input source
`rate`	`int16_t`	2	-	Mixing rate/weight
`speed`	`uint8_t`	1	-	Speed/Slew rate limit (0-100)
`conditionId`	`int8_t`	1	-	Logic Condition ID (0 to `MAX_LOGIC_CONDITIONS - 1`, or 255/-1 if none/disabled)
`p2TargetChannel`	`uint8_t`	1	-	(Optional) Profile 2 Target channel
`p2InputSource`	`uint8_t`	1	inputSource_e	(Optional) Profile 2 Enum `inputSource_e` Input source
`p2Rate`	`int16_t`	2	-	(Optional) Profile 2 Rate
`p2Speed`	`uint8_t`	1	-	(Optional) Profile 2 Speed
`p2ConditionId`	`int8_t`	1	-	(Optional) Profile 2 Logic Condition ID

Notes: conditionId requires USE_PROGRAMMING_FRAMEWORK.

`MSP2_INAV_SET_SERVO_MIXER (8225 / 0x2021)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`ruleIndex`	`uint8_t`	1	-	Index of the rule to set (0 to `MAX_SERVO_RULES - 1`)
`targetChannel`	`uint8_t`	1	-	Servo output channel index
`inputSource`	`uint8_t`	1	inputSource_e	Enum `inputSource_e` Input source
`rate`	`int16_t`	2	-	Mixing rate/weight
`speed`	`uint8_t`	1	-	Speed/Slew rate limit (0-100)
`conditionId`	`int8_t`	1	-	Logic Condition ID (255/-1 if none). Ignored if `USE_PROGRAMMING_FRAMEWORK` is disabled

Reply Payload: None

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

`MSP2_INAV_LOGIC_CONDITIONS (8226 / 0x2022)`

Description: Retrieves the configuration of all defined Logic Conditions.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`enabled`	`uint8_t`	1	-	Boolean: 1 if the condition is enabled
`activatorId`	`int8_t`	1	-	Activator condition ID (-1/255 if none)
`operation`	`uint8_t`	1	logicOperation_e	Enum `logicOperation_e` Logical operation (AND, OR, XOR, etc.)
`operandAType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e` Type of the first operand (Flight Mode, GVAR, etc.)
`operandAValue`	`int32_t`	4	-	Value/ID of the first operand
`operandBType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e`: Type of the second operand
`operandBValue`	`int32_t`	4	-	Value/ID of the second operand
`flags`	`uint8_t`	1	Bitmask	Bitmask: Condition flags (`logicConditionFlags_e`)

Notes: Requires USE_PROGRAMMING_FRAMEWORK. See logicCondition_t structure.

`MSP2_INAV_SET_LOGIC_CONDITIONS (8227 / 0x2023)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`conditionIndex`	`uint8_t`	1	-	Index of the condition to set (0 to `MAX_LOGIC_CONDITIONS - 1`)
`enabled`	`uint8_t`	1	-	Boolean: 1 to enable the condition
`activatorId`	`int8_t`	1	-	Activator condition ID (-1/255 if none)
`operation`	`uint8_t`	1	logicOperation_e	Enum `logicOperation_e` Logical operation
`operandAType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e` Type of operand A
`operandAValue`	`int32_t`	4	-	Value/ID of operand A
`operandBType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e` Type of operand B
`operandBValue`	`int32_t`	4	-	Value/ID of operand B
`flags`	`uint8_t`	1	Bitmask	Bitmask: Condition flags (`logicConditionFlags_e`)

Reply Payload: None

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

`MSP2_INAV_GLOBAL_FUNCTIONS (8228 / 0x2024)`

Request Payload: None

Reply Payload: None

`MSP2_INAV_SET_GLOBAL_FUNCTIONS (8229 / 0x2025)`

Request Payload: None

Reply Payload: None

`MSP2_INAV_LOGIC_CONDITIONS_STATUS (8230 / 0x2026)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`conditionValues`	`int32_t[MAX_LOGIC_CONDITIONS]`	MAX_LOGIC_CONDITIONS * 4	Array of current values for each logic condition (`logicConditionGetValue(i)`). 1 for true, 0 for false, or numerical value depending on operation

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

`MSP2_INAV_GVAR_STATUS (8231 / 0x2027)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`gvarValues`	`int32_t[MAX_GLOBAL_VARIABLES]`	MAX_GLOBAL_VARIABLES * 4	Array of current values for each global variable (`gvGet(i)`)

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

`MSP2_INAV_PROGRAMMING_PID (8232 / 0x2028)`

Description: Retrieves the configuration of all Programming PIDs.

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`enabled`	`uint8_t`	1	-	Boolean: 1 if the PID is enabled
`setpointType`	`uint8_t`	1	logicOperandType_e	Enum (`logicOperandType_e`) Type of the setpoint source
`setpointValue`	`int32_t`	4	-	Value/ID of the setpoint source
`measurementType`	`uint8_t`	1	logicOperandType_e	Enum (`logicOperandType_e`) Type of the measurement source
`measurementValue`	`int32_t`	4	-	Value/ID of the measurement source
`gainP`	`uint16_t`	2	-	Proportional gain
`gainI`	`uint16_t`	2	-	Integral gain
`gainD`	`uint16_t`	2	-	Derivative gain
`gainFF`	`uint16_t`	2	-	Feed-forward gain

Notes: Requires USE_PROGRAMMING_FRAMEWORK. See programmingPid_t structure.

`MSP2_INAV_SET_PROGRAMMING_PID (8233 / 0x2029)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`pidIndex`	`uint8_t`	1	-	Index of the Programming PID to set (0 to `MAX_PROGRAMMING_PID_COUNT - 1`)
`enabled`	`uint8_t`	1	-	Boolean: 1 to enable the PID
`setpointType`	`uint8_t`	1	logicOperandType_e	Enum (`logicOperandType_e`) Type of the setpoint source
`setpointValue`	`int32_t`	4	-	Value/ID of the setpoint source
`measurementType`	`uint8_t`	1	logicOperandType_e	Enum (`logicOperandType_e`) Type of the measurement source
`measurementValue`	`int32_t`	4	-	Value/ID of the measurement source
`gainP`	`uint16_t`	2	-	Proportional gain
`gainI`	`uint16_t`	2	-	Integral gain
`gainD`	`uint16_t`	2	-	Derivative gain
`gainFF`	`uint16_t`	2	-	Feed-forward gain

Reply Payload: None

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

`MSP2_INAV_PROGRAMMING_PID_STATUS (8234 / 0x202a)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`pidOutputs`	`int32_t[MAX_PROGRAMMING_PID_COUNT]`	MAX_PROGRAMMING_PID_COUNT * 4	Array of current output values for each Programming PID (`programmingPidGetOutput(i)`, signed)

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

`MSP2_PID (8240 / 0x2030)`

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

Request Payload: None

Reply Payload:

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

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

`MSP2_SET_PID (8241 / 0x2031)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_OPFLOW_CALIBRATION (8242 / 0x2032)`

Description: Starts the optical flow sensor calibration procedure.

Request Payload: None

Reply Payload: None

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

`MSP2_INAV_FWUPDT_PREPARE (8243 / 0x2033)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_FWUPDT_STORE (8244 / 0x2034)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_FWUPDT_EXEC (8245 / 0x2035)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_FWUPDT_ROLLBACK_PREPARE (8246 / 0x2036)`

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

Request Payload: None

Reply Payload: None

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

`MSP2_INAV_FWUPDT_ROLLBACK_EXEC (8247 / 0x2037)`

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

Request Payload: None

Reply Payload: None

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

`MSP2_INAV_SAFEHOME (8248 / 0x2038)`

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

Request Payload:

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

Reply Payload:

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`	`int32_t`	4	Latitude (1e7 deg)
`longitude`	`int32_t`	4	Longitude (1e7 deg)

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

`MSP2_INAV_SET_SAFEHOME (8249 / 0x2039)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_MISC2 (8250 / 0x203a)`

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

Request Payload: None

Reply Payload:

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

`MSP2_INAV_LOGIC_CONDITIONS_SINGLE (8251 / 0x203b)`

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

Request Payload:

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

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`enabled`	`uint8_t`	1	-	Boolean: 1 if enabled
`activatorId`	`int8_t`	1	-	Activator ID (-1/255 if none)
`operation`	`uint8_t`	1	logicOperation_e	Enum `logicOperation_e` Logical operation
`operandAType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e` Type of operand A
`operandAValue`	`int32_t`	4	-	Value/ID of operand A
`operandBType`	`uint8_t`	1	logicOperandType_e	Enum `logicOperandType_e` Type of operand B
`operandBValue`	`int32_t`	4	-	Value/ID of operand B
`flags`	`uint8_t`	1	Bitmask	Bitmask: Condition flags (`logicConditionFlags_e`)

Notes: Requires USE_PROGRAMMING_FRAMEWORK. Used by mspFcLogicConditionCommand.

`MSP2_INAV_ESC_RPM (8256 / 0x2040)`

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

Request Payload: None

Reply Payload:

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

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

`MSP2_INAV_ESC_TELEM (8257 / 0x2041)`

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

Request Payload: None

Reply Payload:

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

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

`MSP2_INAV_LED_STRIP_CONFIG_EX (8264 / 0x2048)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Description
`ledConfig`	`ledConfig_t`	-	Raw `ledConfig_t` structure (6 bytes) holding position, function, overlay, color, direction, and params bitfields (`io/ledstrip.h`).

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

`MSP2_INAV_SET_LED_STRIP_CONFIG_EX (8265 / 0x2049)`

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

Request Payload:

Field	C Type	Size (Bytes)	Description
`ledIndex`	`uint8_t`	1	Index of the LED to configure (0 to `LED_MAX_STRIP_LENGTH - 1`)
`ledConfig`	`ledConfig_t`	-	Raw `ledConfig_t` structure (6 bytes) mirroring the firmware layout.

Reply Payload: None

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

`MSP2_INAV_FW_APPROACH (8266 / 0x204a)`

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

Request Payload:

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

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`approachIndex`	`uint8_t`	1	Index	Index requested
`approachAlt`	`int32_t`	4	cm	Signed altitude for the approach phase (`navFwAutolandApproach_t.approachAlt`)
`landAlt`	`int32_t`	4	cm	Signed altitude for the final landing phase (`navFwAutolandApproach_t.landAlt`)
`approachDirection`	`uint8_t`	1	fwAutolandApproachDirection_e	Enum `fwAutolandApproachDirection_e`: Direction of approach (From WP, Specific Heading)
`landHeading1`	`int16_t`	2	degrees	Primary landing heading (if approachDirection requires it)
`landHeading2`	`int16_t`	2	degrees	Secondary landing heading (if approachDirection requires it)
`isSeaLevelRef`	`uint8_t`	1	Boolean	1 if altitudes are relative to sea level, 0 if relative to home

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

`MSP2_INAV_SET_FW_APPROACH (8267 / 0x204b)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`approachIndex`	`uint8_t`	1	Index	Index of the approach setting (0 to `MAX_FW_LAND_APPOACH_SETTINGS - 1`)
`approachAlt`	`int32_t`	4	cm	Signed approach altitude (`navFwAutolandApproach_t.approachAlt`)
`landAlt`	`int32_t`	4	cm	Signed landing altitude (`navFwAutolandApproach_t.landAlt`)
`approachDirection`	`uint8_t`	1	fwAutolandApproachDirection_e	Enum `fwAutolandApproachDirection_e` Sets approach direction
`landHeading1`	`int16_t`	2	degrees	Sets primary landing heading
`landHeading2`	`int16_t`	2	degrees	Sets secondary landing heading
`isSeaLevelRef`	`uint8_t`	1	Boolean	Sets altitude reference

Reply Payload: None

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

`MSP2_INAV_GPS_UBLOX_COMMAND (8272 / 0x2050)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_RATE_DYNAMICS (8288 / 0x2060)`

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

Request Payload: None

Reply Payload:

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

Notes: Requires USE_RATE_DYNAMICS.

`MSP2_INAV_SET_RATE_DYNAMICS (8289 / 0x2061)`

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

Request Payload:

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

Reply Payload: None

Notes: Requires USE_RATE_DYNAMICS. Expects 6 bytes.

`MSP2_INAV_EZ_TUNE (8304 / 0x2070)`

Description: Retrieves the current EZ-Tune parameters.

Request Payload: None

Reply Payload:

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

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

`MSP2_INAV_EZ_TUNE_SET (8305 / 0x2071)`

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

Request Payload:

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

Reply Payload: None

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

`MSP2_INAV_SELECT_MIXER_PROFILE (8320 / 0x2080)`

Description: Selects the active mixer profile and saves configuration.

Request Payload:

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

Reply Payload: None

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

`MSP2_ADSB_VEHICLE_LIST (8336 / 0x2090)`

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

Request Payload: None

Reply Payload:

Field	C Type	Repeats	Size (Bytes)	Units	Description
`maxVehicles`	`uint8_t`	-	1	-	Maximum number of vehicles tracked (`MAX_ADSB_VEHICLES`). 0 if `USE_ADSB` disabled
`callsignLength`	`uint8_t`	-	1	-	Maximum length of callsign string (`ADSB_CALL_SIGN_MAX_LENGTH`). 0 if `USE_ADSB` disabled
`totalVehicleMsgs`	`uint32_t`	-	4	-	Total vehicle messages received (`getAdsbStatus()->vehiclesMessagesTotal`). 0 if `USE_ADSB` disabled
`totalHeartbeatMsgs`	`uint32_t`	-	4	-	Total heartbeat messages received (`getAdsbStatus()->heartbeatMessagesTotal`). 0 if `USE_ADSB` disabled
`callsign`	`char[ADSB_CALL_SIGN_MAX_LENGTH]`	maxVehicles	ADSB_CALL_SIGN_MAX_LENGTH	-	Fixed-length callsign from `adsbVehicle->vehicleValues.callsign` (padded with NULs if shorter).
`icao`	`uint32_t`	maxVehicles	4	-	ICAO address (`adsbVehicle->vehicleValues.icao`).
`lat`	`int32_t`	maxVehicles	4	1e-7 deg	Latitude in degrees * 1e7 (`adsbVehicle->vehicleValues.lat`).
`lon`	`int32_t`	maxVehicles	4	1e-7 deg	Longitude in degrees * 1e7 (`adsbVehicle->vehicleValues.lon`).
`alt`	`int32_t`	maxVehicles	4	cm	Altitude above sea level (`adsbVehicle->vehicleValues.alt`).
`headingDeg`	`uint16_t`	maxVehicles	2	deg	Course over ground in whole degrees (`CENTIDEGREES_TO_DEGREES(vehicleValues.heading)`).
`tslc`	`uint8_t`	maxVehicles	1	s	Time since last communication (`adsbVehicle->vehicleValues.tslc`).
`emitterType`	`uint8_t`	maxVehicles	1	-	Emitter category (`adsbVehicle->vehicleValues.emitterType`) (refers to enum 'ADSB_EMITTER_TYPE', but none found)
`ttl`	`uint8_t`	maxVehicles	1	-	TTL counter used for list maintenance (`adsbVehicle->ttl`).

Notes: Requires USE_ADSB. Only a subset of adsbVehicle_t is transmitted (callsign, core values, heading in whole degrees, TSLC, emitter type, TTL).

`MSP2_INAV_CUSTOM_OSD_ELEMENTS (8448 / 0x2100)`

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

Request Payload: None

Reply Payload:

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

Notes: Requires USE_PROGRAMMING_FRAMEWORK.

`MSP2_INAV_CUSTOM_OSD_ELEMENT (8449 / 0x2101)`

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	Repeats	Size (Bytes)	Units	Description
`partType`	`uint8_t`	CUSTOM_ELEMENTS_PARTS	1	osdCustomElementType_e	Type of this part
`partValue`	`uint16_t`	CUSTOM_ELEMENTS_PARTS	2	-	Value/ID associated with this part
`visibilityType`	`uint8_t`	-	1	osdCustomElementTypeVisibility_e	Visibility condition source
`visibilityValue`	`uint16_t`	-	2	-	Value/ID of the visibility condition source
`elementText`	`char[]`	-	OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1	-	Static text bytes

Notes: Reply emitted only if idx < MAX_CUSTOM_ELEMENTS; otherwise no body is written.

`MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS (8450 / 0x2102)`

Description: Sets the configuration of one custom OSD element.

Request Payload:

Field	C Type	Repeats	Size (Bytes)	Units	Description
`elementIndex`	`uint8_t`	-	1	-	Index of the custom element (0 to `MAX_CUSTOM_ELEMENTS - 1`)
`partType`	`uint8_t`	CUSTOM_ELEMENTS_PARTS	1	osdCustomElementType_e	Type of this part
`partValue`	`uint16_t`	CUSTOM_ELEMENTS_PARTS	2	-	Value/ID associated with this part
`visibilityType`	`uint8_t`	-	1	osdCustomElementTypeVisibility_e	Visibility condition source
`visibilityValue`	`uint16_t`	-	2	-	Value/ID of the visibility condition source
`elementText`	`char[]`	-	OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1	-	Raw bytes

Reply Payload: None

Notes: Payload length must be (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) + (CUSTOM_ELEMENTS_PARTS * 3) + 4 bytes including elementIndex. elementIndex must be < MAX_CUSTOM_ELEMENTS. Each partType must be < CUSTOM_ELEMENT_TYPE_END. Firmware NUL-terminates elementText internally.

`MSP2_INAV_OUTPUT_MAPPING_EXT2 (8461 / 0x210d)`

Description: Retrieves the full extended output mapping configuration (timer ID, full 32-bit usage flags, and pin label). Supersedes MSP2_INAV_OUTPUT_MAPPING_EXT.

Request Payload: None

Reply Payload:

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

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

`MSP2_INAV_SERVO_CONFIG (8704 / 0x2200)`

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

Request Payload: None

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`min`	`int16_t`	2	PWM	Minimum servo endpoint (`servoParams(i)->min`)
`max`	`int16_t`	2	PWM	Maximum servo endpoint (`servoParams(i)->max`)
`middle`	`int16_t`	2	PWM	Middle/Neutral servo position (`servoParams(i)->middle`)
`rate`	`int8_t`	1	% (-125 to 125)	Servo rate/scaling (`servoParams(i)->rate`)

`MSP2_INAV_SET_SERVO_CONFIG (8705 / 0x2201)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`servoIndex`	`uint8_t`	1	Index	Index of the servo to configure (0 to `MAX_SUPPORTED_SERVOS - 1`)
`min`	`int16_t`	2	PWM	Sets minimum servo endpoint
`max`	`int16_t`	2	PWM	Sets maximum servo endpoint
`middle`	`int16_t`	2	PWM	Sets middle/neutral servo position
`rate`	`int8_t`	1	% (-125 to 125)	Sets servo rate/scaling

Reply Payload: None

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

`MSP2_INAV_GEOZONE (8720 / 0x2210)`

Description: Get configuration for a specific Geozone.

Request Payload:

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

Reply Payload:

Field	C Type	Size (Bytes)	Units	Description
`geozoneIndex`	`uint8_t`	1	-	Index requested
`type`	`uint8_t`	1	-	Define (`GEOZONE_TYPE_EXCLUSIVE/INCLUSIVE`): Zone type (Inclusion/Exclusion)
`shape`	`uint8_t`	1	-	Define (`GEOZONE_SHAPE_CIRCULAR/POLYGON`): Zone shape (Polygon/Circular)
`minAltitude`	`int32_t`	4	cm	Minimum allowed altitude within the zone (`geoZonesConfig(idx)->minAltitude`)
`maxAltitude`	`int32_t`	4	cm	Maximum allowed altitude within the zone (`geoZonesConfig(idx)->maxAltitude`)
`isSeaLevelRef`	`uint8_t`	1	-	Boolean: 1 if altitudes are relative to sea level, 0 if relative to home
`fenceAction`	`uint8_t`	1	fenceAction_e	Enum (`fenceAction_e`): Action to take upon boundary violation
`vertexCount`	`uint8_t`	1	-	Number of vertices defined for this zone

Notes: Requires USE_GEOZONE. Used by mspFcGeozoneOutCommand.

`MSP2_INAV_SET_GEOZONE (8721 / 0x2211)`

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

Request Payload:

Field	C Type	Size (Bytes)	Units	Description
`geozoneIndex`	`uint8_t`	1	-	Index of the geozone (0 to `MAX_GEOZONES_IN_CONFIG - 1`)
`type`	`uint8_t`	1	-	Define (`GEOZONE_TYPE_EXCLUSIVE/INCLUSIVE`): Zone type (Inclusion/Exclusion)
`shape`	`uint8_t`	1	-	Define (`GEOZONE_SHAPE_CIRCULAR/POLYGON`): Zone shape (Polygon/Circular)
`minAltitude`	`int32_t`	4	cm	Minimum allowed altitude (`geoZonesConfigMutable()->minAltitude`)
`maxAltitude`	`int32_t`	4	cm	Maximum allowed altitude (`geoZonesConfigMutable()->maxAltitude`)
`isSeaLevelRef`	`uint8_t`	1	-	Boolean: Altitude reference
`fenceAction`	`uint8_t`	1	fenceAction_e	Enum (`fenceAction_e`): Action to take upon boundary violation
`vertexCount`	`uint8_t`	1	-	Number of vertices to be defined (used for validation later)

Reply Payload: None

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

`MSP2_INAV_GEOZONE_VERTEX (8722 / 0x2212)`

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

Request Payload:

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

Reply Payload:

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

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

`MSP2_INAV_SET_GEOZONE_VERTEX (8723 / 0x2213)`

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

Variant: `polygon`

Description: Polygonal Geozone

Request Payload:

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

Reply Payload: None

Variant: `circle`

Description: Circular Geozone

Request Payload:

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

Reply Payload: None

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

`MSP2_BETAFLIGHT_BIND (12288 / 0x3000)`

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

Request Payload: None

Reply Payload: None

Notes: Requires rxConfig()->receiverType == RX_TYPE_SERIAL. Requires USE_SERIALRX_CRSF or USE_SERIALRX_SRXL2. Calls crsfBind() or srxl2Bind() respectively. Returns error if receiver type or provider is not supported for binding.

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QUICK START GUIDES

Getting started with iNav
Fixed Wing Guide
Howto: CC3D flight controller, minimOSD , telemetry and GPS for fixed wing
Howto: CC3D flight controller, minimOSD, GPS and LTM telemetry for fixed wing
INAV for BetaFlight users
launch mode
Multirotor guide
YouTube video guides
DevDocs Getting Started.md
DevDocs INAV_Fixed_Wing_Setup_Guide.pdf
DevDocs Safety.md

Connecting to INAV

Bluetooth setup to configure your flight controller
DevDocs Wireless Connections (BLE, TCP and UDP).md\

Flashing and Upgrading

Boards, Targets and PWM allocations
Upgrading from an older version of INAV to the current version
DevDocs Installation.md
DevDocs USB Flashing.md

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Adjust mount angle of FC & Compass

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Map Devices to UART Serial Ports

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Set protocol and channel mapping

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Set aircraft type and how its controlled

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Set ESC Protocol and Servo Parameters

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Assign flight modes to transmitter switches
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No wiki page currently

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Set expected behavior of aircraft upon failsafe

PID Tuning

Navigation PID tuning (FW)
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DevDocs Autotune - fixedwing.md
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GPS and Compass setup
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OSD and VTx

DevDocs Betaflight 4.3 compatible OSD.md
OSD custom messages
OSD Hud and ESP32 radars
DevDocs OSD.md
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DevDocs LedStrip.md

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DevDocs Programming Framework.md

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TROUBLESHOOTING

"Something" is disabled Reasons
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ADTL TOPICS, FEATURES, DEV INFO

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Features safe to add and remove to fit your needs.
Developer info
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Making a new Virtualbox to make your own INAV
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Rate Dynamics
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OLD LEGACY INFO

Supported boards
DevDocs Boards.md
Legacy Mixers
Legacy target ChebuzzF3
Legacy target Colibri RACE
Legacy target Motolab
Legacy target Omnibus F3
Legacy target Paris Air Hero 32
Legacy target Paris Air Hero 32 F3
Legacy target Sparky
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DevDocs Configuration.md
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Welcome to INAV, useful links and products
iNav Telemetry
UAV Interconnect Bus
DevDocs Rangefinder.md
DevDocs Rssi.md
DevDocs Runcam device.md
DevDocs Serial.md
DevDocs Telemetry.md
DevDocs Rx.md
DevDocs Spektrum bind.md
DevDocs INAV_Autolaunch.pdf

MSP Messages reference

INAV MSP Messages reference

Format:

JSON format example:

Message fields:

Data dict fields:

Payload fields:

Fields:

Index

MSPv1

MSPv2

MSP_API_VERSION (1 / 0x1)

MSP_FC_VARIANT (2 / 0x2)

MSP_FC_VERSION (3 / 0x3)

MSP_BOARD_INFO (4 / 0x4)

MSP_BUILD_INFO (5 / 0x5)

MSP_INAV_PID (6 / 0x6)

MSP_SET_INAV_PID (7 / 0x7)

MSP_NAME (10 / 0xa)

MSP_SET_NAME (11 / 0xb)

MSP_NAV_POSHOLD (12 / 0xc)

MSP_SET_NAV_POSHOLD (13 / 0xd)

MSP_CALIBRATION_DATA (14 / 0xe)

MSP_SET_CALIBRATION_DATA (15 / 0xf)

MSP_POSITION_ESTIMATION_CONFIG (16 / 0x10)

MSP_SET_POSITION_ESTIMATION_CONFIG (17 / 0x11)

MSP_WP_MISSION_LOAD (18 / 0x12)

MSP_WP_MISSION_SAVE (19 / 0x13)

MSP_WP_GETINFO (20 / 0x14)

MSP_RTH_AND_LAND_CONFIG (21 / 0x15)

MSP_SET_RTH_AND_LAND_CONFIG (22 / 0x16)

MSP_FW_CONFIG (23 / 0x17)

MSP_SET_FW_CONFIG (24 / 0x18)

MSP_MODE_RANGES (34 / 0x22)

MSP_SET_MODE_RANGE (35 / 0x23)

MSP_FEATURE (36 / 0x24)

MSP_SET_FEATURE (37 / 0x25)

MSP_BOARD_ALIGNMENT (38 / 0x26)

MSP_SET_BOARD_ALIGNMENT (39 / 0x27)

MSP_CURRENT_METER_CONFIG (40 / 0x28)

MSP_SET_CURRENT_METER_CONFIG (41 / 0x29)

MSP_MIXER (42 / 0x2a)

MSP_SET_MIXER (43 / 0x2b)

MSP_RX_CONFIG (44 / 0x2c)

MSP_SET_RX_CONFIG (45 / 0x2d)

MSP_LED_COLORS (46 / 0x2e)

MSP_SET_LED_COLORS (47 / 0x2f)

MSP_LED_STRIP_CONFIG (48 / 0x30)

MSP_SET_LED_STRIP_CONFIG (49 / 0x31)

MSP_RSSI_CONFIG (50 / 0x32)

MSP_SET_RSSI_CONFIG (51 / 0x33)

MSP_ADJUSTMENT_RANGES (52 / 0x34)

MSP_SET_ADJUSTMENT_RANGE (53 / 0x35)

MSP_CF_SERIAL_CONFIG (54 / 0x36)

MSP_SET_CF_SERIAL_CONFIG (55 / 0x37)

MSP_VOLTAGE_METER_CONFIG (56 / 0x38)

MSP_SET_VOLTAGE_METER_CONFIG (57 / 0x39)

MSP_SONAR_ALTITUDE (58 / 0x3a)

MSP_RX_MAP (64 / 0x40)

MSP_SET_RX_MAP (65 / 0x41)

MSP_REBOOT (68 / 0x44)

MSP_DATAFLASH_SUMMARY (70 / 0x46)

MSP_DATAFLASH_READ (71 / 0x47)

MSP_DATAFLASH_ERASE (72 / 0x48)

MSP_LOOP_TIME (73 / 0x49)

MSP_SET_LOOP_TIME (74 / 0x4a)

MSP_FAILSAFE_CONFIG (75 / 0x4b)

MSP_SET_FAILSAFE_CONFIG (76 / 0x4c)

MSP_SDCARD_SUMMARY (79 / 0x4f)

MSP_BLACKBOX_CONFIG (80 / 0x50)

MSP_SET_BLACKBOX_CONFIG (81 / 0x51)

MSP_TRANSPONDER_CONFIG (82 / 0x52)

MSP_SET_TRANSPONDER_CONFIG (83 / 0x53)

MSP_OSD_CONFIG (84 / 0x54)

MSP_SET_OSD_CONFIG (85 / 0x55)

Variant: dataSize >= 10

Variant: dataSize == 3

MSP_OSD_CHAR_READ (86 / 0x56)

MSP_OSD_CHAR_WRITE (87 / 0x57)

Variant: payloadSize >= OSD_CHAR_BYTES + 2 (>=66 bytes)

`MSP_API_VERSION (1 / 0x1)`

`MSP_FC_VARIANT (2 / 0x2)`

`MSP_FC_VERSION (3 / 0x3)`

`MSP_BOARD_INFO (4 / 0x4)`

`MSP_BUILD_INFO (5 / 0x5)`

`MSP_INAV_PID (6 / 0x6)`

`MSP_SET_INAV_PID (7 / 0x7)`

`MSP_NAME (10 / 0xa)`

`MSP_SET_NAME (11 / 0xb)`

`MSP_NAV_POSHOLD (12 / 0xc)`

`MSP_SET_NAV_POSHOLD (13 / 0xd)`

`MSP_CALIBRATION_DATA (14 / 0xe)`

`MSP_SET_CALIBRATION_DATA (15 / 0xf)`

`MSP_POSITION_ESTIMATION_CONFIG (16 / 0x10)`

`MSP_SET_POSITION_ESTIMATION_CONFIG (17 / 0x11)`

`MSP_WP_MISSION_LOAD (18 / 0x12)`

`MSP_WP_MISSION_SAVE (19 / 0x13)`

`MSP_WP_GETINFO (20 / 0x14)`

`MSP_RTH_AND_LAND_CONFIG (21 / 0x15)`

`MSP_SET_RTH_AND_LAND_CONFIG (22 / 0x16)`

`MSP_FW_CONFIG (23 / 0x17)`

`MSP_SET_FW_CONFIG (24 / 0x18)`

`MSP_MODE_RANGES (34 / 0x22)`

`MSP_SET_MODE_RANGE (35 / 0x23)`

`MSP_FEATURE (36 / 0x24)`

`MSP_SET_FEATURE (37 / 0x25)`

`MSP_BOARD_ALIGNMENT (38 / 0x26)`

`MSP_SET_BOARD_ALIGNMENT (39 / 0x27)`

`MSP_CURRENT_METER_CONFIG (40 / 0x28)`

`MSP_SET_CURRENT_METER_CONFIG (41 / 0x29)`

`MSP_MIXER (42 / 0x2a)`

`MSP_SET_MIXER (43 / 0x2b)`

`MSP_RX_CONFIG (44 / 0x2c)`

`MSP_SET_RX_CONFIG (45 / 0x2d)`

`MSP_LED_COLORS (46 / 0x2e)`

`MSP_SET_LED_COLORS (47 / 0x2f)`

`MSP_LED_STRIP_CONFIG (48 / 0x30)`

`MSP_SET_LED_STRIP_CONFIG (49 / 0x31)`

`MSP_RSSI_CONFIG (50 / 0x32)`

`MSP_SET_RSSI_CONFIG (51 / 0x33)`

`MSP_ADJUSTMENT_RANGES (52 / 0x34)`

`MSP_SET_ADJUSTMENT_RANGE (53 / 0x35)`

`MSP_CF_SERIAL_CONFIG (54 / 0x36)`

`MSP_SET_CF_SERIAL_CONFIG (55 / 0x37)`

`MSP_VOLTAGE_METER_CONFIG (56 / 0x38)`

`MSP_SET_VOLTAGE_METER_CONFIG (57 / 0x39)`

`MSP_SONAR_ALTITUDE (58 / 0x3a)`

`MSP_RX_MAP (64 / 0x40)`

`MSP_SET_RX_MAP (65 / 0x41)`

`MSP_REBOOT (68 / 0x44)`

`MSP_DATAFLASH_SUMMARY (70 / 0x46)`

`MSP_DATAFLASH_READ (71 / 0x47)`

`MSP_DATAFLASH_ERASE (72 / 0x48)`

`MSP_LOOP_TIME (73 / 0x49)`

`MSP_SET_LOOP_TIME (74 / 0x4a)`

`MSP_FAILSAFE_CONFIG (75 / 0x4b)`

`MSP_SET_FAILSAFE_CONFIG (76 / 0x4c)`

`MSP_SDCARD_SUMMARY (79 / 0x4f)`

`MSP_BLACKBOX_CONFIG (80 / 0x50)`

`MSP_SET_BLACKBOX_CONFIG (81 / 0x51)`

`MSP_TRANSPONDER_CONFIG (82 / 0x52)`

`MSP_SET_TRANSPONDER_CONFIG (83 / 0x53)`

`MSP_OSD_CONFIG (84 / 0x54)`

`MSP_SET_OSD_CONFIG (85 / 0x55)`

Variant: `dataSize >= 10`

Variant: `dataSize == 3`

`MSP_OSD_CHAR_READ (86 / 0x56)`

`MSP_OSD_CHAR_WRITE (87 / 0x57)`

Variant: `payloadSize >= OSD_CHAR_BYTES + 2 (>=66 bytes)`

Variant: `payloadSize == OSD_CHAR_BYTES + 1 (65 bytes)`

Variant: `payloadSize == OSD_CHAR_VISIBLE_BYTES + 2 (56 bytes)`

Variant: `payloadSize == OSD_CHAR_VISIBLE_BYTES + 1 (55 bytes)`

`MSP_VTX_CONFIG (88 / 0x58)`

`MSP_SET_VTX_CONFIG (89 / 0x59)`

Variant: `payloadSize >= 14`

Variant: `payloadSize >= 11`

Variant: `payloadSize >= 9`

Variant: `payloadSize >= 7`

Variant: `payloadSize >= 5`

Variant: `payloadSize >= 4`