MSP protocol implementation and settings menu

2026-07-30 21:18:48 +02:00
parent 5994aee7ad
commit 078d58dbc0
16 changed files with 1132 additions and 29 deletions
@@ -0,0 +1,37 @@
+/// MSP-Befehlsnummern, geprueft gegen den tatsaechlichen iNAV-9.1.0-Quellcode
+/// statt aus dem Gedaechtnis uebernommen (Doku Kommunikationsschicht
+/// Abschnitt 4):
+/// https://github.com/iNavFlight/inav/blob/9.1.0/src/main/msp/msp_protocol.h
+/// https://github.com/iNavFlight/inav/blob/9.1.0/src/main/msp/msp_protocol_v2_inav.h
+///
+/// `MSP_STATUS` und `MSP_ANALOG` sind laut `msp_protocol.h` seit iNAV 9.1
+/// als "DEPRECATED ... use MSP2_INAV_STATUS/MSP2_INAV_ANALOG instead. Will
+/// be removed in INAV 10.0" markiert - deshalb wird hier bewusst die
+/// MSP2_INAV_-Variante verwendet, nicht die MSPv1-Klassiker.
+abstract final class MspCommands {
+  /// Response: u8 fixType, u8 numSat, i32 lat(1e-7 deg), i32 lon(1e-7 deg),
+  /// u16 alt(m), u16 groundSpeed(cm/s), u16 groundCourse(0.1 deg), u16 hdop.
+  /// (`fc_msp.c`, `case MSP_RAW_GPS`)
+  static const int rawGps = 106;
+
+  /// Response: i32 estAlt(cm), i16 vario(cm/s), i32 baroAlt(cm).
+  /// (`fc_msp.c`, `case MSP_ALTITUDE`)
+  static const int altitude = 109;
+
+  /// Response: u8 mode, u8 state, u8 activeWpAction, u8 activeWpNumber,
+  /// u8 error, u16 headingHoldTarget. (`fc_msp.c`, `case MSP_NAV_STATUS`)
+  static const int navStatus = 121;
+
+  /// Response: u16 cycleTime, u16 i2cErrors, u16 sensorStatus,
+  /// u16 avgSystemLoad%, u8 (batteryProfile<<4|configProfile),
+  /// u32 armingFlags, 8 byte boxModeFlags, u8 mixerProfile.
+  /// (`fc_msp.c`, `case MSP2_INAV_STATUS`; ID aus
+  /// `msp_protocol_v2_inav.h`: `#define MSP2_INAV_STATUS 0x2000`)
+  static const int inavStatus = 0x2000;
+}
+
+/// Bits von `armingFlags` (Doku: `fc/runtime_config.h`, `armingFlags_e`).
+/// Nur das fuer die Telemetrie benoetigte ARMED-Bit ist hier abgebildet.
+abstract final class MspArmingFlags {
+  static const int armed = 1 << 2;
+}