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iNavFlight之MSP DJI协议飞控端请求应答
iNavFlight之MSP DJI协议飞控端请求应答
- 1. 报文格式
- 2. 报文标志(flag)
- 3. 报文命令(cmd)
- 4. 请求应答 & 反馈报文
- 4.1 DJI_MSP_API_VERSION
- 4.2 DJI_MSP_FC_VARIANT
- 4.3 DJI_MSP_FC_VERSION
- 4.4 DJI_MSP_NAME
- 4.5 DJI_MSP_STATUS & DJI_MSP_STATUS_EX
- 4.6 DJI_MSP_RC
- 4.7 DJI_MSP_RAW_GPS
- 4.8 DJI_MSP_COMP_GPS
- 4.9 DJI_MSP_ATTITUDE
- 4.10 DJI_MSP_ALTITUDE
- 4.11 DJI_MSP_ANALOG
- 4.12 DJI_MSP_PID
- 4.13 DJI_MSP_BATTERY_STATE
- 4.14 DJI_MSP_RTC
- 4.15 DJI_MSP_ESC_SENSOR_DATA
- 4.16 DJI_MSP_OSD_CONFIG
- 4.17 DJI_MSP_FILTER_CONFIG
- 4.18 DJI_MSP_RC_TUNING
- 4.19 DJI_MSP_SET_PID
- 4.20 Unsupported
- 5. 参考资料
MSP DJI协议是用于DJI天空端与飞控端之间的通信协议，其工作模式符合C/S经典设计。
这里我们重点介绍下天空端请求报文格式和命令。
1. 报文格式
+---+---+--------+---------+--------+------+---------+------------------------------+-------------+ | Multiwii Serial Protocol V2 length = 9 + payload size | +---+---+--------+---------+--------+------+---------+------------------------------+-------------+ | $ | X | ! > | flag(1) | cmd(2) | size(2) | payload(16bit len) | checksum_v2 | +---+---+--------+---------+--------+------+---------+------------------------------+-------------+- 1
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- ‘$’：表示SOF(Start Of a frame)
- ‘X’：表示V2
- ‘>’：表示response
- ‘!’：表示error
2. 报文标志(flag)
请求报文：MSP_RESULT_ACK or MSP_RESULT_ERROR //截止发稿日
// return positive for ACK, negative on error, zero for no reply typedef enum { MSP_RESULT_ACK = 1, MSP_RESULT_ERROR = -1, MSP_RESULT_NO_REPLY = 0 } mspResult_e;- 1
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3. 报文命令(cmd)
#define DJI_MSP_API_VERSION 1 // #define DJI_MSP_FC_VARIANT 2 // #define DJI_MSP_FC_VERSION 3 // #define DJI_MSP_NAME 10 // For OSD 'Craft Name' #define DJI_MSP_OSD_CONFIG 84 // OSD item count + positions #define DJI_MSP_FILTER_CONFIG 92 // #define DJI_MSP_PID_ADVANCED 94 // #define DJI_MSP_STATUS 101 // For OSD ‘armingTime’, Flight controller arming status #define DJI_MSP_RC 105 // #define DJI_MSP_RAW_GPS 106 // For OSD ‘GPS Sats’ + coordinates #define DJI_MSP_COMP_GPS 107 // GPS direction to home & distance to home #define DJI_MSP_ATTITUDE 108 // For OSD ‘Angle: roll & pitch’ #define DJI_MSP_ALTITUDE 109 // For OSD ‘Numerical Vario’ #define DJI_MSP_ANALOG 110 // For OSD ‘RSSI Value’, For OSD ‘Battery voltage’ etc #define DJI_MSP_RC_TUNING 111 // #define DJI_MSP_PID 112 // For OSD ‘PID roll, yaw, pitch' #define DJI_MSP_BATTERY_STATE 130 // For OSD ‘Battery current mAh drawn’ etc #define DJI_MSP_ESC_SENSOR_DATA 134 // For OSD ‘ESC temperature’ #define DJI_MSP_STATUS_EX 150 // For OSD ‘Fly mode', For OSD ‘Disarmed’ #define DJI_MSP_RTC 247 // For OSD ‘RTC date time’- 1
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4. 请求应答 & 反馈报文
这里主要将payload内容整理出来。
4.1 DJI_MSP_API_VERSION
反馈内容：API版本，三个字节
示例显示：“1.42”case DJI_MSP_API_VERSION: sbufWriteU8(dst, MSP_PROTOCOL_VERSION); sbufWriteU8(dst, DJI_API_VERSION_MAJOR); sbufWriteU8(dst, DJI_API_VERSION_MINOR); break;- 1
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4.2 DJI_MSP_FC_VARIANT
反馈内容：飞控版本，字符串
示例显示：“INAV”case DJI_MSP_FC_VARIANT: { const char * const flightControllerIdentifier = INAV_IDENTIFIER; sbufWriteData(dst, flightControllerIdentifier, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); } break;- 1
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4.3 DJI_MSP_FC_VERSION
反馈内容：飞控版本，三字节
示例显示：“4.1.0”case DJI_MSP_FC_VERSION: sbufWriteU8(dst, 4); sbufWriteU8(dst, 1); sbufWriteU8(dst, 0); break;- 1
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4.4 DJI_MSP_NAME
反馈内容：模型名称，字符串
示例显示：“AocodaRC F7DUAL”case DJI_MSP_NAME: { #if defined(USE_OSD) if (djiOsdConfig()->use_name_for_messages) { djiSerializeCraftNameOverride(dst); } else { #endif sbufWriteData(dst, systemConfig()->name, (int)strlen(systemConfig()->name)); #if defined(USE_OSD) } #endif break; } break;- 1
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4.5 DJI_MSP_STATUS & DJI_MSP_STATUS_EX
反馈内容：
【1】cycleTime(4B)
注：PID loop time in micro second
示例显示：TBD【2】Reserved(4B)
示例显示：TBD【3】SensorStatus(4B)
bit00: SENSOR_ACC
bit01: SENSOR_BARO
bit02: SENSOR_MAG
bit03: SENSOR_GPS
bit04: SENSOR_RANGEFINDER
bit05: SENSOR_OPFLOW
bit06: SENSOR_PITOT
bit07: SENSOR_TEMP
bit15: Hardware failure
示例显示：TBD【4】FlightMode(4B)
bit00: ARMED
bit01: FLM_ANGLE
bit02: FLM_HORIZON
bit03: FLM_CRUISE //HeadFree
bit04: FLM_FAILSAFE
bit05: FLM_RTH
示例显示：TBD【5】ConfigProfile(1B)
示例显示：1 //当前使用的Profile ID【6】SystemLoadPercent(4B)
示例显示：65 //65% CPU使用率【7】DJI_MSP_STATUS:GyroCycleTime(4B) or DJI_MSP_STATUS_EX:PID_PROFILE_COUNT(3B) & RateProfileIndex(1B)
注：DJI_MSP_STATUS和DJI_MSP_STATUS_EX主要差异点- 示例显示(DJI_MSP_STATUS)：PID loop time in micro second --> 125
- 示例显示(DJI_MSP_STATUS_EX)：PID_PROFILE_COUNT(3B) & RateProfileIndex(1B) --> 3,1
【8】Reserved(1B)
示例显示：TBD【9】DJI_ARMING_DISABLE_FLAGS_COUNT(1B)
示例显示：25【10】djiPackArmingDisabledFlags(4B)
bit24: ARMING_DISABLED_ARM_SWITCH
示例显示：0x1000000【11】Reserved(1B)
示例显示：TBDcase DJI_MSP_STATUS: case DJI_MSP_STATUS_EX: { // DJI OSD relies on a statically defined bit order and doesn't use MSP_BOXIDS // to get actual BOX order. We need a special packBoxModeFlags() boxBitmask_t flightModeBitmask; djiPackBoxModeBitmask(&flightModeBitmask); sbufWriteU16(dst, (uint16_t)cycleTime); sbufWriteU16(dst, 0); sbufWriteU16(dst, packSensorStatus()); sbufWriteData(dst, &flightModeBitmask, 4); // unconditional part of flags, first 32 bits sbufWriteU8(dst, getConfigProfile()); sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100)); if (cmd->cmd == MSP_STATUS_EX) { sbufWriteU8(dst, 3); // PID_PROFILE_COUNT sbufWriteU8(dst, 1); // getCurrentControlRateProfileIndex() } else { sbufWriteU16(dst, cycleTime); // gyro cycle time } // Cap BoxModeFlags to 32 bits // write flightModeFlags header. Lowest 4 bits contain number of bytes that follow sbufWriteU8(dst, 0); // sbufWriteData(dst, ((uint8_t*)&flightModeBitmask) + 4, byteCount); // Write arming disable flags sbufWriteU8(dst, DJI_ARMING_DISABLE_FLAGS_COUNT); sbufWriteU32(dst, djiPackArmingDisabledFlags()); // Extra flags sbufWriteU8(dst, 0); } break;- 1
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uint16_t packSensorStatus(void) { // Sensor bits uint16_t sensorStatus = IS_ENABLED(sensors(SENSOR_ACC)) << 0 | IS_ENABLED(sensors(SENSOR_BARO)) << 1 | IS_ENABLED(sensors(SENSOR_MAG)) << 2 | IS_ENABLED(sensors(SENSOR_GPS)) << 3 | IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 | IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 | IS_ENABLED(sensors(SENSOR_PITOT)) << 6 | IS_ENABLED(sensors(SENSOR_TEMP)) << 7; // Hardware failure indication bit if (!isHardwareHealthy()) { sensorStatus |= 1 << 15; // Bit 15 of sensor bit field indicates hardware failure } return sensorStatus; }- 1
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static void djiPackBoxModeBitmask(boxBitmask_t * flightModeBitmask) { memset(flightModeBitmask, 0, sizeof(boxBitmask_t)); // Map flight modes to DJI-supported bits switch(getFlightModeForTelemetry()) { case FLM_MANUAL: case FLM_ACRO: case FLM_ACRO_AIR: // DJI: No bits set = ACRO break; case FLM_ANGLE: bitArraySet(flightModeBitmask->bits, 1); // DJI: 1 << 1 : ANGLE break; case FLM_HORIZON: bitArraySet(flightModeBitmask->bits, 2); // DJI: 1 << 2 break; case FLM_RTH: bitArraySet(flightModeBitmask->bits, 5); // DJI: 1 << 5 : GPS_RESQUE break; case FLM_CRUISE: bitArraySet(flightModeBitmask->bits, 3); // DJI: 1 << 3 : technically HEADFREE break; case FLM_FAILSAFE: bitArraySet(flightModeBitmask->bits, 4); // DJI: 1 << 4 break; case FLM_LAUNCH: case FLM_ALTITUDE_HOLD: case FLM_POSITION_HOLD: case FLM_MISSION: default: // Unsupported ATM, keep at ANGLE bitArraySet(flightModeBitmask->bits, 1); // DJI: 1 << 1 : ANGLE } // Set ARMED mode if (ARMING_FLAG(ARMED)) { bitArraySet(flightModeBitmask->bits, 0); // DJI: 1 << 0 : ARMED } }- 1
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static uint32_t djiPackArmingDisabledFlags(void) { // TODO: Map INAV arming disabled flags to DJI/BF ones // https://github.com/betaflight/betaflight/blob/c6e5882dd91fa20d246b8f8af10cf6c92876bc3d/src/main/fc/runtime_config.h#L42 // For now hide everything in ARMING_DISABLED_ARM_SWITCH (bit 24) return isArmingDisabled() ? (1 << 24) : 0; }- 1
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4.6 DJI_MSP_RC
反馈内容：channel_1(1B) + channel_2(1B) + channel_3(1B) + channel_4(1B)
示例显示：横滚(1500), 俯仰(1500), 方向(1500), 油门(1200)case DJI_MSP_RC: // Only send sticks (first 4 channels) for (int i = 0; i < STICK_CHANNEL_COUNT; i++) { sbufWriteU16(dst, rxGetChannelValue(i)); } break;- 1
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4.7 DJI_MSP_RAW_GPS
反馈内容：
fixType(1B) + numSat(1B) + lat(4B) + lon(4B) + alt(2B)/100 + speed(2B) + groundCourse(2B)
示例显示：TBD
case DJI_MSP_RAW_GPS: sbufWriteU8(dst, gpsSol.fixType); sbufWriteU8(dst, gpsSol.numSat); sbufWriteU32(dst, gpsSol.llh.lat); sbufWriteU32(dst, gpsSol.llh.lon); sbufWriteU16(dst, gpsSol.llh.alt / 100); sbufWriteU16(dst, osdGetSpeedFromSelectedSource()); sbufWriteU16(dst, gpsSol.groundCourse); break;- 1
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4.8 DJI_MSP_COMP_GPS
反馈内容：
distanceToHome(2B) + directionToHome(2B) + gpsHeartbeat(1B)
示例显示：TBD
case DJI_MSP_COMP_GPS: sbufWriteU16(dst, GPS_distanceToHome); sbufWriteU16(dst, GPS_directionToHome); sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0); break;- 1
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4.9 DJI_MSP_ATTITUDE
反馈内容：
roll(2B, DECIDEGREES) + pitch(2B, DECIDEGREES) + yaw(2B, DEGREES)
示例显示：TBD
case DJI_MSP_ATTITUDE: sbufWriteU16(dst, attitude.values.roll); sbufWriteU16(dst, attitude.values.pitch); sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.yaw)); break;- 1
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4.10 DJI_MSP_ALTITUDE
反馈内容：
EstimatedActualPosition(4B) + EstimatedActualVelocity(2B)
示例显示：TBD
case DJI_MSP_ALTITUDE: sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z))); sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z))); break;- 1
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4.11 DJI_MSP_ANALOG
反馈内容：
BatteryVoltage/10(1B, 0.1V steps) + MAhDrawn(2B, milliamp hours) + RSSI(2B) + Amperage(2B, 0.01A steps) + BatteryVoltage(2B)
示例显示：TBD
case DJI_MSP_ANALOG: sbufWriteU8(dst, constrain(getBatteryVoltage() / 10, 0, 255)); sbufWriteU16(dst, constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery #ifdef USE_SERIALRX_CRSF // Range of RSSI field: 0-99: 99 = 150 hz , 0 - 98 50 hz / 4 hz if (djiOsdConfig()->rssi_source == DJI_CRSF_LQ) { uint16_t scaledLq = 0; if (rxLinkStatistics.rfMode >= 2) { scaledLq = RSSI_MAX_VALUE; } else { scaledLq = scaleRange(constrain(rxLinkStatistics.uplinkLQ, 0, 100), 0, 100, 0, RSSI_BOUNDARY(98)); } sbufWriteU16(dst, scaledLq); } else { #endif sbufWriteU16(dst, getRSSI()); #ifdef USE_SERIALRX_CRSF } #endif sbufWriteU16(dst, constrain(getAmperage(), -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A sbufWriteU16(dst, getBatteryVoltage()); break;- 1
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4.12 DJI_MSP_PID
反馈内容：
P(1B) + I(1B) + D(1B)
示例显示：TBD
case DJI_MSP_PID: for (unsigned i = 0; i < ARRAYLEN(djiPidIndexMap); i++) { sbufWriteU8(dst, pidBank()->pid[djiPidIndexMap[i]].P); sbufWriteU8(dst, pidBank()->pid[djiPidIndexMap[i]].I); sbufWriteU8(dst, pidBank()->pid[djiPidIndexMap[i]].D); } break;- 1
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4.13 DJI_MSP_BATTERY_STATE
反馈内容：
BatteryCellCount(1B) + capacity(2B) + BatteryVoltage/10(1B, 0.1V steps) + MAhDrawn(2B) + Amperage(2B) + BatteryState(1B) + BatteryVoltage(2B)
示例显示：TBD
case DJI_MSP_BATTERY_STATE: // Battery characteristics sbufWriteU8(dst, constrain(getBatteryCellCount(), 0, 255)); sbufWriteU16(dst, currentBatteryProfile->capacity.value); // Battery state sbufWriteU8(dst, constrain(getBatteryVoltage() / 10, 0, 255)); // in 0.1V steps sbufWriteU16(dst, constrain(getMAhDrawn(), 0, 0xFFFF)); sbufWriteU16(dst, constrain(getAmperage(), -0x8000, 0x7FFF)); // Battery alerts - used values match Betaflight's/DJI's sbufWriteU8(dst, getBatteryState()); // Additional battery voltage field (in 0.01V steps) sbufWriteU16(dst, getBatteryVoltage()); break;- 1
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4.14 DJI_MSP_RTC
反馈内容：
year(2B) + month(1B) + day(1B) + hours(1B) + minutes(1B) + seconds(1B) + millis(1B)
示例显示：TBD
case DJI_MSP_RTC: { dateTime_t datetime; // We don't care about validity here - dt will be always set to a sane value // rtcGetDateTime() will call rtcGetDefaultDateTime() internally rtcGetDateTime(&datetime); sbufWriteU16(dst, datetime.year); sbufWriteU8(dst, datetime.month); sbufWriteU8(dst, datetime.day); sbufWriteU8(dst, datetime.hours); sbufWriteU8(dst, datetime.minutes); sbufWriteU8(dst, datetime.seconds); sbufWriteU16(dst, datetime.millis); } break;- 1
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4.15 DJI_MSP_ESC_SENSOR_DATA
反馈内容：
DJI_OSD_USE_NON_STANDARD_MSP_ESC_SENSOR_DATA: Temp(1B) + Rpm(2B)
STANDARD: N x (Temp(1B) + Rpm(2B))示例显示：TBD
case DJI_MSP_ESC_SENSOR_DATA: if (djiOsdConfig()->proto_workarounds & DJI_OSD_USE_NON_STANDARD_MSP_ESC_SENSOR_DATA) { // Version 1.00.06 of DJI firmware is not using the standard MSP_ESC_SENSOR_DATA uint16_t protoRpm = 0; int16_t protoTemp = 0; #if defined(USE_ESC_SENSOR) if (STATE(ESC_SENSOR_ENABLED) && getMotorCount() > 0) { uint32_t motorRpmAcc = 0; int32_t motorTempAcc = 0; for (int i = 0; i < getMotorCount(); i++) { const escSensorData_t * escSensor = getEscTelemetry(i); motorRpmAcc += escSensor->rpm; motorTempAcc += escSensor->temperature; } protoRpm = motorRpmAcc / getMotorCount(); protoTemp = motorTempAcc / getMotorCount(); } #endif switch (djiOsdConfig()->esc_temperature_source) { // This is ESC temperature (as intended) case DJI_OSD_TEMP_ESC: // No-op, temperature is already set to ESC break; // Re-purpose the field for core temperature case DJI_OSD_TEMP_CORE: getIMUTemperature(&protoTemp); protoTemp = protoTemp / 10; break; // Re-purpose the field for baro temperature case DJI_OSD_TEMP_BARO: getBaroTemperature(&protoTemp); protoTemp = protoTemp / 10; break; } // No motor count, just raw temp and RPM data sbufWriteU8(dst, protoTemp); sbufWriteU16(dst, protoRpm); } else { // Use standard MSP_ESC_SENSOR_DATA message sbufWriteU8(dst, getMotorCount()); for (int i = 0; i < getMotorCount(); i++) { uint16_t motorRpm = 0; int16_t motorTemp = 0; // If ESC_SENSOR is enabled, pull the telemetry data and get motor RPM #if defined(USE_ESC_SENSOR) if (STATE(ESC_SENSOR_ENABLED)) { const escSensorData_t * escSensor = getEscTelemetry(i); motorRpm = escSensor->rpm; motorTemp = escSensor->temperature; } #endif // Now populate temperature field (which we may override for different purposes) switch (djiOsdConfig()->esc_temperature_source) { // This is ESC temperature (as intended) case DJI_OSD_TEMP_ESC: // No-op, temperature is already set to ESC break; // Re-purpose the field for core temperature case DJI_OSD_TEMP_CORE: getIMUTemperature(&motorTemp); motorTemp = motorTemp / 10; break; // Re-purpose the field for baro temperature case DJI_OSD_TEMP_BARO: getBaroTemperature(&motorTemp); motorTemp = motorTemp / 10; break; } // Add data for this motor to the packet sbufWriteU8(dst, motorTemp); sbufWriteU16(dst, motorRpm); } } break;- 1
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4.16 DJI_MSP_OSD_CONFIG
反馈内容：
1B: 1 //supported flag, DJI_OSD_FLAGS_OSD_FEATURE
1B: video_system //7456 video system, AUTO/PAL/NTSC
1B: units //Configuration
3B: rssi_alarm(1B) + capacity.warning(2B) //Alarms
2B: 0(1B) + ARRAYLEN(djiOSDItemIndexMap)(1B) //OSD_ITEM_COUNT
2B: alt_alarm //Altitude alarm
2nB: (nx2B) //OSD element position and visibility, n=ARRAYLEN(djiOSDItemIndexMap)
1 + nB: n(1B) + 0(nB) //Post flight statistics待修正代码, n=ARRAYLEN(djiOSDStatisticsMap)
5B: 2(1B) + 0, 0 (2x2=4B) //Timers
2B: 0(2B) //djiEncodeOSDEnabledWarnings, 尚未实现
5B: 16(1B) + 0(4B) //djiEncodeOSDEnabledWarnings, 尚未实现
2B: 1(1B) + 1(1B) //DJI OSD expects 1 OSD profile
1B: 0(1B) //No OSD stick overlay示例显示：TBD
#if defined(USE_OSD) // This involved some serious magic, better contain in a separate function for readability djiSerializeOSDConfigReply(dst); #else sbufWriteU8(dst, 0); #endif break;- 1
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static void djiSerializeOSDConfigReply(sbuf_t *dst) { // Only send supported flag - always sbufWriteU8(dst, DJI_OSD_FLAGS_OSD_FEATURE); // 7456 video system (AUTO/PAL/NTSC) sbufWriteU8(dst, osdConfig()->video_system); // Configuration sbufWriteU8(dst, osdConfig()->units); // Alarms sbufWriteU8(dst, osdConfig()->rssi_alarm); sbufWriteU16(dst, currentBatteryProfile->capacity.warning); // OSD_ITEM_COUNT (previously was timer alarm) sbufWriteU8(dst, 0); sbufWriteU8(dst, ARRAYLEN(djiOSDItemIndexMap)); // Altitude alarm sbufWriteU16(dst, osdConfig()->alt_alarm); // OSD element position and visibility for (unsigned i = 0; i < ARRAYLEN(djiOSDItemIndexMap); i++) { const int inavOSDIdx = djiOSDItemIndexMap[i].itemIndex; // We call OSD item supported if it doesn't have dependencies or all feature-dependencies are satistied const bool itemIsSupported = ((djiOSDItemIndexMap[i].depFeature == 0) || feature(djiOSDItemIndexMap[i].depFeature)); if (inavOSDIdx >= 0 && itemIsSupported) { // Position & visibility are encoded in 16 bits, and is the same between BF/DJI. // However INAV supports co-ords of 0-63 and has 3 layouts, while BF has co-ords 0-31 and visibility profiles. // Re-encode for co-ords of 0-31 and map the layout to all three BF profiles. uint16_t itemPos = osdLayoutsConfig()->item_pos[0][inavOSDIdx]; uint16_t itemPosSD = OSD_POS_SD(OSD_X(itemPos), OSD_Y(itemPos)); // Workarounds for certain OSD element positions // INAV calculates these dynamically, while DJI expects the config to have defined coordinates switch(inavOSDIdx) { case OSD_CROSSHAIRS: itemPosSD = OSD_POS_SD(15, 8); break; case OSD_ARTIFICIAL_HORIZON: itemPosSD = OSD_POS_SD(9, 8); break; case OSD_HORIZON_SIDEBARS: itemPosSD = OSD_POS_SD(16, 7); break; } // Enforce visibility in 3 BF OSD profiles if (OSD_VISIBLE(itemPos)) { itemPosSD |= (0x3000 | OSD_VISIBLE_FLAG_SD); } sbufWriteU16(dst, itemPosSD); } else { // Hide OSD elements unsupported by INAV sbufWriteU16(dst, 0); } } // Post flight statistics sbufWriteU8(dst, ARRAYLEN(djiOSDStatisticsMap)); for (unsigned i = 0; i < ARRAYLEN(djiOSDStatisticsMap); i++ ) { if (djiOSDStatisticsMap[i] >= 0) { // FIXME: Map post-flight statistics from INAV to BF/DJI sbufWriteU8(dst, 0); } else { sbufWriteU8(dst, 0); } } // Timers sbufWriteU8(dst, DJI_OSD_TIMER_COUNT); for (int i = 0; i < DJI_OSD_TIMER_COUNT; i++) { // STUB: We don't support BF's OSD timers sbufWriteU16(dst, 0); } // Enabled warnings // API < 1.41 stub, kept for compatibility sbufWriteU16(dst, djiEncodeOSDEnabledWarnings() & 0xFFFF); // API >= 1.41 // Send the warnings count and 32bit enabled warnings flags. sbufWriteU8(dst, DJI_OSD_WARNING_COUNT); sbufWriteU32(dst, djiEncodeOSDEnabledWarnings()); // DJI OSD expects 1 OSD profile sbufWriteU8(dst, 1); sbufWriteU8(dst, 1); // No OSD stick overlay sbufWriteU8(dst, 0); // API >= 1.43 // Camera frame element width/height - magic numbers taken from Betaflight source //sbufWriteU8(dst, DJI_OSD_SCREEN_WIDTH); // osdConfig()->camera_frame_width //sbufWriteU8(dst, DJI_OSD_SCREEN_HEIGHT); // osdConfig()->camera_frame_height }- 1
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4.17 DJI_MSP_FILTER_CONFIG
反馈内容：略
示例显示：TBDcase DJI_MSP_FILTER_CONFIG: sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz); // BF: gyroConfig()->gyro_lowpass_hz sbufWriteU16(dst, pidProfile()->dterm_lpf_hz); // BF: currentPidProfile->dterm_lowpass_hz sbufWriteU16(dst, pidProfile()->yaw_lpf_hz); // BF: currentPidProfile->yaw_lowpass_hz sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_soft_notch_hz_1 sbufWriteU16(dst, 1); // BF: gyroConfig()->gyro_soft_notch_cutoff_1 sbufWriteU16(dst, 0); // BF: currentPidProfile->dterm_notch_hz sbufWriteU16(dst, 1); // BF: currentPidProfile->dterm_notch_cutoff sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_soft_notch_hz_2 sbufWriteU16(dst, 1); // BF: gyroConfig()->gyro_soft_notch_cutoff_2 sbufWriteU8(dst, 0); // BF: currentPidProfile->dterm_filter_type sbufWriteU8(dst, gyroConfig()->gyro_lpf); // BF: gyroConfig()->gyro_hardware_lpf); sbufWriteU8(dst, 0); // BF: DEPRECATED: gyro_32khz_hardware_lpf sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz); // BF: gyroConfig()->gyro_lowpass_hz); sbufWriteU16(dst, 0); // BF: gyroConfig()->gyro_lowpass2_hz); sbufWriteU8(dst, 0); // BF: gyroConfig()->gyro_lowpass_type); sbufWriteU8(dst, 0); // BF: gyroConfig()->gyro_lowpass2_type); sbufWriteU16(dst, 0); // BF: currentPidProfile->dterm_lowpass2_hz); sbufWriteU8(dst, 0); // BF: currentPidProfile->dterm_filter2_type); break;- 1
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4.18 DJI_MSP_RC_TUNING
反馈内容：
1B: 100 // INAV doesn’t use rcRate
1B: stabilized.rcExpo8
3B: R,P,Y rates
1B: throttle.dynPID
1B: throttle.rcMid8
1B: throttle.rcExpo8
2B: throttle.pa_breakpoint
1B: stabilized.rcYawExpo8
1B: 100 // INAV doesn’t use rcRate
1B: 100 // INAV doesn’t use rcRate
1B: stabilized.rcExpo8
1B: 0
1B: throttle.dynPID示例显示：TBD
case DJI_MSP_RC_TUNING: sbufWriteU8(dst, 100); // INAV doesn't use rcRate sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8); for (int i = 0 ; i < 3; i++) { // R,P,Y rates see flight_dynamics_index_t sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); } sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID); sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8); sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8); sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint); sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8); sbufWriteU8(dst, 100); // INAV doesn't use rcRate sbufWriteU8(dst, 100); // INAV doesn't use rcRate sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8); // added in 1.41 sbufWriteU8(dst, 0); sbufWriteU8(dst, currentControlRateProfile->throttle.dynPID); break;- 1
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4.19 DJI_MSP_SET_PID
反馈内容：成功或者失败，payload为空
根据DJI协议设置PID，接受报文内容：P(1B) + I(1B) + D(1B)
示例显示：TBD
case DJI_MSP_SET_PID: // Check if we have enough data for all PID coefficients if ((unsigned)sbufBytesRemaining(src) >= ARRAYLEN(djiPidIndexMap) * 3) { for (unsigned i = 0; i < ARRAYLEN(djiPidIndexMap); i++) { pidBankMutable()->pid[djiPidIndexMap[i]].P = sbufReadU8(src); pidBankMutable()->pid[djiPidIndexMap[i]].I = sbufReadU8(src); pidBankMutable()->pid[djiPidIndexMap[i]].D = sbufReadU8(src); } schedulePidGainsUpdate(); } else { reply->result = MSP_RESULT_ERROR; } break;- 1
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4.20 Unsupported
暂不支持命令，截止发稿日。
- DJI_MSP_PID_ADVANCED
- DJI_MSP_SET_FILTER_CONFIG
- DJI_MSP_SET_PID_ADVANCED
- DJI_MSP_SET_RC_TUNING
5. 参考资料
【1】iNavFlight之MSP DJI协议分析
【2】BetaFlight模块设计之三十二：MSP协议模块分析
【3】iNavFlight之MSP DJI协议天空端请求报文 -
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- 原文地址：https://blog.csdn.net/lida2003/article/details/127860323
