iNavFlight之MSP DJI协议天空端请求报文
- 1. 报文格式(请求)
- 2. 报文标志(flag)
- 3. 报文命令(cmd)
- 4. 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(请求)
+---+---+--------+---------+--------+------+-------------+------------------------------+-------------+
| Multiwii Serial Protocol V2 length = 9 + payload size |
+---+---+--------+---------+--------+------+-------------+------------------------------+-------------+
| $ | X | < | flag(1) | cmd(2) | size(2) = 0 | payload(16bit len) | checksum_v2 |
+---+---+--------+---------+--------+------+-------------+------------------------------+-------------+
- ‘$’：表示SOF(Start Of a frame)
- ‘X’：表示V2
- ‘<’: 表示request
2. 报文标志(flag)
请求报文：MSP_RESULT_ACK //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;
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’
4. 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协议飞控端请求应答
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