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MultiWii Serial Protocol
updated 13 April
currently implemented as a prototype in dev versions.
Multiwii serial protocol was redesigned:
to be light, as before
to be generic: it can be used transparenlty by a GUI, OSD, telemetry or home made config tool.
ie no more specific OSD code should be coded in multiwii
to be bit wire efficient: only requested data are transmitted in a binary format
to be quite secure: data are sent with a checksum, preventing corrupted configuration to be injected.
to be header sensitive: as it is designed with a specific header, it can be mixed with other frame, like GPS frame
ie, it will be possible to connect either a GUI or a GPS on the same serial port without changing the conf
to be less sensitive to evolutions:
ie in case of parameter evolution, the main protocol will remain compatible and the GUI will be much less version dependent.
variable data length allows to consider only the beginning of a message, leaving the other octets at the end to extend transparently the message (for instance to add a new PID)
I thought first about an implementation of Mavlink, but I think it's not what I was looking for.
Even with a partial implementation, the predefined structures are not light enough for what I have in mind.
Some messages are however inspired from mavlink structure.
The main rule remains: Multiwii never sends something on its own.
A request must be done in each case to retrieve or set data.
There are 2 main messages to consider:
request message to multiwii
multiwii output message
request message to multiwii
messages are formated like this:
- to request simple data without parameters or to send a specific command
$M>[code]
1 octet '$'
1 octet 'M'
1 octet '<'
1 octet [code]
- to inject new parameters in multiwii
$M>[code][data][checksum]
1 octet '$'
1 octet 'M'
1 octet '<'
1 octet [data length]
1 octet [code]
several octets [data]
1 octet [checksum]
multiwii output message
messages are formated like this:
$M>[code][data][checksum]
1 octet '$'
1 octet 'M'
1 octet '>'
1 octet [data length]
1 octet [code]
several octets [data]
1 octet [checksum]
list of message codes
multiwii output message
MSP_IDENT
multitype + version
MSP_STATUS
cycletime & errors_count & sensor present & box activation
MSP_RAW_IMU
9 DOF output
MSP_SERVO
8 servos
MSP_MOTOR
8 motors
MSP_RC
8 rc chan
MSP_RAW_GPS
fix, numsat, lat, lon, alt, speed
MSP_COMP_GPS
distance to home, direction to home
MSP_ATTITUDE
angles and heading
MSP_ALTITUDE
altitude
MSP_BAT
vbat, powermetersum
MSP_RC_TUNING
rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
MSP_PID
8 P I D
MSP_BOX
11 checkbox
MSP_MISC
powermeter trig
MSP_DEBUG
debug1,debug2,debug3,debug4 variable
multiwii input message
MSP_SET_RAW_RC
8 rc chan: it's a way to command multiwii via a "serial RC transmitter"
MSP_SET_RAW_GPS
fix, numsat, lat, lon, alt, speed: it's a way to inject in multiwii GPS data coming for instance from an OSD with an integrated GPS
MSP_SET_PID
8 P I D
MSP_SET_BOX
11 checkbox
MSP_SET_RC_TUNING
rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
MSP_ACC_CALIBRATION
to calibrate ACC
MSP_MAG_CALIBRATION
to calibrate MAG
MSP_SET_MISC
powermeter trig
MSP_RESET_CONF
to reset all params to default (new feature)
MSP_EEPROM_WRITE
to write current params to EEPROM[/quote]
Du hast nicht zufällig eine der 4.4 Betas erwischt??
DIe 4.4final funktioniert bei meinen beiden Coptern einwandfrei mit mwc2.0!
Den Fehler den Du beschreibst kenne ich nur von den Betas.
Ich glaube, ich hab den auch schon beseitigt.
Weiterhin wurden auch in der Vergangenheit immer nur die Release-Versionen der MultiWii-Software vom LCD_Config unterstützt, da der Aufwand, den LCD_Config Code an die Tagesversionen anzupassen, einfach zu groß ist.
bei welchem Händler?Michael Brakhage hat geschrieben: Kostenpunkt 11 us dollar!
laserman hat geschrieben:bei welchem Händler?Michael Brakhage hat geschrieben: Kostenpunkt 11 us dollar!
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