Add per-motor DShot direction configuration and bounded test pulses

docs/development/msp/README.md

@@ -471,6 +471,12 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 [8744 - MSP2_INAV_TIMESYNC](#msp2_inav_timesync)  
 [8752 - MSP2_INAV_SET_AUX_RC](#msp2_inav_set_aux_rc)  
 [8753 - MSP2_INAV_WIND](#msp2_inav_wind)  
+[8754 - MSP2_INAV_MAG_UNALIGNED](#msp2_inav_mag_unaligned)  
+[8755 - MSP2_INAV_ESC_SRXL2_STATUS](#msp2_inav_esc_srxl2_status)  
+[8756 - MSP2_INAV_ESC_SRXL2_CALIBRATE](#msp2_inav_esc_srxl2_calibrate)  
+[8757 - MSP2_INAV_ESC_DIRECTION](#msp2_inav_esc_direction)  
+[8758 - MSP2_INAV_SET_ESC_DIRECTION](#msp2_inav_set_esc_direction)  
+[8759 - MSP2_INAV_SET_ESC_DIRECTION_TEST](#msp2_inav_set_esc_direction_test)  
 [12288 - MSP2_BETAFLIGHT_BIND](#msp2_betaflight_bind)  
 [12289 - MSP2_RX_BIND](#msp2_rx_bind)  
 
@@ -5002,6 +5008,95 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 
 **Notes:** Requires `USE_WIND_ESTIMATOR`; returns zeroes when wind estimation is not compiled in or not yet valid. Check bit 0 of `flags` before using speed/angle values.
 
+## <a id="msp2_inav_mag_unaligned"></a>`MSP2_INAV_MAG_UNALIGNED (8754 / 0x2232)`
+**Description:** Reads the unaligned magnetometer vector.  
+
+**Request Payload:** **None**  
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `magADCUnaligned` | `int16_t[3]` | 6 | X, Y and Z components, rounded to signed 16-bit values. |
+
+**Notes:** Returns rounded mag.magADCUnaligned values before board alignment. Returns three zeroes without USE_MAG.
+
+## <a id="msp2_inav_esc_srxl2_status"></a>`MSP2_INAV_ESC_SRXL2_STATUS (8755 / 0x2233)`
+**Description:** Reads SRXL2 ESC calibration and connection status.  
+
+**Request Payload:** **None**  
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `phase` | `uint8_t` | 1 | Calibration phase (srxl2CalPhase_e). |
+| `connected` | `uint8_t` | 1 | 1 when every opened ESC is connected; otherwise 0. |
+| `lastResult` | `uint8_t` | 1 | Last calibration start result (srxl2CalResult_e). |
+| `portCount` | `uint8_t` | 1 | Number of opened SRXL2 motor ports. |
+| `motorCount` | `uint8_t` | 1 | Number of motors in the current mixer. |
+
+**Notes:** Requires USE_MOTOR_SRXL2. Counts report opened motor ports and the current mixer motor count, not hardware capacity.
+
+## <a id="msp2_inav_esc_srxl2_calibrate"></a>`MSP2_INAV_ESC_SRXL2_CALIBRATE (8756 / 0x2234)`
+**Description:** Controls SRXL2 ESC throttle-range calibration.  
+
+**Request Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `phase` | `uint8_t` | 1 | Requested calibration action (srxl2CalPhase_e): 0, 1, 4 or 5. |
+
+**Reply Payload:** **None**  
+
+**Notes:** Requires USE_MOTOR_SRXL2 and at least one request byte. Accepted commands: 0 abort, 1 automatic start, 4 manual high, 5 manual low. Driver safety checks can reject start requests; read MSP2_INAV_ESC_SRXL2_STATUS for the reason. Other command values return an MSP error. Remove propellers before calibration.
+
+## <a id="msp2_inav_esc_direction"></a>`MSP2_INAV_ESC_DIRECTION (8757 / 0x2235)`
+**Description:** Reads per-motor DShot direction configuration and bounded test status.  
+
+**Request Payload:** **None**  
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `version` | `uint8_t` | 1 | Protocol version, currently 2. |
+| `motorCount` | `uint8_t` | 1 | Available motor count; 0 when direction configuration is unavailable. |
+| `phase` | `uint8_t` | 1 | 0 idle/cancelled, 1 stopping, 2 direction, 3 gap, 4 save, 5 settling, 6 sent. |
+| `motor` | `uint8_t` | 1 | Zero-based direction motor index. |
+| `reverse` | `uint8_t` | 1 | 0 normal, 1 reversed relative to ESC configuration and wiring. |
+| `token` | `uint8_t` | 1 | Current or retained direction request token. |
+| `simulated` | `uint8_t` | 1 | 1 for SITL simulation, otherwise 0; not an ESC acknowledgement. |
+| `testMotor` | `uint8_t` | 1 | Zero-based test motor index. |
+| `testActive` | `uint8_t` | 1 | 1 while the bounded test pulse is active, otherwise 0. |
+| `testToken` | `uint8_t` | 1 | Current or retained test request token. |
+
+**Notes:** Provisional ID. Requires USE_DSHOT_DIRECTION_CONFIG. Version 2 reply is ten bytes. Phase 6 means commands sent, not acknowledged ESC storage. See esc-direction.md for timing and safety requirements.
+
+## <a id="msp2_inav_set_esc_direction"></a>`MSP2_INAV_SET_ESC_DIRECTION (8758 / 0x2236)`
+**Description:** Starts direction configuration for one DShot motor.  
+
+**Request Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `motor` | `uint8_t` | 1 | Zero-based motor index. |
+| `reverse` | `uint8_t` | 1 | 0 normal or 1 reversed. |
+| `token` | `uint8_t` | 1 | Nonzero request token; reuse only to retry the same request. |
+
+**Reply Payload:** **None**  
+
+**Notes:** Provisional ID. Requires USE_DSHOT_DIRECTION_CONFIG and exactly three request bytes. Refused while armed, during ordinary motor tests, with invalid arguments or conflicting operations. A duplicate retained token cannot repeat the save. ACK means accepted, not confirmed ESC persistence. Remove propellers; see esc-direction.md.
+
+## <a id="msp2_inav_set_esc_direction_test"></a>`MSP2_INAV_SET_ESC_DIRECTION_TEST (8759 / 0x2237)`
+**Description:** Starts or stops a bounded single-motor DShot test pulse.  
+
+**Request Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `motor` | `uint8_t` | 1 | Zero-based motor index; ignored for stop. |
+| `run` | `uint8_t` | 1 | 0 stop, 1 start; other values rejected. |
+| `token` | `uint8_t` | 1 | Nonzero start token; ignored for stop. Retained after expiry or cancellation. |
+
+**Reply Payload:** **None**  
+
+**Notes:** Provisional ID. Requires USE_DSHOT_DIRECTION_CONFIG and exactly three request bytes. Run=1 requests DShot120 for at most 1.5 seconds and is refused while armed, during ordinary motor tests or conflicting operations. Run=0 stops unconditionally, ignoring motor and token. Duplicate tokens cannot extend or restart a pulse. Remove propellers; see esc-direction.md.
+
 ## <a id="msp2_betaflight_bind"></a>`MSP2_BETAFLIGHT_BIND (12288 / 0x3000)`
 **Description:** Initiates the receiver binding procedure for supported serial protocols (CRSF, SRXL2).  
 

docs/development/msp/esc-direction.md

@@ -0,0 +1,110 @@
+# Per-motor ESC direction configuration
+
+Paired firmware/Configurator change for `maintenance-10.x`. Betaflight's Motor
+Direction Wizard inspired the workflow; no wizard source was copied.
+
+## Scope
+
+The Outputs tab shows the integrated dialog only for INAV multirotor/tricopter
+platforms (`FC.isMultirotor()`), not based on motor count. Airplanes, including
+multi-engine models, rovers, boats and unsupported platforms keep the whole panel
+hidden and do not start direction polling.
+
+The wizard initializes the selected ESC to Normal, offers a bounded hold-to-test
+pulse, reverse and next-motor confirmation. Individual mode changes nothing on
+selection; Normal/Reverse are explicit writes. The Quad X diagram uses the existing
+INAV mixer image and motor-rule numbering. Other mixers use numbered controls.
+
+## Protocol and ESC storage
+
+Provisional MSP2 codes require maintainer agreement:
+
+- `0x2235` status, ten U8 fields: version=2, available motor count, direction phase,
+  motor index, reverse (0/1), direction token, simulated (0/1), test motor index,
+  test active (0/1), test token. Count=0 means unavailable. Direction phases are
+  0 idle/cancelled, 1 stopping, 2 direction, 3 gap, 4 save, 5 settling, 6 sent.
+- `0x2236` set direction: motor, reverse, nonzero token. Repeating the current
+  token does not repeat the operation, including after cancellation.
+- `0x2237` test: motor, run (0/1), token. Run=1 requests DShot120 for at most
+  1.5 seconds. Run=0 stops unconditionally. Repeated tokens cannot extend or
+  restart the pulse after stop, expiry or cancellation.
+
+The driver holds unselected motors at zero during the operation, first sends
+zero for 1 second, then command 7/8 ten times at >=1ms intervals, waits 10ms,
+sends SAVE_SETTINGS (12) ten times and waits >=35ms. Zero frames are suppressed
+between repetitions so they cannot reset the ESC's repeat counter.
+
+Requires initialized/enabled STM32/AT32 DShot outputs, no reversible/3D mode and
+compatible ESC firmware. RP2350 is unsupported. Direction/save support and
+persistent storage cannot be read back; phase 6 means commands sent, not confirmed
+ESC storage. Settings live in the ESC, not FC EEPROM. Normal/Reverse are relative
+to ESC configuration and wiring, not absolute clockwise/counterclockwise.
+
+## Safety without changing existing arming behavior
+
+All propellers must be removed before powering ESCs and acknowledging the dialog.
+Direction writes and tests are refused while armed or ordinary motor testing is
+active. Only this operation's active phase temporarily owns the outputs.
+
+**No new arming flag or persistent arming lock is introduced.** The existing arming
+rules remain unchanged. If the FC arms, the output driver cancels the operation
+before preparing the next frame and returns control to the normal motor path.
+Cancellation retains request tokens so delayed retries cannot restart an operation.
+An interrupted direction/save sequence has an uncertain result and needs checking.
+
+Ordinary MSP motor-test writes are rejected only during an active direction
+sequence or pulse; they work normally afterward. Reboot, EEPROM writes, reset and
+passthrough are rejected during active operations because they interrupt the
+sequence. Normal DShot/turtle-mode behavior resumes after completion/cancellation.
+
+Release, pointer cancellation/leave, keyboard release, blur, dialog close and tab
+cleanup request pulse stop. Release racing with a queued start sends another stop
+after that start completes. Firmware expiry does not depend on the UI or USB.
+
+## Validation and manual checks
+
+C tests cover sequence order/repetitions/timing, clock wrap, pulse expiry, explicit
+stop, cancellation and token retention. Firmware builds: SITL, SPEEDYBEEF405V4,
+IFLIGHT_BLITZ_ATF435. Configurator tests cover parser validity, freshness/safety
+checks, tokens and simulated status. Native Electron/SITL checks cover wizard and
+individual mode, release/timeout, unchanged ordinary motor-test availability and
+platform visibility.
+
+SITL uses the same sequencer and publishes isolated test pulses in the simulator
+motor-value range. It reports simulation explicitly and has no physical ESC storage. Hardware validation has not been performed. Before merging:
+
+1. Remove all propellers. Verify mapped output isolation and command timing at
+   DShot150/300/600, with burst and non-burst DMA, on STM32 and AT32.
+2. Verify requests are refused while armed or during existing motor tests.
+   Arm during a direction sequence/pulse: verify cancellation and normal motor
+   output ownership without introducing any new arming restriction.
+3. Release, close, disconnect USB and hold past the deadline; verify pulse stops.
+   Inject duplicate/delayed requests after cancellation: no restart or extra save.
+4. Power-cycle ESCs and FC; verify selected direction persisted and other motors
+   are unchanged. Check normal motor testing and turtle mode afterward.
+5. Check older firmware, disabled outputs, analog PWM, 3D, missing ESC power and
+   ESC firmware without direction/save support; do not claim confirmed storage.
+
+The protocol timings follow https://betaflight.com/docs/development/API/Dshot .
+Upstream Configurator currently accepts 9.x only while the firmware development
+branch now reports 10.0.0. Version-policy changes are deliberately outside this
+feature PR. The local native validation package temporarily accepts 10.x; that
+packaging-only override is not included in the PR source.
+
+## Review regression coverage
+
+Configurator probes capability once on mounting. Periodic status requests run only
+while the dialog is open or an operation needs tracking; unsupported firmware stops
+polling. Write acknowledgements have separate nullable state fields and never imply
+ESC persistence. Queue drops and MSP errors are failures; unconditional stops retry
+up to three times, including after cleanup. The firmware deadline remains the final
+guarantee after a total connection loss.
+
+Quad diagrams are bundled directly, including reversed mixer direction, without
+copying the asynchronously loaded Outputs preview. Dialog/map sizing is fluid and
+text uses relative units; the icon close control has a localized accessible name.
+
+Firmware prepares configuration frames as an overlay without replacing cached
+normal outputs. Stop/arming cancellation therefore cannot replay a previous test
+value. Ordinary DShot commands remain queued and execute after configuration ends
+or arming cancels it, including turtle-mode direction commands.