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Drop MSP_SET_SERVO_MIX_RULE command #9927

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0fdbb95
Drop MSP_SET_SERVO_MIX_RULE command
DzikuVx Apr 10, 2024
f10f970
Merge upstream/maintenance-10.x to resolve conflicts with PR #9927
sensei-hacker Aug 30, 2026
7cc9ca1
Remove leftover MSP_SET_SERVO_MIX_RULE reference from MSP2_INAV_SET_S…
sensei-hacker Aug 30, 2026
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42 changes: 2 additions & 40 deletions docs/development/msp/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -326,8 +326,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
[221 - MSP_SET_LED_STRIP_MODECOLOR](#msp_set_led_strip_modecolor)
[239 - MSP_SET_ACC_TRIM](#msp_set_acc_trim)
[240 - MSP_ACC_TRIM](#msp_acc_trim)
[241 - MSP_SERVO_MIX_RULES](#msp_servo_mix_rules)
[242 - MSP_SET_SERVO_MIX_RULE](#msp_set_servo_mix_rule)
[245 - MSP_SET_PASSTHROUGH](#msp_set_passthrough)
[246 - MSP_RTC](#msp_rtc)
[247 - MSP_SET_RTC](#msp_set_rtc)
Expand Down Expand Up @@ -2646,42 +2644,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:

**Notes:** Not implemented in INAV `fc_msp.c`. Calibration data via `MSP_CALIBRATION_DATA`.

## <a id="msp_servo_mix_rules"></a>`MSP_SERVO_MIX_RULES (241 / 0xf1)`
**Description:** Retrieves the custom servo mixer rules (legacy format).

**Request Payload:** **None**

**Reply Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `targetChannel` | `uint8_t` | 1 | Index | Servo output channel index (0-based) |
| `inputSource` | `uint8_t` | 1 | [inputSource_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-inputsource_e) | Enum `inputSource_e` Input source for the mix (RC chan, Roll, Pitch...) |
| `rate` | `int16_t` | 2 | % | Mixing rate/weight (`-1000` to `+1000`, percent with sign) |
| `speed` | `uint8_t` | 1 | 0-255 | Speed/Slew rate limit (`0`=instant, higher slows response) |
| `reserved1` | `uint8_t` | 1 | - | Always 0 |
| `legacyMax` | `uint8_t` | 1 | - | Always 100 (Legacy) |
| `legacyBox` | `uint8_t` | 1 | - | Always 0 (Legacy) |

**Notes:** Superseded by `MSP2_INAV_SERVO_MIXER`.

## <a id="msp_set_servo_mix_rule"></a>`MSP_SET_SERVO_MIX_RULE (242 / 0xf2)`
**Description:** Sets a single custom servo mixer rule (legacy format).

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
|---|---|---|---|---|
| `ruleIndex` | `uint8_t` | 1 | Index | Index of the rule to set (0 to `MAX_SERVO_RULES - 1`) |
| `targetChannel` | `uint8_t` | 1 | Index | Servo output channel index |
| `inputSource` | `uint8_t` | 1 | [inputSource_e](https://github.com/iNavFlight/inav/wiki/Enums-reference#enum-inputsource_e) | Enum `inputSource_e` Input source for the mix |
| `rate` | `int16_t` | 2 | % | Mixing rate/weight (`-1000` to `+1000`, percent with sign) |
| `speed` | `uint8_t` | 1 | 0-255 | Speed/Slew rate limit (`0`=instant, higher slows response) |
| `legacyMinMax` | `uint16_t` | 2 | - | Ignored |
| `legacyBox` | `uint8_t` | 1 | - | Ignored |

**Reply Payload:** **None**

**Notes:** Expects 9 bytes. Returns error if index invalid. Calls `loadCustomServoMixer()`. Superseded by `MSP2_INAV_SET_SERVO_MIXER`.

## <a id="msp_set_passthrough"></a>`MSP_SET_PASSTHROUGH (245 / 0xf5)`
**Description:** Enables serial passthrough mode to peripherals like ESCs (BLHeli 4-way) or other serial devices.

Expand Down Expand Up @@ -3813,7 +3775,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
**Notes:** Requires `USE_SIMULATOR`. Complex message handling state changes for enabling/disabling HITL. Sensor data is injected directly. OSD data is sent using a custom RLE scheme. See `simulatorData` struct and associated code for details.

## <a id="msp2_inav_servo_mixer"></a>`MSP2_INAV_SERVO_MIXER (8224 / 0x2020)`
**Description:** Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles. Supersedes `MSP_SERVO_MIX_RULES`.
**Description:** Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles.

**Request Payload:** **None**

Expand All @@ -3834,7 +3796,7 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
**Notes:** `conditionId` requires `USE_PROGRAMMING_FRAMEWORK`.

## <a id="msp2_inav_set_servo_mixer"></a>`MSP2_INAV_SET_SERVO_MIXER (8225 / 0x2021)`
**Description:** Sets a single custom servo mixer rule, including programming framework condition ID. Supersedes `MSP_SET_SERVO_MIX_RULE`.
**Description:** Sets a single custom servo mixer rule, including programming framework condition ID.

**Request Payload:**
|Field|C Type|Size (Bytes)|Units|Description|
Expand Down
118 changes: 4 additions & 114 deletions docs/development/msp/msp_messages.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"version": {
"major": 2,
"minor": 1,
"major": 3,
"minor": 0,
"patch": 0
},
"messages": {
Expand Down Expand Up @@ -5613,116 +5613,6 @@
"notes": "Not implemented in INAV `fc_msp.c`. Calibration data via `MSP_CALIBRATION_DATA`.",
"description": "Gets the accelerometer trim values."
},
"MSP_SERVO_MIX_RULES": {
"code": 241,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SERVO_MIXER"],
"request": null,
"reply": {
"payload": [
{
"name": "targetChannel",
"ctype": "uint8_t",
"desc": "Servo output channel index (0-based)",
"units": "Index"
},
{
"name": "inputSource",
"ctype": "uint8_t",
"desc": "Enum `inputSource_e` Input source for the mix (RC chan, Roll, Pitch...)",
"units": "Enum",
"enum": "inputSource_e"
},
{
"name": "rate",
"ctype": "int16_t",
"desc": "Mixing rate/weight (`-1000` to `+1000`, percent with sign)",
"units": "%"
},
{
"name": "speed",
"ctype": "uint8_t",
"desc": "Speed/Slew rate limit (`0`=instant, higher slows response)",
"units": "0-255"
},
{
"name": "reserved1",
"ctype": "uint8_t",
"desc": "Always 0",
"value": 0
},
{
"name": "legacyMax",
"ctype": "uint8_t",
"desc": "Always 100 (Legacy)",
"value": 100
},
{
"name": "legacyBox",
"ctype": "uint8_t",
"desc": "Always 0 (Legacy)",
"value": 0
}
],
"repeating": "MAX_SERVO_RULES"
},
"variable_len": "MAX_SERVO_RULES",
"notes": "Superseded by `MSP2_INAV_SERVO_MIXER`.",
"description": "Retrieves the custom servo mixer rules (legacy format)."
},
"MSP_SET_SERVO_MIX_RULE": {
"code": 242,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_SERVO_MIXER"],
"request": {
"payload": [
{
"name": "ruleIndex",
"ctype": "uint8_t",
"desc": "Index of the rule to set (0 to `MAX_SERVO_RULES - 1`)",
"units": "Index"
},
{
"name": "targetChannel",
"ctype": "uint8_t",
"desc": "Servo output channel index",
"units": "Index"
},
{
"name": "inputSource",
"ctype": "uint8_t",
"desc": "Enum `inputSource_e` Input source for the mix",
"units": "Enum",
"enum": "inputSource_e"
},
{
"name": "rate",
"ctype": "int16_t",
"desc": "Mixing rate/weight (`-1000` to `+1000`, percent with sign)",
"units": "%"
},
{
"name": "speed",
"ctype": "uint8_t",
"desc": "Speed/Slew rate limit (`0`=instant, higher slows response)",
"units": "0-255"
},
{
"name": "legacyMinMax",
"ctype": "uint16_t",
"desc": "Ignored"
},
{
"name": "legacyBox",
"ctype": "uint8_t",
"desc": "Ignored"
}
]
},
"reply": null,
"notes": "Expects 9 bytes. Returns error if index invalid. Calls `loadCustomServoMixer()`. Superseded by `MSP2_INAV_SET_SERVO_MIXER`.",
"description": "Sets a single custom servo mixer rule (legacy format)."
},
"MSP_SET_PASSTHROUGH": {
"code": 245,
"mspv": 1,
Expand Down Expand Up @@ -9034,7 +8924,7 @@
},
"variable_len": "MAX_SERVO_RULES",
"notes": "`conditionId` requires `USE_PROGRAMMING_FRAMEWORK`.",
"description": "Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles. Supersedes `MSP_SERVO_MIX_RULES`."
"description": "Retrieves the custom servo mixer rules, including programming framework condition IDs, for primary and secondary mixer profiles."
},
"MSP2_INAV_SET_SERVO_MIXER": {
"code": 8225,
Expand Down Expand Up @@ -9082,7 +8972,7 @@
},
"reply": null,
"notes": "Expects 7 bytes. Returns error if index invalid. Calls `loadCustomServoMixer()`.",
"description": "Sets a single custom servo mixer rule, including programming framework condition ID. Supersedes `MSP_SET_SERVO_MIX_RULE`."
"description": "Sets a single custom servo mixer rule, including programming framework condition ID."
},
"MSP2_INAV_LOGIC_CONDITIONS": {
"code": 8226,
Expand Down
25 changes: 0 additions & 25 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -611,17 +611,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
mspSerializeServoParams(dst, servoParams(i));
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 100);
sbufWriteU8(dst, 0);
}
break;
case MSP2_INAV_SERVO_MIXER:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
mspSerializeServoMixer(dst, customServoMixers(i));
Expand Down Expand Up @@ -2550,20 +2539,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
break;

case MSP_SET_SERVO_MIX_RULE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SERVO_RULES)) {
customServoMixersMutable(tmp_u8)->targetChannel = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
sbufReadU16(src); //Read 2bytes for min/max and ignore it
sbufReadU8(src); //Read 1 byte for `box` and ignore it
loadCustomServoMixer();
} else
return MSP_RESULT_ERROR;
break;

case MSP2_INAV_SET_SERVO_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 7) && (tmp_u8 < MAX_SERVO_RULES)) {
Expand Down
2 changes: 0 additions & 2 deletions src/main/msp/msp_protocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -295,8 +295,6 @@
#define MSP_GPSSTATISTICS 166 //out message get GPS debugging data
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_SERVO_MIX_RULES 241 //DEPRECATED in INAV 9.1 - use MSP2_INAV_SERVO_MIXER instead. Will be removed in INAV 10.0
#define MSP_SET_SERVO_MIX_RULE 242 //DEPRECATED in INAV 9.1 - use MSP2_INAV_SET_SERVO_MIXER instead. Will be removed in INAV 10.0
#define MSP_SET_PASSTHROUGH 245 //in message Sets up passthrough to different peripherals (4way interface, uart, etc...)
#define MSP_RTC 246 //out message Gets the RTC clock (returns: secs(i32) millis(u16) - (0,0) if time is not known)
#define MSP_SET_RTC 247 //in message Sets the RTC clock (args: secs(i32) millis(u16))
Expand Down
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