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Deprecate 16 legacy MSP commands (for removal in INAV 10.0 or 11) #11315

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Deprecate 16 legacy MSP commands (for removal in INAV 10.0 or 11) #11315

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24275c0
Mark 16 legacy MSP commands as deprecated for removal in INAV 10.0
sensei-hacker Feb 8, 2026
435e489
msp_protocol.h change depreciation comment format
sensei-hacker Feb 8, 2026
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1 change: 1 addition & 0 deletions docs/development/msp/format.md
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
**variable_len**: Optional boolean, if true, message does not have a predefined fixed length and needs appropriate handling\
**variants**: Optional special case, message has different cases of reply/request. Key/description is not a strict expression or code; just a readable condition\
**not_implemented**: Optional special case, message is not implemented (never or deprecated)\
**replaced_by**: Optional array of MSP message names that replace this command. Present when a command is deprecated and scheduled for removal. Empty array if no replacement is needed\
**notes**: String with details of message

## Data dict fields:
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14 changes: 14 additions & 0 deletions docs/development/msp/msp_messages.json
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Expand Up @@ -673,6 +673,7 @@
"MSP_POSITION_ESTIMATION_CONFIG": {
"code": 16,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SETTING"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -727,6 +728,7 @@
"MSP_SET_POSITION_ESTIMATION_CONFIG": {
"code": 17,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SET_SETTING"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -2426,6 +2428,7 @@
"MSP_OSD_CONFIG": {
"code": 84,
"mspv": 1,
"replaced_by": ["MSP2_INAV_OSD_LAYOUTS", "MSP2_INAV_OSD_ALARMS", "MSP2_INAV_OSD_PREFERENCES"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -2504,6 +2507,7 @@
"MSP_SET_OSD_CONFIG": {
"code": 85,
"mspv": 1,
"replaced_by": ["MSP2_INAV_OSD_SET_LAYOUT_ITEM", "MSP2_INAV_OSD_SET_ALARMS", "MSP2_INAV_OSD_SET_PREFERENCES"],
"request": null,
"reply": null,
"notes": "Requires `USE_OSD`. Distinguishes formats based on the first byte. Format 1 requires at least 10 bytes. Format 2 requires 3 bytes. Triggers an OSD redraw. See `MSP2_INAV_OSD_SET_*` for more advanced control.",
Expand Down Expand Up @@ -3134,6 +3138,7 @@
"MSP_FILTER_CONFIG": {
"code": 92,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SETTING"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -3217,6 +3222,7 @@
"MSP_SET_FILTER_CONFIG": {
"code": 93,
"mspv": 1,
"replaced_by": ["MSP2_COMMON_SET_SETTING"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -3293,6 +3299,7 @@
"MSP_PID_ADVANCED": {
"code": 94,
"mspv": 1,
"replaced_by": ["MSP_INAV_PID"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -3370,6 +3377,7 @@
"MSP_SET_PID_ADVANCED": {
"code": 95,
"mspv": 1,
"replaced_by": ["MSP_SET_INAV_PID"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -3914,6 +3922,7 @@
"MSP_ANALOG": {
"code": 110,
"mspv": 1,
"replaced_by": ["MSP2_INAV_ANALOG"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4039,6 +4048,7 @@
"MSP_MISC": {
"code": 114,
"mspv": 1,
"replaced_by": ["MSP2_INAV_MISC"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -4168,6 +4178,7 @@
"MSP_PIDNAMES": {
"code": 117,
"mspv": 1,
"replaced_by": [],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -5135,6 +5146,7 @@
"MSP_SET_MISC": {
"code": 207,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_MISC"],
"request": {
"payload": [
{
Expand Down Expand Up @@ -5588,6 +5600,7 @@
"MSP_SERVO_MIX_RULES": {
"code": 241,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SERVO_MIXER"],
"request": null,
"reply": {
"payload": [
Expand Down Expand Up @@ -5644,6 +5657,7 @@
"MSP_SET_SERVO_MIX_RULE": {
"code": 242,
"mspv": 1,
"replaced_by": ["MSP2_INAV_SET_SERVO_MIXER"],
"request": {
"payload": [
{
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28 changes: 14 additions & 14 deletions src/main/msp/msp_protocol.h
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Expand Up @@ -110,8 +110,8 @@
#define MSP_CALIBRATION_DATA 14
#define MSP_SET_CALIBRATION_DATA 15

#define MSP_POSITION_ESTIMATION_CONFIG 16
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17
#define MSP_POSITION_ESTIMATION_CONFIG 16 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0
#define MSP_SET_POSITION_ESTIMATION_CONFIG 17 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0

#define MSP_WP_MISSION_LOAD 18 // Load mission from NVRAM
#define MSP_WP_MISSION_SAVE 19 // Save mission to NVRAM
Expand Down Expand Up @@ -189,8 +189,8 @@
#define MSP_TRANSPONDER_CONFIG 82 //out message Get transponder settings
#define MSP_SET_TRANSPONDER_CONFIG 83 //in message Set transponder settings

#define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight
#define MSP_SET_OSD_CONFIG 85 //in message Set osd settings - betaflight
#define MSP_OSD_CONFIG 84 //DEPRECATED in INAV 9.1 - use MSP2_INAV_OSD_* instead. Will be removed in INAV 10.0
#define MSP_SET_OSD_CONFIG 85 //DEPRECATED in INAV 9.1 - use MSP2_INAV_OSD_* instead. Will be removed in INAV 10.0

#define MSP_OSD_CHAR_READ 86 //out message Get osd settings - betaflight
#define MSP_OSD_CHAR_WRITE 87 //in message Set osd settings - betaflight
Expand All @@ -202,10 +202,10 @@
#define MSP_ADVANCED_CONFIG 90
#define MSP_SET_ADVANCED_CONFIG 91

#define MSP_FILTER_CONFIG 92
#define MSP_SET_FILTER_CONFIG 93
#define MSP_PID_ADVANCED 94
#define MSP_SET_PID_ADVANCED 95
#define MSP_FILTER_CONFIG 92 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0
#define MSP_SET_FILTER_CONFIG 93 //DEPRECATED in INAV 9.1 - use settings system instead. Will be removed in INAV 10.0
#define MSP_PID_ADVANCED 94 //DEPRECATED in INAV 9.1 - use MSP_INAV_PID instead. Will be removed in INAV 10.0
#define MSP_SET_PID_ADVANCED 95 //DEPRECATED in INAV 9.1 - use MSP_SET_INAV_PID instead. Will be removed in INAV 10.0

#define MSP_SENSOR_CONFIG 96
#define MSP_SET_SENSOR_CONFIG 97
Expand Down Expand Up @@ -240,12 +240,12 @@
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message altitude, variometer
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
#define MSP_ANALOG 110 //DEPRECATED in INAV 9.1 - use MSP2_INAV_ANALOG instead. Will be removed in INAV 10.0
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACTIVEBOXES 113 //out message Active box flags (full width, more than 32 bits)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MISC 114 //DEPRECATED in INAV 9.1 - use MSP2_INAV_MISC instead. Will be removed in INAV 10.0
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_PIDNAMES 117 //DEPRECATED in INAV 9.1 - no replacement needed (static data). Will be removed in INAV 10.0
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
Expand All @@ -263,7 +263,7 @@
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_SET_MISC 207 //DEPRECATED in INAV 9.1 - use MSP2_INAV_SET_MISC instead. Will be removed in INAV 10.0
#define MSP_RESET_CONF 208 //in message no param
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
Expand Down Expand Up @@ -295,8 +295,8 @@
#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 //out message Returns servo mixer configuration
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#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