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232 lines
7.9 KiB
JavaScript
232 lines
7.9 KiB
JavaScript
'use strict';
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var MSPCodes = {
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MSP_API_VERSION: 1,
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MSP_FC_VARIANT: 2,
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MSP_FC_VERSION: 3,
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MSP_BOARD_INFO: 4,
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MSP_BUILD_INFO: 5,
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MSP_INAV_PID: 6,
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MSP_SET_INAV_PID: 7,
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MSP_NAME: 10,
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MSP_SET_NAME: 11,
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MSP_NAV_POSHOLD: 12,
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MSP_SET_NAV_POSHOLD: 13,
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MSP_CALIBRATION_DATA: 14,
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MSP_SET_CALIBRATION_DATA: 15,
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MSP_POSITION_ESTIMATION_CONFIG: 16,
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MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
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MSP_WP_MISSION_LOAD: 18,
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MSP_WP_MISSION_SAVE: 19,
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MSP_WP_GETINFO: 20,
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MSP_RTH_AND_LAND_CONFIG: 21,
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MSP_SET_RTH_AND_LAND_CONFIG: 22,
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MSP_FW_CONFIG: 23,
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MSP_SET_FW_CONFIG: 24,
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// MSP commands for Cleanflight original features
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MSP_CHANNEL_FORWARDING: 32,
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MSP_SET_CHANNEL_FORWARDING: 33,
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MSP_MODE_RANGES: 34,
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MSP_SET_MODE_RANGE: 35,
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MSP_RX_CONFIG: 44,
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MSP_SET_RX_CONFIG: 45,
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MSP_LED_COLORS: 46,
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MSP_SET_LED_COLORS: 47,
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MSP_LED_STRIP_CONFIG: 48,
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MSP_SET_LED_STRIP_CONFIG: 49,
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MSP_ADJUSTMENT_RANGES: 52,
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MSP_SET_ADJUSTMENT_RANGE: 53,
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MSP_CF_SERIAL_CONFIG: 54,
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MSP_SET_CF_SERIAL_CONFIG: 55,
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MSP_SONAR: 58,
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MSP_PID_CONTROLLER: 59,
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MSP_SET_PID_CONTROLLER: 60,
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MSP_ARMING_CONFIG: 61,
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MSP_SET_ARMING_CONFIG: 62,
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MSP_DATAFLASH_SUMMARY: 70,
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MSP_DATAFLASH_READ: 71,
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MSP_DATAFLASH_ERASE: 72,
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MSP_LOOP_TIME: 73,
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MSP_SET_LOOP_TIME: 74,
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MSP_FAILSAFE_CONFIG: 75,
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MSP_SET_FAILSAFE_CONFIG: 76,
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MSP_RXFAIL_CONFIG: 77,
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MSP_SET_RXFAIL_CONFIG: 78,
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MSP_SDCARD_SUMMARY: 79,
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MSP_BLACKBOX_CONFIG: 80,
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MSP_SET_BLACKBOX_CONFIG: 81,
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MSP_TRANSPONDER_CONFIG: 82,
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MSP_SET_TRANSPONDER_CONFIG: 83,
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MSP_OSD_CONFIG: 84,
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MSP_SET_OSD_CONFIG: 85,
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MSP_OSD_CHAR_READ: 86,
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MSP_OSD_CHAR_WRITE: 87,
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MSP_VTX_CONFIG: 88,
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MSP_SET_VTX_CONFIG: 89,
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MSP_ADVANCED_CONFIG: 90,
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MSP_SET_ADVANCED_CONFIG: 91,
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MSP_FILTER_CONFIG: 92,
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MSP_SET_FILTER_CONFIG: 93,
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MSP_PID_ADVANCED: 94,
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MSP_SET_PID_ADVANCED: 95,
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MSP_SENSOR_CONFIG: 96,
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MSP_SET_SENSOR_CONFIG: 97,
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// Multiwii MSP commands
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MSP_IDENT: 100, //deprecated, do not use
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MSP_STATUS: 101,
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MSP_RAW_IMU: 102,
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MSP_SERVO: 103,
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MSP_MOTOR: 104,
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MSP_RC: 105,
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MSP_RAW_GPS: 106,
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MSP_COMP_GPS: 107,
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MSP_ATTITUDE: 108,
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MSP_ALTITUDE: 109,
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MSP_ANALOG: 110,
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MSP_RC_TUNING: 111,
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MSP_PID: 112,
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MSP_ACTIVEBOXES: 113,
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MSP_MISC: 114,
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MSP_MOTOR_PINS: 115,
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MSP_BOXNAMES: 116,
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MSP_PIDNAMES: 117,
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MSP_WP: 118,
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MSP_BOXIDS: 119,
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MSP_SERVO_CONFIGURATIONS: 120,
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MSP_3D: 124,
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MSP_RC_DEADBAND: 125,
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MSP_SENSOR_ALIGNMENT: 126,
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MSP_LED_STRIP_MODECOLOR:127,
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MSP_STATUS_EX: 150,
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MSP_SENSOR_STATUS: 151,
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MSP_SET_RAW_RC: 200,
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MSP_SET_RAW_GPS: 201,
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MSP_SET_PID: 202,
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MSP_SET_BOX: 203,
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MSP_SET_RC_TUNING: 204,
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MSP_ACC_CALIBRATION: 205,
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MSP_MAG_CALIBRATION: 206,
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MSP_SET_MISC: 207,
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MSP_RESET_CONF: 208,
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MSP_SET_WP: 209,
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MSP_SELECT_SETTING: 210,
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MSP_SET_HEAD: 211,
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MSP_SET_SERVO_CONFIGURATION: 212,
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MSP_SET_MOTOR: 214,
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MSP_SET_3D: 217,
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MSP_SET_RC_DEADBAND: 218,
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MSP_SET_RESET_CURR_PID: 219,
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MSP_SET_SENSOR_ALIGNMENT: 220,
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MSP_SET_LED_STRIP_MODECOLOR:221,
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// MSP_BIND: 240,
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MSP_SERVO_MIX_RULES: 241,
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MSP_SET_SERVO_MIX_RULE: 242,
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MSP_RTC: 246,
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MSP_SET_RTC: 247,
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MSP_EEPROM_WRITE: 250,
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MSP_DEBUGMSG: 253,
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MSP_DEBUG: 254,
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// Additional baseflight commands that are not compatible with MultiWii
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MSP_UID: 160, // Unique device ID
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MSP_ACC_TRIM: 240, // get acc angle trim values
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MSP_SET_ACC_TRIM: 239, // set acc angle trim values
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MSP_GPS_SV_INFO: 164, // get Signal Strength
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MSP_GPSSTATISTICS: 166, // GPS statistics
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// Additional private MSP for baseflight configurator (yes thats us \o/)
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MSP_RX_MAP: 64, // get channel map (also returns number of channels total)
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MSP_SET_RX_MAP: 65, // set rc map, numchannels to set comes from MSP_RX_MAP
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MSP_BF_CONFIG: 66, // baseflight-specific settings that aren't covered elsewhere
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MSP_SET_BF_CONFIG: 67, // baseflight-specific settings save
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MSP_SET_REBOOT: 68, // reboot settings
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MSP_BF_BUILD_INFO: 69, // build date as well as some space for future expansion
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// INAV specific codes
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MSPV2_SETTING: 0x1003,
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MSPV2_SET_SETTING: 0x1004,
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MSP2_COMMON_MOTOR_MIXER: 0x1005,
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MSP2_COMMON_SET_MOTOR_MIXER: 0x1006,
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MSP2_COMMON_SETTING_INFO: 0x1007,
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MSP2_COMMON_PG_LIST: 0x1008,
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MSP2_CF_SERIAL_CONFIG: 0x1009,
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MSP2_SET_CF_SERIAL_CONFIG: 0x100A,
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MSPV2_INAV_STATUS: 0x2000,
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MSPV2_INAV_OPTICAL_FLOW: 0x2001,
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MSPV2_INAV_ANALOG: 0x2002,
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MSPV2_INAV_MISC: 0x2003,
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MSPV2_INAV_SET_MISC: 0x2004,
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MSPV2_INAV_BATTERY_CONFIG: 0x2005,
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MSPV2_INAV_SET_BATTERY_CONFIG: 0x2006,
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MSPV2_INAV_RATE_PROFILE: 0x2007,
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MSPV2_INAV_SET_RATE_PROFILE: 0x2008,
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MSPV2_INAV_AIR_SPEED: 0x2009,
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MSPV2_INAV_OUTPUT_MAPPING: 0x200A,
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MSP2_INAV_MIXER: 0x2010,
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MSP2_INAV_SET_MIXER: 0x2011,
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MSP2_INAV_OSD_LAYOUTS: 0x2012,
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MSP2_INAV_OSD_SET_LAYOUT_ITEM: 0x2013,
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MSP2_INAV_OSD_ALARMS: 0x2014,
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MSP2_INAV_OSD_SET_ALARMS: 0x2015,
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MSP2_INAV_OSD_PREFERENCES: 0x2016,
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MSP2_INAV_OSD_SET_PREFERENCES: 0x2017,
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MSP2_INAV_MC_BRAKING: 0x200B,
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MSP2_INAV_SET_MC_BRAKING: 0x200C,
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MSP2_INAV_SELECT_BATTERY_PROFILE: 0x2018,
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MSP2_INAV_DEBUG: 0x2019,
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MSP2_BLACKBOX_CONFIG: 0x201A,
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MSP2_SET_BLACKBOX_CONFIG: 0x201B,
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MSP2_INAV_TEMP_SENSOR_CONFIG: 0x201C,
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MSP2_INAV_SET_TEMP_SENSOR_CONFIG: 0x201D,
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MSP2_INAV_TEMPERATURES: 0x201E,
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MSP2_INAV_SERVO_MIXER: 0x2020,
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MSP2_INAV_SET_SERVO_MIXER: 0x2021,
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MSP2_INAV_LOGIC_CONDITIONS: 0x2022,
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MSP2_INAV_SET_LOGIC_CONDITIONS: 0x2023,
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MSP2_INAV_GLOBAL_FUNCTIONS: 0x2024,
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MSP2_INAV_SET_GLOBAL_FUNCTIONS: 0x2025,
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MSP2_INAV_LOGIC_CONDITIONS_STATUS: 0x2026,
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MSP2_INAV_GVAR_STATUS: 0x2027,
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MSP2_INAV_PROGRAMMING_PID: 0x2028,
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MSP2_INAV_SET_PROGRAMMING_PID: 0x2029,
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MSP2_INAV_PROGRAMMING_PID_STATUS: 0x202A,
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MSP2_PID: 0x2030,
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MSP2_SET_PID: 0x2031,
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MSP2_INAV_OPFLOW_CALIBRATION: 0x2032,
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MSP2_INAV_FWUPDT_PREPARE: 0x2033,
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MSP2_INAV_FWUPDT_STORE: 0x2034,
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MSP2_INAV_FWUPDT_EXEC: 0x2035,
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MSP2_INAV_FWUPDT_ROLLBACK_PREPARE: 0x2036,
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MSP2_INAV_FWUPDT_ROLLBACK_EXEC: 0x2037,
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MSP2_INAV_SAFEHOME: 0x2038,
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MSP2_INAV_SET_SAFEHOME: 0x2039
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};
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