PIDflight Lap Protocol

The PIDflight Lap protocol uses a slightly modified version of the Multiwii Serial Protocol.

Notes

By default all lap timers are activated on power up. (i.e. do not require MSP_ACTIVATE to be sent)

Application issues MSP_SET_DEVICE_ID to all devices.

// Initialise all connected devices identifiers starting with 1
MSP.sendMessage(MSP.WILDCARD_DEVICE_ID, MSP.MSP_SET_DEVICE_ID, 1);

Each device found and initialised will return a response to MSP_SET_DEVICE_ID with the ID it has been initialised with.
Poll MSP_CURRENT_LAP to detect when a new lap has been recorded on the lap timer.
Poll MSP_STATUS to retrieve current status of the lap timer.

Name	Code	Description
MSP_API_VERSION	1	Firmware API version
MSP_STATUS	4	Device and lap timing status
MSP_RESET	5	Resets device and lap timing state
MSP_RSSI_CALIBRATE	6	Triggers RSSI calibration routine
MSP_START	7	Starts lap timing
MSP_ACTIVATE	8	Activates a lap timer device
MSP_DEACTIVATE	9	Deactivates a lap timer device
MSP_DEVICE_ID	10	Not used
MSP_SET_DEVICE_ID	11	Triggers lap timing devices to assign an ID
MSP_CHANNEL	20	Gets the channel frequency set on the lap timing device
MSP_SET_CHANNEL	21	Sets the channel frequency on the lap timing device
MSP_CURRENT_LAP	30
MSP_LAP_MIN_TIME	34
MSP_SET_LAP_MIN_TIME	35
MSP_LAP_MAX	37
MSP_SET_LAP_MAX	38
MSP_RSSI	40
MSP_RSSI_THRESHOLD	42
MSP_SET_RSSI_THRESHOLD	43
~~MSP_RSSI_FILTER~~	44	TBD
~~MSP_SET_RSSI_FILTER~~	45	TBD
MSP_EEPROM_WRITE	250	Persists settings to EEPROM for settings to survive a power cycle (if desired)

Part	Type	Description
1	UINT 8	Major version
2	UINT 8	Minor version

Version is constructed as [PART 1][DECIMAL][PART2][DECIMAL][ZERO] (e.g. 2.6.0)

Part	Type	Description
1	UINT 8	Device state
2	UINT 8	Timer state