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Add per-index ADS-B vehicle MSP commands (MSP2_ADSB_VEHICLE + MSP2_ADSB_VEHICLE_COUNT) #11663

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Add per-index ADS-B vehicle MSP commands (MSP2_ADSB_VEHICLE + MSP2_ADSB_VEHICLE_COUNT) #11663

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302f2d3
msp: add MSP2_ADSB_VEHICLE (per-index getter) and MSP2_ADSB_VEHICLE_C…
MartinovEm Jun 19, 2026
d088081
msp: address review for MSP2_ADSB_VEHICLE
MartinovEm Jun 20, 2026
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100 changes: 100 additions & 0 deletions docs/development/msp/msp_messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -10371,6 +10371,106 @@
"notes": "Requires `USE_ADSB`. Only a subset of `adsbVehicle_t` is transmitted (callsign, core values, heading in whole degrees, TSLC, emitter type, TTL).",
"description": "Retrieves the list of currently tracked ADSB (Automatic Dependent Surveillance–Broadcast) vehicles. See `adsbVehicle_t` and `adsbVehicleValues_t` in `io/adsb.h` for the exact structure fields."
},
"MSP2_ADSB_VEHICLE": {
"code": 8337,
"mspv": 2,
"request": {
"payload": [
{
"name": "index",
"ctype": "uint8_t",
"desc": "Slot index to read, `0 .. (MSP2_ADSB_VEHICLE_COUNT - 1)`. WARNING: this is an iteration cursor over fixed slots, NOT a stable identifier. The same index may return a different aircraft (or an empty slot) on a later poll. Always identify the aircraft by the `icao` field in the reply; never cache or correlate data by index. Returns an error result if the index is out of range.",
"units": ""
}
]
},
"reply": {
"payload": [
{
"name": "icao",
"ctype": "uint32_t",
"desc": "ICAO 24-bit address (`vehicleValues.icao`). This is the stable per-aircraft identifier; use it to correlate replies, not the request index. An empty slot reports `icao == 0` and `ttl == 0`.",
"units": ""
},
{
"name": "lat",
"ctype": "int32_t",
"desc": "Latitude (`vehicleValues.gps.lat`).",
"units": "1e-7 deg"
},
{
"name": "lon",
"ctype": "int32_t",
"desc": "Longitude (`vehicleValues.gps.lon`).",
"units": "1e-7 deg"
},
{
"name": "alt",
"ctype": "int32_t",
"desc": "Altitude above sea level (`vehicleValues.alt`).",
"units": "cm"
},
{
"name": "heading",
"ctype": "uint16_t",
"desc": "Course over ground at full resolution (`vehicleValues.heading`). Unlike `MSP2_ADSB_VEHICLE_LIST`, this is in centidegrees, not whole degrees.",
"units": "1e-2 deg"
},
{
"name": "horVelocity",
"ctype": "uint16_t",
"desc": "Horizontal (ground) speed (`vehicleValues.horVelocity`). Not present in `MSP2_ADSB_VEHICLE_LIST`.",
"units": "cm/s"
},
{
"name": "tslc",
"ctype": "uint8_t",
"desc": "Time since last communication (`vehicleValues.tslc`).",
"units": "s"
},
{
"name": "emitterType",
"ctype": "uint8_t",
"desc": "Emitter category (`vehicleValues.emitterType`).",
"units": ""
},
{
"name": "ttl",
"ctype": "uint8_t",
"desc": "Remaining time-to-live for this slot (`adsbVehicle->ttl`). `ttl == 0` means the slot is empty/expired and its contents are stale; skip such entries.",
"units": "s"
},
{
"name": "callsign",
"desc": "Fixed-length callsign (`vehicleValues.callsign`), padded with NULs if shorter.",
"ctype": "char",
"array": true,
"array_size": 9,
"array_size_define": "ADSB_CALL_SIGN_MAX_LENGTH",
"units": ""
}
]
},
"notes": "Requires `USE_ADSB`. Reads a single ADSB vehicle slot by index. THE INDEX IS NOT A STABLE HANDLE: slots are reused, so a given index may hold a different aircraft (or be empty, `ttl == 0`) between polls. Correlate aircraft by the `icao` field in the reply, never by index. Compared with the bulk `MSP2_ADSB_VEHICLE_LIST`, this message adds horizontal velocity and reports heading at full (centidegree) resolution, and orders the callsign last. Returns an error result for an out-of-range index.",
"description": "Retrieves a single tracked ADSB (Automatic Dependent Surveillance-Broadcast) vehicle by slot index. Intended for polling one slot at a time: query `MSP2_ADSB_VEHICLE_COUNT` for the iteration bound, then request indices `0 .. count-1`, skipping slots with `ttl == 0`, and identify each aircraft by its `icao`. See `adsbVehicle_t` / `adsbVehicleValues_t` in `io/adsb.h`."
},
"MSP2_ADSB_VEHICLE_COUNT": {
"code": 8338,
"mspv": 2,
"request": null,
"reply": {
"payload": [
{
"name": "count",
"ctype": "uint8_t",
"desc": "Number of vehicle slots to iterate (`MAX_ADSB_VEHICLES`). This is the slot capacity / iteration bound, not the number of currently active aircraft - some slots may be empty (`ttl == 0`). 0 if `USE_ADSB` is disabled.",
"units": ""
}
]
},
"notes": "Requires `USE_ADSB`. Returns the iteration bound for `MSP2_ADSB_VEHICLE`: request indices `0 .. count-1` and skip any slot whose `ttl == 0`.",
"description": "Returns the number of ADSB vehicle slots available to iterate with `MSP2_ADSB_VEHICLE`."
},
"MSP2_INAV_CUSTOM_OSD_ELEMENTS": {
"code": 8448,
"mspv": 2,
Expand Down
35 changes: 35 additions & 0 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1051,6 +1051,15 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, 0);
#endif
break;

case MSP2_ADSB_VEHICLE_COUNT:
#ifdef USE_ADSB
sbufWriteU8(dst, MAX_ADSB_VEHICLES); // iteration bound for the client
#else
sbufWriteU8(dst, 0);
#endif
break;

case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
Expand Down Expand Up @@ -4449,6 +4458,32 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
*ret = MSP_RESULT_ACK;
break;

#ifdef USE_ADSB
case MSP2_ADSB_VEHICLE:
if (sbufBytesRemaining(src) >= 1) {
adsbVehicle_t *vehicle = findVehicle(sbufReadU8(src));
if (vehicle == NULL) { // index past MAX_ADSB_VEHICLES
*ret = MSP_RESULT_ERROR;
break;
}
sbufWriteU32(dst, vehicle->vehicleValues.icao);
sbufWriteU32(dst, vehicle->vehicleValues.gps.lat);
sbufWriteU32(dst, vehicle->vehicleValues.gps.lon);
sbufWriteU32(dst, vehicle->vehicleValues.alt);
sbufWriteU16(dst, vehicle->vehicleValues.heading); // centideg, full-res
sbufWriteU16(dst, vehicle->vehicleValues.horVelocity); // cm/s - omitted by the bulk list
sbufWriteU8(dst, vehicle->vehicleValues.tslc);
sbufWriteU8(dst, vehicle->vehicleValues.emitterType);
sbufWriteU8(dst, vehicle->ttl);
sbufWriteData(dst, vehicle->vehicleValues.callsign, ADSB_CALL_SIGN_MAX_LENGTH);
} else {
*ret = MSP_RESULT_ERROR; // no index supplied
break;
}
*ret = MSP_RESULT_ACK;
break;
#endif

#if defined(USE_FLASHFS)
case MSP_DATAFLASH_READ:
mspFcDataFlashReadCommand(dst, src);
Expand Down
2 changes: 2 additions & 0 deletions src/main/msp/msp_protocol_v2_inav.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,8 @@
#define MSP2_INAV_SELECT_MIXER_PROFILE 0x2080

#define MSP2_ADSB_VEHICLE_LIST 0x2090
#define MSP2_ADSB_VEHICLE 0x2091
#define MSP2_ADSB_VEHICLE_COUNT 0x2092

#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
#define MSP2_INAV_CUSTOM_OSD_ELEMENT 0x2101
Expand Down
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