This was raised in a BLHeli issue[6]. The MSP code sends a message with | in
the case of an unknown message type[1]. That is consistent with the Multiwii
protocol spec[2], but differs from the actual multiwii/baseflight/betaflight
implementations, which send ![3][4][5]. Since we're on our own here, I think
we need to disregard the original protocol spec. Fixes #2247
glowtape
commented
5 years ago
This was raised in a BLHeli issue[6]. The MSP code sends a message with
|in the case of an unknown message type[1]. That is consistent with the Multiwii protocol spec[2], but differs from the actual multiwii/baseflight/betaflight implementations, which send![3][4][5]. Since we're on our own here, I think we need to disregard the original protocol spec. Fixes #2247[1] https://github.com/d-ronin/dRonin/blob/7b44093d461d073eba52d8d9558a4e56769fd4b3/flight/Modules/UAVOMSPBridge/UAVOMSPBridge.c#L238 [2] http://www.multiwii.com/forum/viewtopic.php?f=8&t=1516 [3] https://github.com/multiwii/multiwii-firmware/blob/upstream_shared/Protocol.cpp#L127 [4] https://github.com/multiwii/baseflight/blob/master/src/serial.c#L214 [5] https://github.com/betaflight/betaflight/blob/8e10e735807945dcf53a3a563085a2df91100355/src/main/msp/msp_serial.c#L305 [6] https://github.com/bitdump/BLHeli/issues/324#issuecomment-477249163