Replace MSP_SET_RAW_RC with MSP2_INAV_SET_AUX_RC for flight mode control

CLAUDE.md

@@ -6,6 +6,10 @@ This file provides guidance to Claude Code (claude.ai/code) when working with co
 
 **Bullet GCSS** (Ground Control Station System) is a web-based UAV ground control station that operates over cellular networks with no range limit. It is a PWA (no app installation required) that works cross-platform.
 
+## Local Resources
+
+- **INAV firmware repository** is available at `~/dev/inav` — useful for cross-referencing MSP protocol definitions, box IDs, and flight controller behavior.
+
 ## Two-Component Architecture
 
 ### 1. ESP32-Modem (Embedded Firmware — [ESP32-Modem/](ESP32-Modem/))

ESP32-Modem/msp_library.h

@@ -49,7 +49,8 @@
 #define MSP_NAV_STATUS        121
 #define MSP_SENSOR_STATUS     151
 #define MSP_SET_WP            209
-#define MSP_SET_RAW_RC        200
+#define MSP_SET_MODE_RANGE    35
+#define MSP2_INAV_SET_AUX_RC  0x2230
 #define MSP2_INAV_ANALOG      0x2002
 #define MSP2_INAV_MISC2       0x203A
 #define MSP2_INAV_SET_WP_INDEX      0x2221  // in: jump to WP N during active mission (U8 index, 0-based)
@@ -70,35 +71,21 @@
 #define MSP_PERM_ID_FAILSAFE    27
 #define MSP_PERM_ID_WP          28
 #define MSP_PERM_ID_CRUISE      53
-#define MSP_PERM_ID_MSPOVERRIDE 50
 
-// One entry returned by MSP_MODE_RANGES (4 bytes each, up to 20 entries)
+// One entry returned by MSP_MODE_RANGES (4 bytes each, up to 40 entries)
 struct modeRangeEntry_t {
     uint8_t permanentId;      // mode identifier (see MSP_PERM_ID_* above)
     uint8_t auxChannelIndex;  // AUX channel (0 = AUX1); RC channel index = auxChannelIndex + 4
     uint8_t startStep;        // activation range start; PWM = 900 + step * 25
     uint8_t endStep;          // activation range end
 } __attribute__((packed));
 
-// Computed activation info for a single flight mode (populated from MSP_MODE_RANGES at startup)
-struct modeRangeInfo_t {
-    uint8_t  rcChannelIndex; // 0-based RC channel index (auxChannelIndex + 4)
-    uint16_t onValue;        // PWM midpoint of the activation range
-    uint16_t startPWM;       // lower bound of the activation range (900 + startStep * 25)
-    uint16_t endPWM;         // upper bound of the activation range (900 + endStep   * 25)
-    bool     found;          // true once a valid range was found for this mode
-};
-
-// All per-mode state bundled into one struct.
-// range:     RC channel assignment and activation PWM (from MSP_MODE_RANGES)
-// available: channel is enabled in msp_override_channels (set at startup)
-// active:    a sustained RC override for this mode is currently commanded
-// boxId:     index in the MSP_ACTIVEBOXES bitmask (from MSP_BOXNAMES)
+// Per-mode runtime state.
+// active: a sustained RC override for this mode is currently commanded
+// boxId:  index in the MSP_ACTIVEBOXES bitmask (from MSP_BOXNAMES)
 struct FlightMode {
-    modeRangeInfo_t range;
-    bool            available;
-    bool            active;
-    uint8_t         boxId;
+    bool    active;
+    uint8_t boxId;
 };
 
 // This enum is a copy from INAV one in "src/main/fc/rc_modes.h"

ESP32-Modem/uav_status.h

@@ -66,7 +66,6 @@ struct uav_status
     uint8_t navState;
     uint8_t isWpMissionValid;
     uint8_t downlinkStatus; // 1 = subscribed to command topic ok, 0 = not subscribed
-    uint8_t mspRcOverride;  // 1 = MSP RC Override flight mode is active, 0 = not active
     uint8_t cmdRth;         // 1 = RTH channel actively overridden by firmware
     uint8_t cmdAltHold;     // 1 = AltHold channel actively overridden
     uint8_t cmdCruise;      // 1 = Cruise channel actively overridden

UI/basicui.html

@@ -844,9 +844,6 @@ <h5 class="modal-title" id="bsModalCommandsLabel">Send Command</h5>
                     <p id="commandsDownlinkWarning" class="text-warning small mb-2" style="display:none;">
                         &#9888; No command channel. Commands will not be received.
                     </p>
-                    <p id="commandsMroWarning" class="text-warning small mb-2" style="display:none;">
-                        &#9888; MSP RC Override not active. RC commands will have no effect.
-                    </p>
                     <div class="rc-cmd-grid mb-3">
                         <div class="rc-cmd-row">
                             <span class="rc-cmd-label">RTH</span>

UI/js/CommScripts.js

@@ -760,7 +760,6 @@ export function resetDataObject()
         mWhDraw: 0,
         protocolVersion: 1, // 1 = current/legacy; set from low-priority message (pv field)
         downlinkStatus: 0, // 0 = firmware not subscribed to command topic, 1 = subscribed ok
-        mspRcOverride: 0, // 0 = MSP RC Override flight mode not active, 1 = active (commands can be sent)
         cmdRth: 0,     // 1 = firmware actively overriding this channel, 0 = not overriding
         cmdAltHold: 0,
         cmdCruise: 0,
@@ -1134,11 +1133,6 @@ function parseStandardTelemetryMessage(payload)
                 if(raw === 0 || raw === 1)
                     data.downlinkStatus = raw;
                 break;
-            case "mro":
-                raw = parseInt(arrData[1]);
-                if(raw === 0 || raw === 1)
-                    data.mspRcOverride = raw;
-                break;
             case "cmdrth":
                 raw = parseInt(arrData[1]);
                 if(raw === 0 || raw === 1) data.cmdRth = raw;

UI/js/InfoPanelScripts.js

@@ -207,8 +207,6 @@ function getCommandChannelIcon()
 {
     if(!mqttConnected || data.downlinkStatus !== 1)
         return "img/command_error.png";
-    if(data.mspRcOverride !== 1)
-        return "img/command_warning.png";
     return "img/command_ok.png";
 }
 

UI/js/MissionPlannerScripts.js

@@ -472,10 +472,6 @@ async function uploadMission() {
         alert('Cannot upload: WP Mission mode is currently active on the aircraft.\nDeactivate it first.');
         return;
     }
-    if (data.mspRcOverride === 1) {
-        alert('Cannot upload: MSP RC Override mode is currently active on the aircraft.\nDeactivate it first.');
-        return;
-    }
     if (data.uavIsArmed === 1) {
         if (!confirm('The aircraft is currently armed.\nUploading a mission mid-flight is dangerous.\n\nAre you sure you want to continue?'))
             return;
@@ -548,10 +544,6 @@ async function downloadMission() {
         alert('Cannot download: WP Mission mode is currently active on the aircraft.\nDeactivate it first.');
         return;
     }
-    if (data.mspRcOverride === 1) {
-        alert('Cannot download: MSP RC Override mode is currently active on the aircraft.\nDeactivate it first.');
-        return;
-    }
     if (data.uavIsArmed === 1) {
         if (!confirm('The aircraft is currently armed.\nDownloading a mission mid-flight may be dangerous.\n\nAre you sure you want to continue?'))
             return;

UI/js/bsPageScripts.js

@@ -88,7 +88,7 @@ function openCommandsModal() {
 
 function updateCommandsPanel() {
     var downlinkOk = mqttConnected && data.downlinkStatus === 1;
-    var rcOk = downlinkOk && data.mspRcOverride === 1;
+    var rcOk = downlinkOk;
 
     // Version warning: shown when version is known and < 9.0.0
     var versionKnown = data.fcVersion !== "";
@@ -115,7 +115,6 @@ function updateCommandsPanel() {
     }
 
     document.getElementById("commandsDownlinkWarning").style.display = downlinkOk ? "none" : "block";
-    document.getElementById("commandsMroWarning").style.display = (downlinkOk && !rcOk) ? "block" : "none";
 
     document.getElementById("btSendPing").disabled = !downlinkOk;
     var extOk = data.extCmdsSupported >= 1;
@@ -964,11 +963,11 @@ function wireEventListeners() {
         for (var i = 0; i < rcCommands.length; i++) {
             (function(entry) {
                 document.getElementById(entry.onId).addEventListener("click", function() {
-                    if (!mqttConnected || data.downlinkStatus !== 1 || data.mspRcOverride !== 1) return;
+                    if (!mqttConnected || data.downlinkStatus !== 1) return;
                     publishCommand(entry.cmd, 1);
                 });
                 document.getElementById(entry.offId).addEventListener("click", function() {
-                    if (!mqttConnected || data.downlinkStatus !== 1 || data.mspRcOverride !== 1) return;
+                    if (!mqttConnected || data.downlinkStatus !== 1) return;
                     publishCommand(entry.cmd, 0);
                 });
             })(rcCommands[i]);