feat(msp): add MSP2_INAV_WIND (0x2231) to expose wind estimator

[MartinovEm]

Summary

Adds a new read-only MSP command MSP2_INAV_WIND (ID 0x2231) that exposes the internal wind estimator output over MSP telemetry.

This allows ground station software, OSD overlays, and companion computers to read the estimated wind speed and direction without requiring direct firmware integration.

Response Payload

Byte offset	Type	Name	Unit	Notes
0–1	uint16	windSpeed	cm/s	Estimated horizontal wind speed
2–3	uint16	windAngle	degrees	Wind direction (0–359°, 0 = North)

Total: 4 bytes.

Implementation Details

• getEstimatedHorizontalWindSpeed() returns angle in centidegrees [0–35999]; divided by 100 to give 0–359° output.
• Guarded by USE_WIND_ESTIMATOR: when the estimator is not compiled in, both fields return zero, ensuring backward-compatible behaviour on builds without wind estimation.
• The #include "flight/wind_estimator.h" in fc_msp.c is also wrapped in #ifdef USE_WIND_ESTIMATOR.

Files Changed

• src/main/msp/msp_protocol_v2_inav.h — defines MSP2_INAV_WIND 0x2231
• src/main/fc/fc_msp.c — conditional include + new case MSP2_INAV_WIND: handler

[github-actions]

Test firmware build ready — commit e39aa82

Download firmware for PR #11508

234 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.

[sensei-hacker]

This looks like it is really well done, thanks.
A couple thoughts:

It may need to be added to msp_messages.json
See MSP2_INAV_AIR_SPEED for a similar messsage.

It might make sense to run isEstimatedWindSpeedValid() and include a validity bit. You have bits to spare.

[MartinovEm]

@sensei-hacker Thanks so much for the kind words and for adding this to the 9.1 milestone — really appreciate it!

Updated the implementation based on your suggestions:

• Added \isEstimatedWindSpeedValid()\ — result is exposed as bit 0 of a new \lags\ byte (uint8) appended to the payload. Remaining 7 bits are reserved for future use.
• Added \MSP2_INAV_WIND\ to \msp_messages.json, following the pattern of \MSP2_INAV_AIR_SPEED.

Payload is now 5 bytes: \uint16 windSpeed | uint16 windAngle | uint8 flags.