inav-mcp 0.3.1__tar.gz → 0.3.2__tar.gz
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/PKG-INFO +351 -347
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/README.md +4 -2
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/PKG-INFO +351 -347
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/pyproject.toml +5 -1
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/setup.cfg +4 -4
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/LICENSE +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/__init__.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/cli.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/connection.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/knowledge/__init__.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/knowledge/arming_flags.json +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/knowledge/esc_protocols.json +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/knowledge/fc_targets.json +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/knowledge/modes_reference.json +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/modes.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/msp.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/profiles.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/safety.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/server.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/state.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp/troubleshoot.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/SOURCES.txt +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/dependency_links.txt +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/entry_points.txt +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/requires.txt +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/inav_mcp.egg-info/top_level.txt +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_cli.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_cli_batch.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_cli_props_gate.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_diagnostics.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_followups.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_modes_m4.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_msp_codec.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_new_tools_m6.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_profiles.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_reconnect.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_resources_prompts.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_server_cli.py +0 -0
- {inav_mcp-0.3.1 → inav_mcp-0.3.2}/tests/test_status_v2.py +0 -0
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Metadata-Version: 2.4
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Name: inav-mcp
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Version: 0.3.
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Summary: MCP server for iNAV flight-controller configuration and diagnostics
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License-Expression: MIT
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[](https://github.com/starlordz12/inav-mcp/actions/workflows/ci.yml)
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[](LICENSE)
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[](pyproject.toml)
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[](https://modelcontextprotocol.io)
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[](https://pypi.org/project/inav-mcp/)
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An [MCP](https://modelcontextprotocol.io) server that lets Claude configure,
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diagnose, and troubleshoot an **iNAV fixed-wing flight controller** over USB.
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It talks to the FC through a single serial connection, using the iNAV **CLI**
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for configuration writes and a small built-in **MSP** codec for live/binary
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reads. Every write is dry-run by default, auto-backs-up first, refuses while the
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board is armed, and reads back to verify.
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<sub>Recorded against a live iNAV 6.1.0 flight controller over USB.</sub>
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> ⚠️ **Safety:** Always remove props from the aircraft before any motor test.
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> This tool never switches the FC into MSP-RX mode and never arms the aircraft.
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---
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## Requirements
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- Python 3.10+
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- An iNAV flight controller (developed against iNAV 8.x/9.x) connected over USB
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- The serial port the FC enumerates as (e.g. `COM3` on Windows, `/dev/ttyACM0` on Linux)
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## Install
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**From PyPI** (once the first release is published):
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```bash
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pip install inav-mcp
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```
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**From source** (for development, or to run the latest unreleased code):
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```bash
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# from the repo root
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python -m venv .venv
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.venv/Scripts/python -m pip install -e . # Windows
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# source .venv/bin/activate && pip install -e . # Linux/macOS
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```
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For development (tests):
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```bash
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.venv/Scripts/python -m pip install -e ".[dev]"
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```
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### Try it without a flight controller
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You don't need any hardware to confirm the project works — the test suite runs
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fully offline (no FC required):
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```bash
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.venv/Scripts/python -m pytest # Windows
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# .venv/bin/pytest # Linux/macOS
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```
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All 186 tests should pass. To actually **use** the server, though, you need a
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flight controller flashed with **iNAV firmware** (developed against iNAV
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8.x/9.x) connected over USB — without one, the connection tools have nothing to
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talk to.
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## Register with Claude
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Add the server to your Claude (Code or Desktop) MCP config
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(`~/.claude/settings.json` or the Claude Desktop config). **Replace the paths
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below with wherever you cloned this repo** — the `command` points at the Python
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inside your `.venv`, and `cwd` is the repo root.
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Windows:
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```json
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{
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"mcpServers": {
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"inav": {
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"command": "C:\\path\\to\\inav-mcp\\.venv\\Scripts\\python.exe",
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"args": ["-m", "inav_mcp.server"],
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"cwd": "C:\\path\\to\\inav-mcp"
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}
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}
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}
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```
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Linux / macOS:
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```json
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{
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"mcpServers": {
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"inav": {
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"command": "/path/to/inav-mcp/.venv/bin/python",
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"args": ["-m", "inav_mcp.server"],
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"cwd": "/path/to/inav-mcp"
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}
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}
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}
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```
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The server speaks MCP over **stdio**. You can also run it directly with the
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installed entry point `inav-mcp`.
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---
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## Typical workflows
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The server ships **prompts** that walk Claude through the common jobs — just pick one:
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- **`new_fixed_wing_setup`** — gather hardware details → `define_aircraft` → review → apply.
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- **`troubleshoot_no_arm`** — decode arming-prevention flags → guided fixes.
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- **`configure_modes`** — identify switches from live RC → suggest a layout → assign modes.
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Or drive it conversationally, e.g.:
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> "Connect to my FC on COM3 and tell me why it won't arm."
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> "Set up a 4S flying wing on DSHOT600, then show me the commands before applying."
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---
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## Tools (35)
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### Connection & identity
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| Tool | What it does |
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|---|---|
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| `list_serial_ports()` | List available serial ports. |
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| `find_fc(baud=115200, probe_all=False)` | Auto-detect which port has an FC by probing for MSP identity — no guessing the port. |
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| `connect(port, baud=115200)` | Open the FC connection, return board identity. |
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| `disconnect()` | Close the connection. |
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| `board_info()` | FC variant, firmware version, target, API version, sensors. |
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### Hardware setup
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| Tool | What it does |
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| `define_aircraft(name, wing_type, esc_protocol, cells, …)` | Offline planner — stores a profile and generates the CLI config plan. |
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| `get_aircraft_profile()` | The current declared profile + plan. |
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| `apply_aircraft_setup(confirm=False)` | Apply the plan (gated: not armed, auto-backup, read-back verify). On iNAV, applying is inherently save+reboot. |
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| `check_config()` | `diff all` + lint against the declared profile + ARM check. |
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### Flight modes & switches
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| Tool | What it does |
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|---|---|
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| `suggest_mode_layout(skill_level, num_switches, has_gps=False)` | Recommend a fixed-wing switch/mode layout (offline). |
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| `set_flight_mode(mode_name, aux_channel, range_low, range_high, confirm=False)` | Assign one mode to an aux range. |
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| `assign_switch(switch_channel, switch_positions, mode_per_position, confirm=False)` | Map a whole 2/3/6-pos switch in one call. |
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| `clear_flight_mode(mode_name, confirm=False)` | Remove a mode's switch assignments. |
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### Diagnostics
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| Tool | What it does |
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|---|---|
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| `diagnose()` | Full sweep: arming, sensors, RC, battery, GPS → prioritized fixes. |
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| `why_wont_it_arm()` | Decode arming-prevention flags into plain reasons + fixes. |
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| `read_rc_channels()` | Live RC channel values — flip a switch, see which channel moves. |
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| `read_sensors()` | Live attitude, per-sensor health, battery. |
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| `get_status()` | MSP status + CLI `status`/`tasks`. |
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| `list_flight_modes()` | All modes and their current switch assignments. |
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| `check_failsafe()` | Read `failsafe_*` settings, explain the RC-loss procedure, flag risky setups (e.g. RTH without GPS). |
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### Bench tests & calibration
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| Tool | What it does |
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| `test_motor(motor, throttle_us=1100, duration_s=2.0, props_removed=False, confirm=False)` | Spin ONE motor briefly. Hard-gated: `props_removed=True` + `confirm=True`, refuses while armed, always auto-stops. (No `test_servo` — iNAV has no live servo override; verify surfaces with the TX sticks + `read_rc_channels()`.) |
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| `calibrate_accelerometer(confirm=False)` | Zero-level the accelerometer (board flat + still). Fixes most "not level" arming blocks. |
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| `calibrate_magnetometer(confirm=False)` | Calibrate the compass (rotate the craft ~30s). |
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### Navigation & tuning
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| `read_gps()` | Live GPS fix/sats/position + nav-readiness assessment (read-only). |
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| `configure_gps(provider="UBLOX", sbas=None, confirm=False)` | Enable the GPS feature and set provider/SBAS. |
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| `set_nav(rth_altitude_m=None, rth_climb_first=None, rth_allow_landing=None, loiter_radius_m=None, confirm=False)` | Set fixed-wing RTH altitude / climb-first / landing / loiter radius. |
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| `read_tuning()` | Read fixed-wing PID gains, rates, and filter cutoffs. |
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| `set_pid(axis, p=None, i=None, d=None, ff=None, confirm=False)` | Set fixed-wing P/I/D/FF gains for one axis. |
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### Config management
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| `backup_config(label=None)` | Save `diff all` to a timestamped file under `./backups/`. |
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| `list_backups()` | List saved backups (path, time, size, label), newest first. |
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| `restore_config(path, confirm=False)` | Replay a saved backup via CLI. |
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| `set_failsafe(procedure=None, throttle_us=None, confirm=False)` | Set the RC-loss procedure / throttle (atomic write; FC validates the procedure token). |
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| `cli(command, confirm_for_writes=False, props_removed=False)` | Raw CLI escape hatch (ONE command, one reboot). Writes need `confirm_for_writes`; a live `motor` test needs `props_removed=True` and is never saved. |
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| `cli_batch(commands, confirm_for_writes=False)` | Run MANY CLI commands in **one** session → **one** reboot. Read-only batch exits without saving; a write batch backs up + saves once (rolls back if any command is rejected). Motor/`save`/`exit` commands refused. |
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| `save_and_reboot(confirm=False)` | `save` to EEPROM and reboot (marks the connection stale). |
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## Resources
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- `inav://modes-reference` — iNAV mode glossary with fixed-wing relevance.
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- `inav://current-profile` — the declared aircraft profile + generated plan.
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- `inav://last-backup` — the most recent `diff all` backup.
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---
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## Safety model
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1. **Props-off gate** — `test_motor()` and any live `motor` command via `cli(...)` require `props_removed=True` (the generic write-confirm cannot bypass it), refuse while the board is armed, and are never saved. `test_motor()` also clamps throttle/duration and always commands the motor back to stop.
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2. **Armed guard** — all writes (and motor tests / calibrations) refuse if the FC reports armed.
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3. **Auto-backup** before every write; the backup path is returned.
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4. **Dry-run by default** — writes return the exact commands; `confirm=True` applies.
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5. **Read-back verify** — after applying, settings are re-read and mismatches flagged.
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6. **`save` = reboot** — `save_and_reboot` warns and marks the connection stale.
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7. **No receiver-mode changes** — the FC is never switched to MSP-RX.
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## Reboot model — why batching matters
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On iNAV, **leaving the CLI always reboots the FC** — both `save` (persist to
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EEPROM) and `exit` (discard changes) trigger a reboot, after which the USB VCP
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231
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+
re-enumerates and we reconnect (~6–8 s, surfaced as `reboot_seconds`). So **every
|
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232
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+
CLI round-trip costs one reboot**, including read-only ones (`get`, `diff`,
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233
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+
`dump`, `version`). There is no way to read over the CLI without that reboot —
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+
the only lever is to do fewer CLI sessions.
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235
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+
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236
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+
What this server does to keep reboot churn down:
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+
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238
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- **Reads prefer MSP, which never reboots.** `get_status`, `read_rc_channels`,
|
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239
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+
`read_sensors`, `read_gps`, `list_flight_modes`, `why_wont_it_arm`, `diagnose`,
|
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+
and the armed-guard all read structured data over MSP — zero reboots. Only data
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241
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+
that's CLI-only (`diff all`, `get failsafe`, PID/rate/filter `get`s) pays a reboot.
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- **Writes are atomic and batch internally.** Each write tool
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+
(`apply_aircraft_setup`, `set_flight_mode`, `assign_switch`, `set_pid`,
|
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+
`set_failsafe`, `restore_config`, …) opens **one** CLI session: backup → apply
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all commands → save → reboot once. Multiple settings = one reboot.
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+
- **`cli_batch()` for ad-hoc runs.** Instead of calling `cli()` in a loop (one
|
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247
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+
reboot **per** command — the cadence that can knock a board into DFU), pass a
|
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248
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+
list to `cli_batch()`: one session, one reboot. Read-only batches `exit` without
|
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+
saving; write batches back up and `save` once (rolling back if any command is
|
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|
+
rejected).
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251
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+
- **Resilient reconnect.** After a reboot the reconnect waits a short settle, then
|
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|
+
polls with backoff; if the original COM port doesn't return it scans for a
|
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253
|
+
re-enumerated one, and if the board came back in **DFU/bootloader mode** it says
|
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|
+
so and tells you to power-cycle (USB unplug/replug) rather than hanging.
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+
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256
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+
## How it works
|
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257
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+
|
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258
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+
- **Single serial handle** shared between MSP and CLI modes (`connection.py`),
|
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+
tracked by a `mode` state machine. Never two handles on one port.
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260
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+
- **CLI-first writes** — the CLI is stable across firmware versions; MSP command
|
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261
|
+
IDs can drift. A thin MSP v1/v2 codec (`msp.py`) handles only the live binary
|
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262
|
+
reads (status, RC, attitude, analog, GPS, sensor health, mode ranges, box maps).
|
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263
|
+
- **Box IDs are resolved at runtime** via `MSP_BOXNAMES` + `MSP_BOXIDS` — never hardcoded.
|
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264
|
+
- **Arming flags** are decoded from `knowledge/arming_flags.json`, calibrated to
|
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265
|
+
iNAV 8.x/9.x bit positions. The table declares its calibrated major versions, and
|
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266
|
+
`connect()` / `board_info()` / `why_wont_it_arm()` / `diagnose()` **warn when the
|
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267
|
+
connected firmware is outside that range** (bit positions shift between majors, so
|
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268
|
+
flag *names* may be mislabelled even though the raw flag value is correct).
|
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269
|
+
|
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270
|
+
## Development
|
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271
|
+
|
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272
|
+
```bash
|
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273
|
+
.venv/Scripts/python -m pytest # 186 tests, all offline (no FC needed)
|
|
274
|
+
```
|
|
275
|
+
|
|
276
|
+
The suite covers the MSP codec round-trips, CLI response parsing, the diagnostic
|
|
277
|
+
rule engine, offline profile/command generation, mode-range read-modify-write
|
|
278
|
+
logic (against a mock connection), and resource/prompt registration.
|
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279
|
+
|
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280
|
+
Project layout:
|
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281
|
+
|
|
282
|
+
```
|
|
283
|
+
inav_mcp/
|
|
284
|
+
server.py # FastMCP app: all tools, resources, prompts
|
|
285
|
+
connection.py # single serial handle, MSP + CLI mode switching
|
|
286
|
+
msp.py # MSP v1/v2 codec + parsers
|
|
287
|
+
cli.py # CLI response parsing, write-command detection
|
|
288
|
+
modes.py # box maps, mode-range read/write, layout planner
|
|
289
|
+
profiles.py # AircraftProfile + offline CLI command generator
|
|
290
|
+
troubleshoot.py # diagnose() rule engine + arming-flag decode
|
|
291
|
+
safety.py # armed guard, backup paths
|
|
292
|
+
state.py # connection + profile singletons
|
|
293
|
+
knowledge/ # arming_flags / modes_reference / esc_protocols / fc_targets (JSON)
|
|
294
|
+
tests/ # offline pytest suite
|
|
295
|
+
tools/ # gen_readme_tools.py — regenerates the tool reference below
|
|
296
|
+
examples/ # flying_wing_quickstart.md — end-to-end walkthrough
|
|
297
|
+
```
|
|
298
|
+
|
|
299
|
+
Release history is in [CHANGELOG.md](CHANGELOG.md).
|
|
300
|
+
|
|
301
|
+
## Full tool reference
|
|
302
|
+
|
|
303
|
+
Complete, signature-accurate list — regenerate after changing tools with
|
|
304
|
+
`python -m tools.gen_readme_tools` (a test fails if this drifts):
|
|
305
|
+
|
|
306
|
+
<!-- TOOLS:AUTOGEN:START -->
|
|
307
|
+
_35 tools — auto-generated by `tools/gen_readme_tools.py`; do not edit by hand._
|
|
308
|
+
|
|
309
|
+
| Tool | Description |
|
|
310
|
+
|---|---|
|
|
311
|
+
| `apply_aircraft_setup(confirm=False)` | Apply the declared aircraft profile to the FC, then save and reboot. |
|
|
312
|
+
| `assign_switch(switch_channel, switch_positions, mode_per_position, confirm=False)` | Map a multi-position switch's detents to flight modes in one call. |
|
|
313
|
+
| `backup_config(label=None)` | Save the current FC config to a timestamped backup file. |
|
|
314
|
+
| `board_info()` | Read flight-controller identity over MSP. |
|
|
315
|
+
| `calibrate_accelerometer(confirm=False)` | Calibrate the accelerometer (zero-level). Fixes most 'not level' / 'accel not |
|
|
316
|
+
| `calibrate_magnetometer(confirm=False)` | Calibrate the compass (magnetometer). Only useful if a compass is installed. |
|
|
317
|
+
| `check_config()` | Compare the FC's actual configuration against the declared aircraft profile. |
|
|
318
|
+
| `check_failsafe()` | Read and explain the failsafe configuration (what happens on RC loss). |
|
|
319
|
+
| `clear_flight_mode(mode_name, confirm=False)` | Remove all switch assignments for a flight mode (disables its slots via CLI 'aux'). |
|
|
320
|
+
| `cli(command, confirm_for_writes=False, props_removed=False)` | Raw CLI escape hatch — run any iNAV CLI command directly. |
|
|
321
|
+
| `cli_batch(commands, confirm_for_writes=False)` | Run MANY CLI commands in ONE CLI session — a single reboot for the whole batch. |
|
|
322
|
+
| `configure_gps(provider='UBLOX', sbas=None, confirm=False)` | Enable the GPS feature and set the receiver provider / SBAS (atomic CLI write). |
|
|
323
|
+
| `connect(port, baud=115200)` | Open the serial connection to the FC and return board identity. |
|
|
324
|
+
| `define_aircraft(name, wing_type, esc_protocol, cells, fc_target=None, motor_kv=None, motor_poles=14, servo_count=None, notes=None)` | Define the aircraft hardware profile and generate a configuration plan. |
|
|
325
|
+
| `diagnose()` | Full diagnostic sweep — the flagship troubleshooter. |
|
|
326
|
+
| `disconnect()` | Close the serial connection to the FC. |
|
|
327
|
+
| `find_fc(baud=115200, probe_all=False)` | Auto-detect which serial port has a flight controller, so you don't guess. |
|
|
328
|
+
| `get_aircraft_profile()` | Return the currently declared aircraft profile. |
|
|
329
|
+
| `get_status()` | Read FC status via both MSP and CLI. |
|
|
330
|
+
| `list_backups()` | List saved config backups under ./backups/, newest first. No FC needed. |
|
|
331
|
+
| `list_flight_modes()` | List all available flight modes and their current switch assignments. |
|
|
332
|
+
| `list_serial_ports()` | List all available serial ports. |
|
|
333
|
+
| `read_gps()` | Live GPS status: fix type, satellites, position, speed, HDOP + nav-readiness. |
|
|
334
|
+
| `read_rc_channels()` | Read live RC channel values via MSP. |
|
|
335
|
+
| `read_sensors()` | Read live sensor values: attitude, per-sensor health, and analog (battery). |
|
|
336
|
+
| `read_tuning()` | Read fixed-wing PID gains, rates, and key filter cutoffs (via CLI). |
|
|
337
|
+
| `restore_config(path, confirm=False)` | Restore FC config by replaying a backup file's CLI commands, then save+reboot. |
|
|
338
|
+
| `save_and_reboot(confirm=False)` | Save the running config to EEPROM and reboot the FC. |
|
|
339
|
+
| `set_failsafe(procedure=None, throttle_us=None, delay_s=None, off_delay_s=None, confirm=False)` | Set the core failsafe behaviour (atomic CLI write: backup → apply → save+reboot). |
|
|
340
|
+
| `set_flight_mode(mode_name, aux_channel, range_low, range_high, confirm=False)` | Assign a flight mode to an aux channel range (read-modify-write via CLI 'aux'). |
|
|
341
|
+
| `set_nav(rth_altitude_m=None, rth_climb_first=None, rth_allow_landing=None, loiter_radius_m=None, confirm=False)` | Set core fixed-wing navigation / RTH parameters (atomic CLI write). |
|
|
342
|
+
| `set_pid(axis, p=None, i=None, d=None, ff=None, confirm=False)` | Set fixed-wing PID gains for ONE axis (atomic CLI write). |
|
|
343
|
+
| `suggest_mode_layout(skill_level='beginner', num_switches=2, has_gps=False)` | Recommend a fixed-wing flight-mode/switch layout. Pure knowledge — no FC needed. |
|
|
344
|
+
| `test_motor(motor, throttle_us=1100, duration_s=2.0, props_removed=False, confirm=False)` | Spin ONE motor briefly for a bench test (direction / wiring / response). |
|
|
345
|
+
| `why_wont_it_arm()` | Decode the FC's arming-prevention flags into plain English. |
|
|
346
|
+
<!-- TOOLS:AUTOGEN:END -->
|
|
347
|
+
|
|
348
|
+
## License
|
|
349
|
+
|
|
350
|
+
MIT. This project ships its own MSP codec and does **not** import GPL libraries
|
|
351
|
+
(uNAVlib / YAMSPy) at runtime, keeping it permissively licensed.
|