ArduPilot supports the MSP OSD protocol which allows displaying flight data on the DJI goggles, much like with external MAVLink OSDs or the internal integrated analog OSD in many autopilots. It can also be used with external OSDs , such as the MWOSD, if its configured for MSP telemetry, as is used with iNav or Betaflight.

DJI V1 FPV Goggles


DJI Goggles RE



  • ArduPilot currently supports many, but not all, of the OSD panel items as noted in the section below.

  • Changing display units other than metric and imperial are not currently supported.

  • Multiple screens and remote switching of those screens is not supported.

  • Warning levels for RSSI, Voltage, etc. currently not supported


To enable MSP OSD, set the following parameters (example below is using SERIAL port 2 as the port to attach to the DJI Air unit using both TX and RX lines):

  • OSD_TYPE = 3 (only required to obtain statistics information panels). Can be set to 1 if autopilot has integrated analog OSD to use that feature in addition to the MSP OSD feature for DJI goggles.


  • MSP_OPTIONS = 0 (polling mode)


DJI OSD must be enabled: in SETTINGS->DISPLAY->CUSTOM OSD menu of goggles

MSP OSD Panel Items ==================+

OSD Parameter



Home relative altitude


Arming status, hidden when armed otherwise showing DISARMED


Please refer to OSDn_GSPEED for more info on enabling airspeed display


First battery voltage


First battery remaining percentage rendered as a bar based on declared capacity and consumed mAh


First battery consumed mAh


First battery average cell voltage, if automatic cell detection fails please override with MSP_OSD_NCELLS


Realtime clock (requires GPX fix)


Artificial horizon is not supported so crosshair is often kept hidden


First battery current


On DJI V1/V2 Goggles this will report the highest ESC temperature


DJI hardware does not support ArduPilot’s flight modes! This item will generally be blank and only show !FS! while in failsafe!


GPS Latitude in decimal format


GPS Longitude in decimal format


This item shows ground speed unless OSDn_ASPEED_EN = 1 in which case it will show true airspeed if an airspeed sensor is present or estimated airspeed otherwise. The position on screen is set by OSDn_GSPEED_X and OSDn_GSPEED_Y regardless of the value of OSDn_ASPEED_EN


Not supported by DJI V1/V2 Goggles


Rotating arrow pointing to home


Distance from home


Not supported by DJI V1/V2 Goggles


This will display status text messages as rolling text. Status text messages will be hidden after a couple seconds and the panel will show the current flightmode. If OSDn_WIND_EN is set to 1, this item also displays wind info next to the current flight mode as a rotating arrow and speed.


Pitch angle


Instant power calculated as voltage * current


Roll angle


Rssi as configured in RSSI_TYPE: RSSI Type


On DJI V1/V2 Goggles when there’s no fix it will report 14 sats, this is a known DJI bug


Not supported by DJI V1/V2 Goggles


Vertical speed


Please refer to OSDn_MESSAGE for wind speed and direction rendering

OSD Panel Item Configuration

Each OSD panel item uses a set of three variables to be set:

  • OSDn_<ITEM>_EN - activates the respective panel item on screen “n” when set to 1.

  • OSDn_<ITEM>_X and OSDn_<ITEM>_Y set the horizontal and vertical position of the item, starting with X = 0 and Y = 0 in the upper left corner of your screen.


ArduPilot calculates a sensor-less airspeed estimate that is used if no sensor is present or fails. ARSPD_TYPE must be set to zero in order to display this value as the airspeed item, if no sensor is present.

Testing OSD with SITL

OSD functionality can be tested and panel items adjusted without autopilot or video hardware using the Software In The Loop (SITL) simulator setup. Follow those SITL-Instructions to setup a simulation environment. Run the simulator on current source code using --osdmsp option to build the OSD code into the simulator. For example, for a plane simulation: -v ArduPlane --console --osdmsp

A graphical DJI style MSP OSD simulation in a separate window will be opened with the other simulation windows using a typical set of OSD panel parameters, located at libraries/AP_MSP/Tools/osdtest.parm . Then the OSD elements can be customized by their parameters using the MSP OSD emulation program to visualize the OSD.


You could also use these parameters to initially setup the MSP OSD configuration for use with goggles, but you may have to change the SERIALx_PROTOCOL parameter to match the actual serial port that you will be using.


The emulation does not support multiple screens or units other than metric


By changing the OSD panel items’ parameters, a live update on their placement can be seen in this emulator.

Using Mission Planner to Configure the Layout

Mission Planner(MP) has a tab in its CONFIG menu to configure the on-board OSD many autopilots integrate. This same configuration tab can be used to configure the OSD panels. In fact, you can do that while the SITL program and MSP OSD emulation window are active by connecting Mission Planner running on the same computer, or networked computer, to MAVProxy, using this command in MAVProxy:

output add <ip address of box running Mission Planner>:14550


if MP is running on the same PC, the ip address would be (local host address)