MSP protocol and GPL question

I want to use the Matek 3901-Lox optical flow sensor.
This outputs its results in MSP protocol…
I can easily write a PX4 driver from scratch for this…
but…
The only place I can find the definition of the MSP payload for this hardware is in
GPL’d code.

Clearly I can do this for my own use as long as I don’t distribute…
Can I contribute this back to PX4?