Вземете минимална неизползвана стойност в MySQL колоната

SELECT min(unused) AS unused
FROM (
    SELECT MIN(t1.id)+1 as unused
    FROM yourTable AS t1
    WHERE NOT EXISTS (SELECT * FROM yourTable AS t2 WHERE t2.id = t1.id+1)
    UNION
    -- Special case for missing the first row
    SELECT 1
    FROM DUAL
    WHERE NOT EXISTS (SELECT * FROM yourTable WHERE id = 1)
) AS subquery