autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/67fb86846c4bad43046c95954a06ec60d1cf3297

ASLUAV/ASLUAV.h

@@ -34,7 +34,7 @@ extern "C" {
 // ENUM DEFINITIONS
 
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -42,11 +42,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -54,16 +54,16 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -89,11 +89,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -104,13 +104,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -125,7 +125,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -143,7 +143,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -164,13 +164,13 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

ASLUAV/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

ardupilotmega/ardupilotmega.h

@@ -51,7 +51,7 @@ typedef enum ACCELCAL_VEHICLE_POS
 } ACCELCAL_VEHICLE_POS;
 #endif
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -59,11 +59,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -71,17 +71,17 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_ALTITUDE_WAIT=83, /* Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up. |1: Altitude (m).| 2: Descent speed (m/s).| 3: Wiggle Time (s).| 4: Empty.| 5: Empty.| 6: Empty.| 7: Empty.|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -107,11 +107,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -124,13 +124,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -145,7 +145,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -163,7 +163,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -184,13 +184,13 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

ardupilotmega/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

autoquad/autoquad.h

@@ -75,7 +75,7 @@ typedef enum AUTOQUAD_NAV_STATUS
 } AUTOQUAD_NAV_STATUS;
 #endif
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -86,11 +86,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -98,16 +98,16 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -133,11 +133,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -148,13 +148,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -169,7 +169,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -187,7 +187,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -208,13 +208,13 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

autoquad/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

common/common.h

@@ -429,7 +429,7 @@ typedef enum UAVCAN_NODE_MODE
 } UAVCAN_NODE_MODE;
 #endif
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -437,11 +437,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -449,16 +449,16 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -484,11 +484,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -499,13 +499,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -520,7 +520,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -538,7 +538,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -559,13 +559,13 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

common/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

icarous/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

matrixpilot/matrixpilot.h

@@ -50,7 +50,7 @@ typedef enum MAV_PREFLIGHT_STORAGE_ACTION
 } MAV_PREFLIGHT_STORAGE_ACTION;
 #endif
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -59,11 +59,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -71,16 +71,16 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -106,11 +106,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -121,13 +121,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -142,7 +142,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -160,7 +160,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -181,13 +181,13 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

matrixpilot/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

message_definitions/common.xml

@@ -752,14 +752,18 @@
         <description>The node is no longer available online.</description>
       </entry>
     </enum>
+    <!-- The MAV_CMD enum entries describe either: -->
+    <!--  * the data payload of mission items (as used in the MISSION_ITEM and MISSION_ITEM_INT messages) -->
+    <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
+    <!-- ALL the entries in the MAV_CMD enum have a maximum of 7 parameters -->
     <enum name="MAV_CMD">
-      <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.</description>
+      <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
       <entry value="16" name="MAV_CMD_NAV_WAYPOINT" hasLocation="true" isDestination="true">
         <description>Navigate to waypoint.</description>
-        <param index="1" label="Hold" units="s" minValue="0" increment="1">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
+        <param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
         <param index="2" label="Accept Radius" units="m" minValue="0">Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)</param>
         <param index="3" label="Pass Radius" units="m">0 to pass through the WP, if &gt; 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
-        <param index="4" label="Yaw">Desired yaw angle at waypoint (rotary wing). NaN for unchanged.</param>
+        <param index="4" label="Yaw" units="deg">Desired yaw angle at waypoint (rotary wing). NaN for unchanged.</param>
         <param index="5">Latitude</param>
         <param index="6">Longitude</param>
         <param index="7">Altitude</param>
@@ -942,7 +946,7 @@
         <param index="1">Empty</param>
         <param index="2" label="Transition Heading" enum="VTOL_TRANSITION_HEADING">Front transition heading.</param>
         <param index="3">Empty</param>
-        <param index="4" label="Yaw Angle" units="deg">Yaw angle in degrees. NaN for unchanged.</param>
+        <param index="4" label="Yaw Angle" units="deg">Yaw angle. NaN for unchanged.</param>
         <param index="5">Latitude</param>
         <param index="6">Longitude</param>
         <param index="7">Altitude</param>
@@ -983,7 +987,7 @@
       </entry>
       <entry value="94" name="MAV_CMD_NAV_PAYLOAD_PLACE" hasLocation="true" isDestination="true">
         <description>Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.</description>
-        <param index="1" label="Max Descent" minValue="0" units="m">Maximum distance to descend.</param>
+        <param index="1" label="Max Descent" units="m" minValue="0">Maximum distance to descend.</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>
@@ -1003,7 +1007,7 @@
       </entry>
       <entry value="112" name="MAV_CMD_CONDITION_DELAY" hasLocation="false" isDestination="false">
         <description>Delay mission state machine.</description>
-        <param index="1">Delay in seconds (decimal)</param>
+        <param index="1" label="Delay" units="s" minValue="0">Delay</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>
@@ -1115,7 +1119,7 @@
         <description>Cycle a relay on and off for a desired number of cycles with a desired period.</description>
         <param index="1" label="Instance" minValue="0" increment="1">Relay instance number.</param>
         <param index="2" label="Count" minValue="1" increment="1">Cycle count.</param>
-        <param index="3" label="Time" units="s" minValue="0" increment="1">Cycle time.</param>
+        <param index="3" label="Time" units="s" minValue="0">Cycle time.</param>
         <param index="4">Empty</param>
         <param index="5">Empty</param>
         <param index="6">Empty</param>
@@ -1136,7 +1140,7 @@
         <param index="1" label="Instance" minValue="0" increment="1">Servo instance number.</param>
         <param index="2" label="PWM" units="us" minValue="0" increment="1">Pulse Width Modulation.</param>
         <param index="3" label="Count" minValue="1" increment="1">Cycle count.</param>
-        <param index="4" label="Time" units="s">Cycle time.</param>
+        <param index="4" label="Time" units="s" minValue="0">Cycle time.</param>
         <param index="5">Empty</param>
         <param index="6">Empty</param>
         <param index="7">Empty</param>
@@ -1337,7 +1341,7 @@
       </entry>
       <entry value="208" name="MAV_CMD_DO_PARACHUTE" hasLocation="false" isDestination="false">
         <description>Mission command to trigger a parachute</description>
-        <param index="1" label="action" enum="PARACHUTE_ACTION">action</param>
+        <param index="1" label="Action" enum="PARACHUTE_ACTION">action</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>

minimal/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
  

slugs/slugs.h

@@ -34,7 +34,7 @@ extern "C" {
 // ENUM DEFINITIONS
 
 
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
+/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries */
 #ifndef HAVE_ENUM_MAV_CMD
 #define HAVE_ENUM_MAV_CMD
 typedef enum MAV_CMD
@@ -42,11 +42,11 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)| 3: 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| 4: Desired yaw angle at waypoint (rotary wing). NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |1: Empty| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |1: Number of turns.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |1: Loiter time.| 2: Empty| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise.| 4: this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_LAND=21, /* Land at location. |1: Minimum target altitude if landing is aborted (0 = undefined/use system default).| 2: Precision land mode.| 3: Empty.| 4: Desired yaw angle. NaN for unchanged.| 5: Latitude.| 6: Longitude.| 7: Landing altitude (ground level in current frame).|  */
    MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Empty| 4: Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
-   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: qrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
+   MAV_CMD_NAV_LAND_LOCAL=23, /* Land at local position (local frame only) |1: Landing target number (if available)| 2: Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land| 3: Landing descend rate| 4: Desired yaw angle| 5: Y-axis position| 6: X-axis position| 7: Z-axis / ground level position|  */
    MAV_CMD_NAV_TAKEOFF_LOCAL=24, /* Takeoff from local position (local frame only) |1: Minimum pitch (if airspeed sensor present), desired pitch without sensor| 2: Empty| 3: Takeoff ascend rate| 4: Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these| 5: Y-axis position| 6: X-axis position| 7: Z-axis position|  */
    MAV_CMD_NAV_FOLLOW=25, /* Vehicle following, i.e. this waypoint represents the position of a moving vehicle |1: Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation| 2: Ground speed of vehicle to be followed| 3: Radius around waypoint. If positive loiter clockwise, else counter-clockwise| 4: Desired yaw angle.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT=30, /* Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached. |1: Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Desired altitude|  */
@@ -54,16 +54,16 @@ typedef enum MAV_CMD
    MAV_CMD_DO_FOLLOW=32, /* Being following a target |1: System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.| 2: RESERVED| 3: RESERVED| 4: Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.| 5: Altitude above home. (used if mode=2)| 6: RESERVED| 7: Time to land in which the MAV should go to the default position hold mode after a message RX timeout.|  */
    MAV_CMD_DO_FOLLOW_REPOSITION=33, /* Reposition the MAV after a follow target command has been sent |1: Camera q1 (where 0 is on the ray from the camera to the tracking device)| 2: Camera q2| 3: Camera q3| 4: Camera q4| 5: altitude offset from target| 6: X offset from target| 7: Y offset from target|  */
    MAV_CMD_DO_ORBIT=34, /* Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. |1: Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.| 2: Tangential Velocity. NaN: Vehicle configuration default.| 3: Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.| 4: Reserved (e.g. for dynamic center beacon options)| 5: Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 6: Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.| 7: Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.|  */
-   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
+   MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID. (see MAV_ROI enum)| 3: ROI index (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: x the location of the fixed ROI (see MAV_FRAME)| 6: y| 7: z|  */
    MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |1: 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 2: 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| 3: Empty| 4: Yaw angle at goal| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
    MAV_CMD_NAV_SPLINE_WAYPOINT=82, /* Navigate to waypoint using a spline path. |1: Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)| 2: Empty| 3: Empty| 4: Empty| 5: Latitude/X of goal| 6: Longitude/Y of goal| 7: Altitude/Z of goal|  */
-   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle in degrees. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_VTOL_TAKEOFF=84, /* Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. |1: Empty| 2: Front transition heading.| 3: Empty| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_VTOL_LAND=85, /* Land using VTOL mode |1: Empty| 2: Empty| 3: Approach altitude (with the same reference as the Altitude field). NaN if unspecified.| 4: Yaw angle. NaN for unchanged.| 5: Latitude| 6: Longitude| 7: Altitude (ground level)|  */
    MAV_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |1: 0.5f on)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_DELAY=93, /* Delay the next navigation command a number of seconds or until a specified time |1: Delay (-1 to enable time-of-day fields)| 2: hour (24h format, UTC, -1 to ignore)| 3: minute (24h format, UTC, -1 to ignore)| 4: second (24h format, UTC)| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
+   MAV_CMD_NAV_PAYLOAD_PLACE=94, /* Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. |1: Maximum distance to descend.| 2: Empty| 3: Empty| 4: Empty| 5: tude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay in seconds (decimal)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |1: Delay| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |1: Descent / Ascend rate.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Finish Altitude|  */
    MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |1: Distance.| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |1: target angle, 0 is north| 2: angular speed| 3: direction: -1: counter clockwise, 1: clockwise| 4: 0: absolute angle, 1: relative offset| 5: Empty| 6: Empty| 7: Empty|  */
@@ -89,11 +89,11 @@ typedef enum MAV_CMD
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET=196, /* Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: pitch offset from next waypoint| 6: roll offset from next waypoint| 7: yaw offset from next waypoint|  */
    MAV_CMD_DO_SET_ROI_NONE=197, /* Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |1: Camera ID (-1 for all)| 2: Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| 3: 0: single images every n seconds| 4: Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
+   MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |1: Region of interest mode.| 2: Waypoint index/ target ID (depends on param 1).| 3: Region of interest index. (allows a vehicle to manage multiple ROI's)| 4: Empty| 5: rom next waypoint, MAV_ROI_LOCATION: latitude| 6: MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude| 7: MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude|  */
    MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Modes: P, TV, AV, M, Etc.| 2: Shutter speed: Divisor number for one second.| 3: Aperture: F stop number.| 4: ISO number e.g. 80, 100, 200, Etc.| 5: Exposure type enumerator.| 6: Command Identity.| 7: Main engine cut-off time before camera trigger. (0 means no cut-off)|  */
-   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: Zooming step value to offset zoom from the current position| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
+   MAV_CMD_DO_DIGICAM_CONTROL=203, /* Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). |1: Session control e.g. show/hide lens| 2: Zoom's absolute position| 3: sition| 4: Focus Locking, Unlocking or Re-locking| 5: Shooting Command| 6: Command Identity| 7: Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.|  */
    MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |1: Mount operation mode| 2: stabilize roll? (1 = yes, 0 = no)| 3: stabilize pitch? (1 = yes, 0 = no)| 4: stabilize yaw? (1 = yes, 0 = no)| 5: roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 6: pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)| 7: yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)|  */
-   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
+   MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: (degrees or degrees/second depending on yaw input).| 4: altitude depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: Mount mode.|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance. 0 to stop triggering.| 2: Camera shutter integration time. -1 or 0 to ignore| 3: Trigger camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -104,13 +104,13 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: quaternion param q1, w (1 in null-rotation)| 2: quaternion param q2, x (0 in null-rotation)| 3: quaternion param q3, y (0 in null-rotation)| 4: quaternion param q4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: r the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_MISSION_CURRENT=224, /* Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between). |1: Mission sequence value to set| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: ion, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
-   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: X axis offset (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: ensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
+   MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |1: Empty| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: mpty|  */
+   MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. |1: 1: gyro calibration, 3: gyro temperature calibration| 2: 1: magnetometer calibration| 3: 1: ground pressure calibration| 4: 1: radio RC calibration, 2: RC trim calibration| 5: 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration| 6: 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration| 7: 1: ESC calibration, 3: barometer temperature calibration|  */
+   MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |1: Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer| 2: (or generic dimension 1), in the sensor's raw units| 3: Y axis offset (or generic dimension 2), in the sensor's raw units| 4: Z axis offset (or generic dimension 3), in the sensor's raw units| 5: Generic dimension 4, in the sensor's raw units| 6: Generic dimension 5, in the sensor's raw units| 7: Generic dimension 6, in the sensor's raw units|  */
    MAV_CMD_PREFLIGHT_UAVCAN=243, /* Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. |1: 1: Trigger actuator ID assignment and direction mapping.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
-   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1: logging rate (e.g. set to 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |1: Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 2: Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults| 3: 1000 for 1000 Hz logging)| 4: Reserved| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |1: 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.| 2: 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.| 3: WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded| 4: WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded| 5: Reserved, send 0| 6: Reserved, send 0| 7: WIP: ID (e.g. camera ID -1 for all IDs)|  */
    MAV_CMD_OVERRIDE_GOTO=252, /* Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. |1: MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.| 2: MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.| 3: Coordinate frame of hold point.| 4: Desired yaw angle.| 5: Latitude / X position.| 6: Longitude / Y position.| 7: Altitude / Z position.|  */
    MAV_CMD_MISSION_START=300, /* start running a mission |1: first_item: the first mission item to run| 2: last_item:  the last mission item to run (after this item is run, the mission ends)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -125,7 +125,7 @@ typedef enum MAV_CMD
    MAV_CMD_REQUEST_CAMERA_INFORMATION=521, /* Request camera information (CAMERA_INFORMATION). |1: 0: No action 1: Request camera capabilities| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_SETTINGS=522, /* Request camera settings (CAMERA_SETTINGS). |1: 0: No Action 1: Request camera settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_STORAGE_INFORMATION=525, /* Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. |1: Storage ID (0 for all, 1 for first, 2 for second, etc.)| 2: 0: No Action 1: Request storage information| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: Storage ID (1 for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_STORAGE_FORMAT=526, /* Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. |1: for first, 2 for second, etc.)| 2: 0: No action 1: Format storage| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS=527, /* Request camera capture status (CAMERA_CAPTURE_STATUS) |1: 0: No Action 1: Request camera capture status| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_FLIGHT_INFORMATION=528, /* Request flight information (FLIGHT_INFORMATION) |1: 1: Request flight information| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -143,7 +143,7 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_START_STREAMING=2502, /* Start video streaming |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
@@ -164,7 +164,7 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION=5002, /* Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
          |1: Polygon vertex count| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION=5003, /* Circular fence area. The vehicle must stay inside this area.
-         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: ed|  */
+         |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: Radius.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
@@ -176,7 +176,7 @@ typedef enum MAV_CMD
    MAV_CMD_TURN_LIGHT=10013, /* Turns the vehicle's visible or infrared lights on or off. |1: 0: visible lights, 1: infrared lights| 2: 0: turn on, 1: turn off| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_GET_MID_LEVEL_COMMANDS=10014, /* Requests vehicle to send current mid-level commands to ground station. |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_MIDLEVEL_STORAGE=10015, /* Requests storage of mid-level commands. |1: Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: position. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */

slugs/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

standard/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

test/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  

uAvionix/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Apr 11 2019"
+#define MAVLINK_BUILD_DATE "Tue Apr 23 2019"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255