autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/3940532218b0a1a9491d3f0fa5eec8d4555693ad

ASLUAV/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Jul 13 2018"
+#define MAVLINK_BUILD_DATE "Wed Jul 18 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

ardupilotmega/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Jul 13 2018"
+#define MAVLINK_BUILD_DATE "Wed Jul 18 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

autoquad/version.h

@@ -7,7 +7,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Jul 13 2018"
+#define MAVLINK_BUILD_DATE "Wed Jul 18 2018"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  

common/mavlink_msg_actuator_control_target.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_actuator_control_target_t {
- uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
  uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
 }) mavlink_actuator_control_target_t;
@@ -47,7 +47,7 @@ typedef struct __mavlink_actuator_control_target_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -79,7 +79,7 @@ static inline uint16_t mavlink_msg_actuator_control_target_pack(uint8_t system_i
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_actuator_control_target_encode_chan(uint8_t s
  * @brief Send a actuator_control_target message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  */
@@ -208,7 +208,7 @@ static inline void mavlink_msg_actuator_control_target_send_buf(mavlink_message_
 /**
  * @brief Get field time_usec from actuator_control_target message
  *
- * @return Timestamp (micros since boot or Unix epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_adsb_vehicle.h

@@ -6,17 +6,17 @@
 MAVPACKED(
 typedef struct __mavlink_adsb_vehicle_t {
  uint32_t ICAO_address; /*< ICAO address*/
- int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
- int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
- int32_t altitude; /*< Altitude(ASL) in millimeters*/
- uint16_t heading; /*< Course over ground in centidegrees*/
- uint16_t hor_velocity; /*< The horizontal velocity in centimeters/second*/
- int16_t ver_velocity; /*< The vertical velocity in centimeters/second, positive is up*/
- uint16_t flags; /*< Flags to indicate various statuses including valid data fields*/
+ int32_t lat; /*< Latitude*/
+ int32_t lon; /*< Longitude*/
+ int32_t altitude; /*< Altitude(ASL)*/
+ uint16_t heading; /*< Course over ground*/
+ uint16_t hor_velocity; /*< The horizontal velocity*/
+ int16_t ver_velocity; /*< The vertical velocity. Positive is up*/
+ uint16_t flags; /*< Bitmap to indicate various statuses including valid data fields*/
  uint16_t squawk; /*< Squawk code*/
- uint8_t altitude_type; /*< Type from ADSB_ALTITUDE_TYPE enum*/
+ uint8_t altitude_type; /*< ADSB altitude type.*/
  char callsign[9]; /*< The callsign, 8+null*/
- uint8_t emitter_type; /*< Type from ADSB_EMITTER_TYPE enum*/
+ uint8_t emitter_type; /*< ADSB emitter type.*/
  uint8_t tslc; /*< Time since last communication in seconds*/
 }) mavlink_adsb_vehicle_t;
 
@@ -78,17 +78,17 @@ typedef struct __mavlink_adsb_vehicle_t {
  * @param msg The MAVLink message to compress the data into
  *
  * @param ICAO_address ICAO address
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param altitude_type Type from ADSB_ALTITUDE_TYPE enum
- * @param altitude Altitude(ASL) in millimeters
- * @param heading Course over ground in centidegrees
- * @param hor_velocity The horizontal velocity in centimeters/second
- * @param ver_velocity The vertical velocity in centimeters/second, positive is up
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param altitude_type ADSB altitude type.
+ * @param altitude Altitude(ASL)
+ * @param heading Course over ground
+ * @param hor_velocity The horizontal velocity
+ * @param ver_velocity The vertical velocity. Positive is up
  * @param callsign The callsign, 8+null
- * @param emitter_type Type from ADSB_EMITTER_TYPE enum
+ * @param emitter_type ADSB emitter type.
  * @param tslc Time since last communication in seconds
- * @param flags Flags to indicate various statuses including valid data fields
+ * @param flags Bitmap to indicate various statuses including valid data fields
  * @param squawk Squawk code
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -140,17 +140,17 @@ static inline uint16_t mavlink_msg_adsb_vehicle_pack(uint8_t system_id, uint8_t
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param ICAO_address ICAO address
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param altitude_type Type from ADSB_ALTITUDE_TYPE enum
- * @param altitude Altitude(ASL) in millimeters
- * @param heading Course over ground in centidegrees
- * @param hor_velocity The horizontal velocity in centimeters/second
- * @param ver_velocity The vertical velocity in centimeters/second, positive is up
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param altitude_type ADSB altitude type.
+ * @param altitude Altitude(ASL)
+ * @param heading Course over ground
+ * @param hor_velocity The horizontal velocity
+ * @param ver_velocity The vertical velocity. Positive is up
  * @param callsign The callsign, 8+null
- * @param emitter_type Type from ADSB_EMITTER_TYPE enum
+ * @param emitter_type ADSB emitter type.
  * @param tslc Time since last communication in seconds
- * @param flags Flags to indicate various statuses including valid data fields
+ * @param flags Bitmap to indicate various statuses including valid data fields
  * @param squawk Squawk code
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -228,17 +228,17 @@ static inline uint16_t mavlink_msg_adsb_vehicle_encode_chan(uint8_t system_id, u
  * @param chan MAVLink channel to send the message
  *
  * @param ICAO_address ICAO address
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param altitude_type Type from ADSB_ALTITUDE_TYPE enum
- * @param altitude Altitude(ASL) in millimeters
- * @param heading Course over ground in centidegrees
- * @param hor_velocity The horizontal velocity in centimeters/second
- * @param ver_velocity The vertical velocity in centimeters/second, positive is up
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param altitude_type ADSB altitude type.
+ * @param altitude Altitude(ASL)
+ * @param heading Course over ground
+ * @param hor_velocity The horizontal velocity
+ * @param ver_velocity The vertical velocity. Positive is up
  * @param callsign The callsign, 8+null
- * @param emitter_type Type from ADSB_EMITTER_TYPE enum
+ * @param emitter_type ADSB emitter type.
  * @param tslc Time since last communication in seconds
- * @param flags Flags to indicate various statuses including valid data fields
+ * @param flags Bitmap to indicate various statuses including valid data fields
  * @param squawk Squawk code
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -358,7 +358,7 @@ static inline uint32_t mavlink_msg_adsb_vehicle_get_ICAO_address(const mavlink_m
 /**
  * @brief Get field lat from adsb_vehicle message
  *
- * @return Latitude, expressed as degrees * 1E7
+ * @return Latitude
  */
 static inline int32_t mavlink_msg_adsb_vehicle_get_lat(const mavlink_message_t* msg)
 {
@@ -368,7 +368,7 @@ static inline int32_t mavlink_msg_adsb_vehicle_get_lat(const mavlink_message_t*
 /**
  * @brief Get field lon from adsb_vehicle message
  *
- * @return Longitude, expressed as degrees * 1E7
+ * @return Longitude
  */
 static inline int32_t mavlink_msg_adsb_vehicle_get_lon(const mavlink_message_t* msg)
 {
@@ -378,7 +378,7 @@ static inline int32_t mavlink_msg_adsb_vehicle_get_lon(const mavlink_message_t*
 /**
  * @brief Get field altitude_type from adsb_vehicle message
  *
- * @return Type from ADSB_ALTITUDE_TYPE enum
+ * @return ADSB altitude type.
  */
 static inline uint8_t mavlink_msg_adsb_vehicle_get_altitude_type(const mavlink_message_t* msg)
 {
@@ -388,7 +388,7 @@ static inline uint8_t mavlink_msg_adsb_vehicle_get_altitude_type(const mavlink_m
 /**
  * @brief Get field altitude from adsb_vehicle message
  *
- * @return Altitude(ASL) in millimeters
+ * @return Altitude(ASL)
  */
 static inline int32_t mavlink_msg_adsb_vehicle_get_altitude(const mavlink_message_t* msg)
 {
@@ -398,7 +398,7 @@ static inline int32_t mavlink_msg_adsb_vehicle_get_altitude(const mavlink_messag
 /**
  * @brief Get field heading from adsb_vehicle message
  *
- * @return Course over ground in centidegrees
+ * @return Course over ground
  */
 static inline uint16_t mavlink_msg_adsb_vehicle_get_heading(const mavlink_message_t* msg)
 {
@@ -408,7 +408,7 @@ static inline uint16_t mavlink_msg_adsb_vehicle_get_heading(const mavlink_messag
 /**
  * @brief Get field hor_velocity from adsb_vehicle message
  *
- * @return The horizontal velocity in centimeters/second
+ * @return The horizontal velocity
  */
 static inline uint16_t mavlink_msg_adsb_vehicle_get_hor_velocity(const mavlink_message_t* msg)
 {
@@ -418,7 +418,7 @@ static inline uint16_t mavlink_msg_adsb_vehicle_get_hor_velocity(const mavlink_m
 /**
  * @brief Get field ver_velocity from adsb_vehicle message
  *
- * @return The vertical velocity in centimeters/second, positive is up
+ * @return The vertical velocity. Positive is up
  */
 static inline int16_t mavlink_msg_adsb_vehicle_get_ver_velocity(const mavlink_message_t* msg)
 {
@@ -438,7 +438,7 @@ static inline uint16_t mavlink_msg_adsb_vehicle_get_callsign(const mavlink_messa
 /**
  * @brief Get field emitter_type from adsb_vehicle message
  *
- * @return Type from ADSB_EMITTER_TYPE enum
+ * @return ADSB emitter type.
  */
 static inline uint8_t mavlink_msg_adsb_vehicle_get_emitter_type(const mavlink_message_t* msg)
 {
@@ -458,7 +458,7 @@ static inline uint8_t mavlink_msg_adsb_vehicle_get_tslc(const mavlink_message_t*
 /**
  * @brief Get field flags from adsb_vehicle message
  *
- * @return Flags to indicate various statuses including valid data fields
+ * @return Bitmap to indicate various statuses including valid data fields
  */
 static inline uint16_t mavlink_msg_adsb_vehicle_get_flags(const mavlink_message_t* msg)
 {

common/mavlink_msg_altitude.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_altitude_t {
- uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float altitude_monotonic; /*< This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.*/
  float altitude_amsl; /*< This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.*/
  float altitude_local; /*< This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.*/
@@ -59,7 +59,7 @@ typedef struct __mavlink_altitude_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
@@ -105,7 +105,7 @@ static inline uint16_t mavlink_msg_altitude_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
@@ -177,7 +177,7 @@ static inline uint16_t mavlink_msg_altitude_encode_chan(uint8_t system_id, uint8
  * @brief Send a altitude message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
@@ -272,7 +272,7 @@ static inline void mavlink_msg_altitude_send_buf(mavlink_message_t *msgbuf, mavl
 /**
  * @brief Get field time_usec from altitude message
  *
- * @return Timestamp (micros since boot or Unix epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_altitude_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_att_pos_mocap.h

@@ -5,11 +5,11 @@
 
 MAVPACKED(
 typedef struct __mavlink_att_pos_mocap_t {
- uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
- float x; /*< X position in meters (NED)*/
- float y; /*< Y position in meters (NED)*/
- float z; /*< Z position in meters (NED)*/
+ float x; /*< X position (NED)*/
+ float y; /*< Y position (NED)*/
+ float z; /*< Z position (NED)*/
  float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
 }) mavlink_att_pos_mocap_t;
 
@@ -57,11 +57,11 @@ typedef struct __mavlink_att_pos_mocap_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param x X position in meters (NED)
- * @param y Y position in meters (NED)
- * @param z Z position in meters (NED)
+ * @param x X position (NED)
+ * @param y Y position (NED)
+ * @param z Z position (NED)
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -98,11 +98,11 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param x X position in meters (NED)
- * @param y Y position in meters (NED)
- * @param z Z position in meters (NED)
+ * @param x X position (NED)
+ * @param y Y position (NED)
+ * @param z Z position (NED)
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -165,11 +165,11 @@ static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id,
  * @brief Send a att_pos_mocap message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param x X position in meters (NED)
- * @param y Y position in meters (NED)
- * @param z Z position in meters (NED)
+ * @param x X position (NED)
+ * @param y Y position (NED)
+ * @param z Z position (NED)
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -251,7 +251,7 @@ static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf,
 /**
  * @brief Get field time_usec from att_pos_mocap message
  *
- * @return Timestamp (micros since boot or Unix epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_att_pos_mocap_get_time_usec(const mavlink_message_t* msg)
 {
@@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_get_q(const mavlink_message_t*
 /**
  * @brief Get field x from att_pos_mocap message
  *
- * @return X position in meters (NED)
+ * @return X position (NED)
  */
 static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg)
 {
@@ -281,7 +281,7 @@ static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg
 /**
  * @brief Get field y from att_pos_mocap message
  *
- * @return Y position in meters (NED)
+ * @return Y position (NED)
  */
 static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg)
 {
@@ -291,7 +291,7 @@ static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg
 /**
  * @brief Get field z from att_pos_mocap message
  *
- * @return Z position in meters (NED)
+ * @return Z position (NED)
  */
 static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg)
 {

common/mavlink_msg_attitude.h

@@ -5,13 +5,13 @@
 
 MAVPACKED(
 typedef struct __mavlink_attitude_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
- float roll; /*< Roll angle (rad, -pi..+pi)*/
- float pitch; /*< Pitch angle (rad, -pi..+pi)*/
- float yaw; /*< Yaw angle (rad, -pi..+pi)*/
- float rollspeed; /*< Roll angular speed (rad/s)*/
- float pitchspeed; /*< Pitch angular speed (rad/s)*/
- float yawspeed; /*< Yaw angular speed (rad/s)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
+ float roll; /*< Roll angle (-pi..+pi)*/
+ float pitch; /*< Pitch angle (-pi..+pi)*/
+ float yaw; /*< Yaw angle (-pi..+pi)*/
+ float rollspeed; /*< Roll angular speed*/
+ float pitchspeed; /*< Pitch angular speed*/
+ float yawspeed; /*< Yaw angular speed*/
 }) mavlink_attitude_t;
 
 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
@@ -59,13 +59,13 @@ typedef struct __mavlink_attitude_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param roll Roll angle (-pi..+pi)
+ * @param pitch Pitch angle (-pi..+pi)
+ * @param yaw Yaw angle (-pi..+pi)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -105,13 +105,13 @@ static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param roll Roll angle (-pi..+pi)
+ * @param pitch Pitch angle (-pi..+pi)
+ * @param yaw Yaw angle (-pi..+pi)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -177,13 +177,13 @@ static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8
  * @brief Send a attitude message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param roll Roll angle (-pi..+pi)
+ * @param pitch Pitch angle (-pi..+pi)
+ * @param yaw Yaw angle (-pi..+pi)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -272,7 +272,7 @@ static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavl
 /**
  * @brief Get field time_boot_ms from attitude message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -282,7 +282,7 @@ static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_messa
 /**
  * @brief Get field roll from attitude message
  *
- * @return Roll angle (rad, -pi..+pi)
+ * @return Roll angle (-pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 {
@@ -292,7 +292,7 @@ static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 /**
  * @brief Get field pitch from attitude message
  *
- * @return Pitch angle (rad, -pi..+pi)
+ * @return Pitch angle (-pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 {
@@ -302,7 +302,7 @@ static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 /**
  * @brief Get field yaw from attitude message
  *
- * @return Yaw angle (rad, -pi..+pi)
+ * @return Yaw angle (-pi..+pi)
  */
 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 {
@@ -312,7 +312,7 @@ static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 /**
  * @brief Get field rollspeed from attitude message
  *
- * @return Roll angular speed (rad/s)
+ * @return Roll angular speed
  */
 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
 {
@@ -322,7 +322,7 @@ static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t*
 /**
  * @brief Get field pitchspeed from attitude message
  *
- * @return Pitch angular speed (rad/s)
+ * @return Pitch angular speed
  */
 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
 {
@@ -332,7 +332,7 @@ static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t*
 /**
  * @brief Get field yawspeed from attitude message
  *
- * @return Yaw angular speed (rad/s)
+ * @return Yaw angular speed
  */
 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
 {

common/mavlink_msg_attitude_quaternion.h

@@ -5,14 +5,14 @@
 
 MAVPACKED(
 typedef struct __mavlink_attitude_quaternion_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
  float q1; /*< Quaternion component 1, w (1 in null-rotation)*/
  float q2; /*< Quaternion component 2, x (0 in null-rotation)*/
  float q3; /*< Quaternion component 3, y (0 in null-rotation)*/
  float q4; /*< Quaternion component 4, z (0 in null-rotation)*/
- float rollspeed; /*< Roll angular speed (rad/s)*/
- float pitchspeed; /*< Pitch angular speed (rad/s)*/
- float yawspeed; /*< Yaw angular speed (rad/s)*/
+ float rollspeed; /*< Roll angular speed*/
+ float pitchspeed; /*< Pitch angular speed*/
+ float yawspeed; /*< Yaw angular speed*/
 }) mavlink_attitude_quaternion_t;
 
 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
@@ -62,14 +62,14 @@ typedef struct __mavlink_attitude_quaternion_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param q1 Quaternion component 1, w (1 in null-rotation)
  * @param q2 Quaternion component 2, x (0 in null-rotation)
  * @param q3 Quaternion component 3, y (0 in null-rotation)
  * @param q4 Quaternion component 4, z (0 in null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -111,14 +111,14 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, u
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param q1 Quaternion component 1, w (1 in null-rotation)
  * @param q2 Quaternion component 2, x (0 in null-rotation)
  * @param q3 Quaternion component 3, y (0 in null-rotation)
  * @param q4 Quaternion component 4, z (0 in null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -186,14 +186,14 @@ static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t syste
  * @brief Send a attitude_quaternion message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param q1 Quaternion component 1, w (1 in null-rotation)
  * @param q2 Quaternion component 2, x (0 in null-rotation)
  * @param q3 Quaternion component 3, y (0 in null-rotation)
  * @param q4 Quaternion component 4, z (0 in null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -286,7 +286,7 @@ static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *m
 /**
  * @brief Get field time_boot_ms from attitude_quaternion message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -336,7 +336,7 @@ static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message
 /**
  * @brief Get field rollspeed from attitude_quaternion message
  *
- * @return Roll angular speed (rad/s)
+ * @return Roll angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
 {
@@ -346,7 +346,7 @@ static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_
 /**
  * @brief Get field pitchspeed from attitude_quaternion message
  *
- * @return Pitch angular speed (rad/s)
+ * @return Pitch angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 {
@@ -356,7 +356,7 @@ static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink
 /**
  * @brief Get field yawspeed from attitude_quaternion message
  *
- * @return Yaw angular speed (rad/s)
+ * @return Yaw angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
 {

common/mavlink_msg_attitude_quaternion_cov.h

@@ -5,11 +5,11 @@
 
 MAVPACKED(
 typedef struct __mavlink_attitude_quaternion_cov_t {
- uint64_t time_usec; /*< Timestamp (microseconds since system boot or since UNIX epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
- float rollspeed; /*< Roll angular speed (rad/s)*/
- float pitchspeed; /*< Pitch angular speed (rad/s)*/
- float yawspeed; /*< Yaw angular speed (rad/s)*/
+ float rollspeed; /*< Roll angular speed*/
+ float pitchspeed; /*< Pitch angular speed*/
+ float yawspeed; /*< Yaw angular speed*/
  float covariance[9]; /*< Attitude covariance*/
 }) mavlink_attitude_quaternion_cov_t;
 
@@ -57,11 +57,11 @@ typedef struct __mavlink_attitude_quaternion_cov_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @param covariance Attitude covariance
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -98,11 +98,11 @@ static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack(uint8_t system_i
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @param covariance Attitude covariance
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -165,11 +165,11 @@ static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t s
  * @brief Send a attitude_quaternion_cov message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
+ * @param rollspeed Roll angular speed
+ * @param pitchspeed Pitch angular speed
+ * @param yawspeed Yaw angular speed
  * @param covariance Attitude covariance
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -251,7 +251,7 @@ static inline void mavlink_msg_attitude_quaternion_cov_send_buf(mavlink_message_
 /**
  * @brief Get field time_usec from attitude_quaternion_cov message
  *
- * @return Timestamp (microseconds since system boot or since UNIX epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_attitude_quaternion_cov_get_time_usec(const mavlink_message_t* msg)
 {
@@ -271,7 +271,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_m
 /**
  * @brief Get field rollspeed from attitude_quaternion_cov message
  *
- * @return Roll angular speed (rad/s)
+ * @return Roll angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavlink_message_t* msg)
 {
@@ -281,7 +281,7 @@ static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavl
 /**
  * @brief Get field pitchspeed from attitude_quaternion_cov message
  *
- * @return Pitch angular speed (rad/s)
+ * @return Pitch angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mavlink_message_t* msg)
 {
@@ -291,7 +291,7 @@ static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mav
 /**
  * @brief Get field yawspeed from attitude_quaternion_cov message
  *
- * @return Yaw angular speed (rad/s)
+ * @return Yaw angular speed
  */
 static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
 {

common/mavlink_msg_attitude_target.h

@@ -5,11 +5,11 @@
 
 MAVPACKED(
 typedef struct __mavlink_attitude_target_t {
- uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
  float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
- float body_roll_rate; /*< Body roll rate in radians per second*/
- float body_pitch_rate; /*< Body pitch rate in radians per second*/
- float body_yaw_rate; /*< Body yaw rate in radians per second*/
+ float body_roll_rate; /*< Body roll rate*/
+ float body_pitch_rate; /*< Body pitch rate*/
+ float body_yaw_rate; /*< Body yaw rate*/
  float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
  uint8_t type_mask; /*< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude*/
 }) mavlink_attitude_target_t;
@@ -59,12 +59,12 @@ typedef struct __mavlink_attitude_target_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body pitch rate in radians per second
- * @param body_yaw_rate Body yaw rate in radians per second
+ * @param body_roll_rate Body roll rate
+ * @param body_pitch_rate Body pitch rate
+ * @param body_yaw_rate Body yaw rate
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -103,12 +103,12 @@ static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body pitch rate in radians per second
- * @param body_yaw_rate Body yaw rate in radians per second
+ * @param body_roll_rate Body roll rate
+ * @param body_pitch_rate Body pitch rate
+ * @param body_yaw_rate Body yaw rate
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -173,12 +173,12 @@ static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id
  * @brief Send a attitude_target message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp in milliseconds since system boot
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param type_mask Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
- * @param body_roll_rate Body roll rate in radians per second
- * @param body_pitch_rate Body pitch rate in radians per second
- * @param body_yaw_rate Body yaw rate in radians per second
+ * @param body_roll_rate Body roll rate
+ * @param body_pitch_rate Body pitch rate
+ * @param body_yaw_rate Body yaw rate
  * @param thrust Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -264,7 +264,7 @@ static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbu
 /**
  * @brief Get field time_boot_ms from attitude_target message
  *
- * @return Timestamp in milliseconds since system boot
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -294,7 +294,7 @@ static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t
 /**
  * @brief Get field body_roll_rate from attitude_target message
  *
- * @return Body roll rate in radians per second
+ * @return Body roll rate
  */
 static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
 {
@@ -304,7 +304,7 @@ static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink
 /**
  * @brief Get field body_pitch_rate from attitude_target message
  *
- * @return Body pitch rate in radians per second
+ * @return Body pitch rate
  */
 static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
 {
@@ -314,7 +314,7 @@ static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlin
 /**
  * @brief Get field body_yaw_rate from attitude_target message
  *
- * @return Body yaw rate in radians per second
+ * @return Body yaw rate
  */
 static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
 {

common/mavlink_msg_autopilot_version.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_autopilot_version_t {
- uint64_t capabilities; /*< bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)*/
+ uint64_t capabilities; /*< Bitmap of capabilities*/
  uint64_t uid; /*< UID if provided by hardware (see uid2)*/
  uint32_t flight_sw_version; /*< Firmware version number*/
  uint32_t middleware_sw_version; /*< Middleware version number*/
@@ -77,7 +77,7 @@ typedef struct __mavlink_autopilot_version_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param capabilities bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
+ * @param capabilities Bitmap of capabilities
  * @param flight_sw_version Firmware version number
  * @param middleware_sw_version Middleware version number
  * @param os_sw_version Operating system version number
@@ -136,7 +136,7 @@ static inline uint16_t mavlink_msg_autopilot_version_pack(uint8_t system_id, uin
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param capabilities bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
+ * @param capabilities Bitmap of capabilities
  * @param flight_sw_version Firmware version number
  * @param middleware_sw_version Middleware version number
  * @param os_sw_version Operating system version number
@@ -221,7 +221,7 @@ static inline uint16_t mavlink_msg_autopilot_version_encode_chan(uint8_t system_
  * @brief Send a autopilot_version message
  * @param chan MAVLink channel to send the message
  *
- * @param capabilities bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
+ * @param capabilities Bitmap of capabilities
  * @param flight_sw_version Firmware version number
  * @param middleware_sw_version Middleware version number
  * @param os_sw_version Operating system version number
@@ -337,7 +337,7 @@ static inline void mavlink_msg_autopilot_version_send_buf(mavlink_message_t *msg
 /**
  * @brief Get field capabilities from autopilot_version message
  *
- * @return bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
+ * @return Bitmap of capabilities
  */
 static inline uint64_t mavlink_msg_autopilot_version_get_capabilities(const mavlink_message_t* msg)
 {

common/mavlink_msg_button_change.h

@@ -5,9 +5,9 @@
 
 MAVPACKED(
 typedef struct __mavlink_button_change_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
  uint32_t last_change_ms; /*< Time of last change of button state*/
- uint8_t state; /*< Bitmap state of buttons*/
+ uint8_t state; /*< Bitmap for state of buttons*/
 }) mavlink_button_change_t;
 
 #define MAVLINK_MSG_ID_BUTTON_CHANGE_LEN 9
@@ -47,9 +47,9 @@ typedef struct __mavlink_button_change_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param last_change_ms Time of last change of button state
- * @param state Bitmap state of buttons
+ * @param state Bitmap for state of buttons
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_button_change_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -81,9 +81,9 @@ static inline uint16_t mavlink_msg_button_change_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param last_change_ms Time of last change of button state
- * @param state Bitmap state of buttons
+ * @param state Bitmap for state of buttons
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_button_change_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -141,9 +141,9 @@ static inline uint16_t mavlink_msg_button_change_encode_chan(uint8_t system_id,
  * @brief Send a button_change message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param last_change_ms Time of last change of button state
- * @param state Bitmap state of buttons
+ * @param state Bitmap for state of buttons
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -216,7 +216,7 @@ static inline void mavlink_msg_button_change_send_buf(mavlink_message_t *msgbuf,
 /**
  * @brief Get field time_boot_ms from button_change message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_button_change_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -236,7 +236,7 @@ static inline uint32_t mavlink_msg_button_change_get_last_change_ms(const mavlin
 /**
  * @brief Get field state from button_change message
  *
- * @return Bitmap state of buttons
+ * @return Bitmap for state of buttons
  */
 static inline uint8_t mavlink_msg_button_change_get_state(const mavlink_message_t* msg)
 {

common/mavlink_msg_camera_capture_status.h

@@ -5,10 +5,10 @@
 
 MAVPACKED(
 typedef struct __mavlink_camera_capture_status_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
- float image_interval; /*< Image capture interval in seconds*/
- uint32_t recording_time_ms; /*< Time in milliseconds since recording started*/
- float available_capacity; /*< Available storage capacity in MiB*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
+ float image_interval; /*< Image capture interval*/
+ uint32_t recording_time_ms; /*< Time since recording started*/
+ float available_capacity; /*< Available storage capacity*/
  uint8_t image_status; /*< Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)*/
  uint8_t video_status; /*< Current status of video capturing (0: idle, 1: capture in progress)*/
 }) mavlink_camera_capture_status_t;
@@ -56,12 +56,12 @@ typedef struct __mavlink_camera_capture_status_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param image_status Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
  * @param video_status Current status of video capturing (0: idle, 1: capture in progress)
- * @param image_interval Image capture interval in seconds
- * @param recording_time_ms Time in milliseconds since recording started
- * @param available_capacity Available storage capacity in MiB
+ * @param image_interval Image capture interval
+ * @param recording_time_ms Time since recording started
+ * @param available_capacity Available storage capacity
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_capture_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -99,12 +99,12 @@ static inline uint16_t mavlink_msg_camera_capture_status_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param image_status Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
  * @param video_status Current status of video capturing (0: idle, 1: capture in progress)
- * @param image_interval Image capture interval in seconds
- * @param recording_time_ms Time in milliseconds since recording started
- * @param available_capacity Available storage capacity in MiB
+ * @param image_interval Image capture interval
+ * @param recording_time_ms Time since recording started
+ * @param available_capacity Available storage capacity
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_capture_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -168,12 +168,12 @@ static inline uint16_t mavlink_msg_camera_capture_status_encode_chan(uint8_t sys
  * @brief Send a camera_capture_status message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param image_status Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
  * @param video_status Current status of video capturing (0: idle, 1: capture in progress)
- * @param image_interval Image capture interval in seconds
- * @param recording_time_ms Time in milliseconds since recording started
- * @param available_capacity Available storage capacity in MiB
+ * @param image_interval Image capture interval
+ * @param recording_time_ms Time since recording started
+ * @param available_capacity Available storage capacity
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -258,7 +258,7 @@ static inline void mavlink_msg_camera_capture_status_send_buf(mavlink_message_t
 /**
  * @brief Get field time_boot_ms from camera_capture_status message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_camera_capture_status_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -288,7 +288,7 @@ static inline uint8_t mavlink_msg_camera_capture_status_get_video_status(const m
 /**
  * @brief Get field image_interval from camera_capture_status message
  *
- * @return Image capture interval in seconds
+ * @return Image capture interval
  */
 static inline float mavlink_msg_camera_capture_status_get_image_interval(const mavlink_message_t* msg)
 {
@@ -298,7 +298,7 @@ static inline float mavlink_msg_camera_capture_status_get_image_interval(const m
 /**
  * @brief Get field recording_time_ms from camera_capture_status message
  *
- * @return Time in milliseconds since recording started
+ * @return Time since recording started
  */
 static inline uint32_t mavlink_msg_camera_capture_status_get_recording_time_ms(const mavlink_message_t* msg)
 {
@@ -308,7 +308,7 @@ static inline uint32_t mavlink_msg_camera_capture_status_get_recording_time_ms(c
 /**
  * @brief Get field available_capacity from camera_capture_status message
  *
- * @return Available storage capacity in MiB
+ * @return Available storage capacity
  */
 static inline float mavlink_msg_camera_capture_status_get_available_capacity(const mavlink_message_t* msg)
 {

common/mavlink_msg_camera_image_captured.h

@@ -5,12 +5,12 @@
 
 MAVPACKED(
 typedef struct __mavlink_camera_image_captured_t {
- uint64_t time_utc; /*< Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.*/
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
- int32_t lat; /*< Latitude, expressed as degrees * 1E7 where image was taken*/
- int32_t lon; /*< Longitude, expressed as degrees * 1E7 where capture was taken*/
- int32_t alt; /*< Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken*/
- int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1E3 where image was taken*/
+ uint64_t time_utc; /*< Timestamp (time since UNIX epoch) in UTC. 0 for unknown.*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
+ int32_t lat; /*< Latitude where image was taken*/
+ int32_t lon; /*< Longitude where capture was taken*/
+ int32_t alt; /*< Altitude (AMSL) where image was taken*/
+ int32_t relative_alt; /*< Altitude above ground*/
  float q[4]; /*< Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)*/
  int32_t image_index; /*< Zero based index of this image (image count since armed -1)*/
  uint8_t camera_id; /*< Camera ID (1 for first, 2 for second, etc.)*/
@@ -72,13 +72,13 @@ typedef struct __mavlink_camera_image_captured_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param time_utc Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
  * @param camera_id Camera ID (1 for first, 2 for second, etc.)
- * @param lat Latitude, expressed as degrees * 1E7 where image was taken
- * @param lon Longitude, expressed as degrees * 1E7 where capture was taken
- * @param alt Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
- * @param relative_alt Altitude above ground in meters, expressed as * 1E3 where image was taken
+ * @param lat Latitude where image was taken
+ * @param lon Longitude where capture was taken
+ * @param alt Altitude (AMSL) where image was taken
+ * @param relative_alt Altitude above ground
  * @param q Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
  * @param image_index Zero based index of this image (image count since armed -1)
  * @param capture_result Boolean indicating success (1) or failure (0) while capturing this image.
@@ -128,13 +128,13 @@ static inline uint16_t mavlink_msg_camera_image_captured_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param time_utc Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
  * @param camera_id Camera ID (1 for first, 2 for second, etc.)
- * @param lat Latitude, expressed as degrees * 1E7 where image was taken
- * @param lon Longitude, expressed as degrees * 1E7 where capture was taken
- * @param alt Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
- * @param relative_alt Altitude above ground in meters, expressed as * 1E3 where image was taken
+ * @param lat Latitude where image was taken
+ * @param lon Longitude where capture was taken
+ * @param alt Altitude (AMSL) where image was taken
+ * @param relative_alt Altitude above ground
  * @param q Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
  * @param image_index Zero based index of this image (image count since armed -1)
  * @param capture_result Boolean indicating success (1) or failure (0) while capturing this image.
@@ -210,13 +210,13 @@ static inline uint16_t mavlink_msg_camera_image_captured_encode_chan(uint8_t sys
  * @brief Send a camera_image_captured message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param time_utc Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
  * @param camera_id Camera ID (1 for first, 2 for second, etc.)
- * @param lat Latitude, expressed as degrees * 1E7 where image was taken
- * @param lon Longitude, expressed as degrees * 1E7 where capture was taken
- * @param alt Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
- * @param relative_alt Altitude above ground in meters, expressed as * 1E3 where image was taken
+ * @param lat Latitude where image was taken
+ * @param lon Longitude where capture was taken
+ * @param alt Altitude (AMSL) where image was taken
+ * @param relative_alt Altitude above ground
  * @param q Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
  * @param image_index Zero based index of this image (image count since armed -1)
  * @param capture_result Boolean indicating success (1) or failure (0) while capturing this image.
@@ -321,7 +321,7 @@ static inline void mavlink_msg_camera_image_captured_send_buf(mavlink_message_t
 /**
  * @brief Get field time_boot_ms from camera_image_captured message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_camera_image_captured_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -331,7 +331,7 @@ static inline uint32_t mavlink_msg_camera_image_captured_get_time_boot_ms(const
 /**
  * @brief Get field time_utc from camera_image_captured message
  *
- * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
+ * @return Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
  */
 static inline uint64_t mavlink_msg_camera_image_captured_get_time_utc(const mavlink_message_t* msg)
 {
@@ -351,7 +351,7 @@ static inline uint8_t mavlink_msg_camera_image_captured_get_camera_id(const mavl
 /**
  * @brief Get field lat from camera_image_captured message
  *
- * @return Latitude, expressed as degrees * 1E7 where image was taken
+ * @return Latitude where image was taken
  */
 static inline int32_t mavlink_msg_camera_image_captured_get_lat(const mavlink_message_t* msg)
 {
@@ -361,7 +361,7 @@ static inline int32_t mavlink_msg_camera_image_captured_get_lat(const mavlink_me
 /**
  * @brief Get field lon from camera_image_captured message
  *
- * @return Longitude, expressed as degrees * 1E7 where capture was taken
+ * @return Longitude where capture was taken
  */
 static inline int32_t mavlink_msg_camera_image_captured_get_lon(const mavlink_message_t* msg)
 {
@@ -371,7 +371,7 @@ static inline int32_t mavlink_msg_camera_image_captured_get_lon(const mavlink_me
 /**
  * @brief Get field alt from camera_image_captured message
  *
- * @return Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
+ * @return Altitude (AMSL) where image was taken
  */
 static inline int32_t mavlink_msg_camera_image_captured_get_alt(const mavlink_message_t* msg)
 {
@@ -381,7 +381,7 @@ static inline int32_t mavlink_msg_camera_image_captured_get_alt(const mavlink_me
 /**
  * @brief Get field relative_alt from camera_image_captured message
  *
- * @return Altitude above ground in meters, expressed as * 1E3 where image was taken
+ * @return Altitude above ground
  */
 static inline int32_t mavlink_msg_camera_image_captured_get_relative_alt(const mavlink_message_t* msg)
 {

common/mavlink_msg_camera_information.h

@@ -5,14 +5,14 @@
 
 MAVPACKED(
 typedef struct __mavlink_camera_information_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
  uint32_t firmware_version; /*< Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)*/
- float focal_length; /*< Focal length in mm*/
- float sensor_size_h; /*< Image sensor size horizontal in mm*/
- float sensor_size_v; /*< Image sensor size vertical in mm*/
- uint32_t flags; /*< CAMERA_CAP_FLAGS enum flags (bitmap) describing camera capabilities.*/
- uint16_t resolution_h; /*< Image resolution in pixels horizontal*/
- uint16_t resolution_v; /*< Image resolution in pixels vertical*/
+ float focal_length; /*< Focal length*/
+ float sensor_size_h; /*< Image sensor size horizontal*/
+ float sensor_size_v; /*< Image sensor size vertical*/
+ uint32_t flags; /*< Bitmap of camera capability flags.*/
+ uint16_t resolution_h; /*< Horizontal image resolution*/
+ uint16_t resolution_v; /*< Vertical image resolution*/
  uint16_t cam_definition_version; /*< Camera definition version (iteration)*/
  uint8_t vendor_name[32]; /*< Name of the camera vendor*/
  uint8_t model_name[32]; /*< Name of the camera model*/
@@ -79,17 +79,17 @@ typedef struct __mavlink_camera_information_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param vendor_name Name of the camera vendor
  * @param model_name Name of the camera model
  * @param firmware_version Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)
- * @param focal_length Focal length in mm
- * @param sensor_size_h Image sensor size horizontal in mm
- * @param sensor_size_v Image sensor size vertical in mm
- * @param resolution_h Image resolution in pixels horizontal
- * @param resolution_v Image resolution in pixels vertical
+ * @param focal_length Focal length
+ * @param sensor_size_h Image sensor size horizontal
+ * @param sensor_size_v Image sensor size vertical
+ * @param resolution_h Horizontal image resolution
+ * @param resolution_v Vertical image resolution
  * @param lens_id Reserved for a lens ID
- * @param flags CAMERA_CAP_FLAGS enum flags (bitmap) describing camera capabilities.
+ * @param flags Bitmap of camera capability flags.
  * @param cam_definition_version Camera definition version (iteration)
  * @param cam_definition_uri Camera definition URI (if any, otherwise only basic functions will be available).
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -141,17 +141,17 @@ static inline uint16_t mavlink_msg_camera_information_pack(uint8_t system_id, ui
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param vendor_name Name of the camera vendor
  * @param model_name Name of the camera model
  * @param firmware_version Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)
- * @param focal_length Focal length in mm
- * @param sensor_size_h Image sensor size horizontal in mm
- * @param sensor_size_v Image sensor size vertical in mm
- * @param resolution_h Image resolution in pixels horizontal
- * @param resolution_v Image resolution in pixels vertical
+ * @param focal_length Focal length
+ * @param sensor_size_h Image sensor size horizontal
+ * @param sensor_size_v Image sensor size vertical
+ * @param resolution_h Horizontal image resolution
+ * @param resolution_v Vertical image resolution
  * @param lens_id Reserved for a lens ID
- * @param flags CAMERA_CAP_FLAGS enum flags (bitmap) describing camera capabilities.
+ * @param flags Bitmap of camera capability flags.
  * @param cam_definition_version Camera definition version (iteration)
  * @param cam_definition_uri Camera definition URI (if any, otherwise only basic functions will be available).
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -229,17 +229,17 @@ static inline uint16_t mavlink_msg_camera_information_encode_chan(uint8_t system
  * @brief Send a camera_information message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param vendor_name Name of the camera vendor
  * @param model_name Name of the camera model
  * @param firmware_version Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)
- * @param focal_length Focal length in mm
- * @param sensor_size_h Image sensor size horizontal in mm
- * @param sensor_size_v Image sensor size vertical in mm
- * @param resolution_h Image resolution in pixels horizontal
- * @param resolution_v Image resolution in pixels vertical
+ * @param focal_length Focal length
+ * @param sensor_size_h Image sensor size horizontal
+ * @param sensor_size_v Image sensor size vertical
+ * @param resolution_h Horizontal image resolution
+ * @param resolution_v Vertical image resolution
  * @param lens_id Reserved for a lens ID
- * @param flags CAMERA_CAP_FLAGS enum flags (bitmap) describing camera capabilities.
+ * @param flags Bitmap of camera capability flags.
  * @param cam_definition_version Camera definition version (iteration)
  * @param cam_definition_uri Camera definition URI (if any, otherwise only basic functions will be available).
  */
@@ -350,7 +350,7 @@ static inline void mavlink_msg_camera_information_send_buf(mavlink_message_t *ms
 /**
  * @brief Get field time_boot_ms from camera_information message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_camera_information_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -390,7 +390,7 @@ static inline uint32_t mavlink_msg_camera_information_get_firmware_version(const
 /**
  * @brief Get field focal_length from camera_information message
  *
- * @return Focal length in mm
+ * @return Focal length
  */
 static inline float mavlink_msg_camera_information_get_focal_length(const mavlink_message_t* msg)
 {
@@ -400,7 +400,7 @@ static inline float mavlink_msg_camera_information_get_focal_length(const mavlin
 /**
  * @brief Get field sensor_size_h from camera_information message
  *
- * @return Image sensor size horizontal in mm
+ * @return Image sensor size horizontal
  */
 static inline float mavlink_msg_camera_information_get_sensor_size_h(const mavlink_message_t* msg)
 {
@@ -410,7 +410,7 @@ static inline float mavlink_msg_camera_information_get_sensor_size_h(const mavli
 /**
  * @brief Get field sensor_size_v from camera_information message
  *
- * @return Image sensor size vertical in mm
+ * @return Image sensor size vertical
  */
 static inline float mavlink_msg_camera_information_get_sensor_size_v(const mavlink_message_t* msg)
 {
@@ -420,7 +420,7 @@ static inline float mavlink_msg_camera_information_get_sensor_size_v(const mavli
 /**
  * @brief Get field resolution_h from camera_information message
  *
- * @return Image resolution in pixels horizontal
+ * @return Horizontal image resolution
  */
 static inline uint16_t mavlink_msg_camera_information_get_resolution_h(const mavlink_message_t* msg)
 {
@@ -430,7 +430,7 @@ static inline uint16_t mavlink_msg_camera_information_get_resolution_h(const mav
 /**
  * @brief Get field resolution_v from camera_information message
  *
- * @return Image resolution in pixels vertical
+ * @return Vertical image resolution
  */
 static inline uint16_t mavlink_msg_camera_information_get_resolution_v(const mavlink_message_t* msg)
 {
@@ -450,7 +450,7 @@ static inline uint8_t mavlink_msg_camera_information_get_lens_id(const mavlink_m
 /**
  * @brief Get field flags from camera_information message
  *
- * @return CAMERA_CAP_FLAGS enum flags (bitmap) describing camera capabilities.
+ * @return Bitmap of camera capability flags.
  */
 static inline uint32_t mavlink_msg_camera_information_get_flags(const mavlink_message_t* msg)
 {

common/mavlink_msg_camera_settings.h

@@ -5,8 +5,8 @@
 
 MAVPACKED(
 typedef struct __mavlink_camera_settings_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
- uint8_t mode_id; /*< Camera mode (CAMERA_MODE)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
+ uint8_t mode_id; /*< Camera mode*/
 }) mavlink_camera_settings_t;
 
 #define MAVLINK_MSG_ID_CAMERA_SETTINGS_LEN 5
@@ -44,8 +44,8 @@ typedef struct __mavlink_camera_settings_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param mode_id Camera mode (CAMERA_MODE)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param mode_id Camera mode
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_settings_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -75,8 +75,8 @@ static inline uint16_t mavlink_msg_camera_settings_pack(uint8_t system_id, uint8
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param mode_id Camera mode (CAMERA_MODE)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param mode_id Camera mode
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_camera_settings_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -132,8 +132,8 @@ static inline uint16_t mavlink_msg_camera_settings_encode_chan(uint8_t system_id
  * @brief Send a camera_settings message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param mode_id Camera mode (CAMERA_MODE)
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param mode_id Camera mode
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -202,7 +202,7 @@ static inline void mavlink_msg_camera_settings_send_buf(mavlink_message_t *msgbu
 /**
  * @brief Get field time_boot_ms from camera_settings message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_camera_settings_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -212,7 +212,7 @@ static inline uint32_t mavlink_msg_camera_settings_get_time_boot_ms(const mavlin
 /**
  * @brief Get field mode_id from camera_settings message
  *
- * @return Camera mode (CAMERA_MODE)
+ * @return Camera mode
  */
 static inline uint8_t mavlink_msg_camera_settings_get_mode_id(const mavlink_message_t* msg)
 {

common/mavlink_msg_camera_trigger.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_camera_trigger_t {
- uint64_t time_usec; /*< Timestamp for the image frame in microseconds*/
+ uint64_t time_usec; /*< Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  uint32_t seq; /*< Image frame sequence*/
 }) mavlink_camera_trigger_t;
 
@@ -44,7 +44,7 @@ typedef struct __mavlink_camera_trigger_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp for the image frame in microseconds
+ * @param time_usec Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param seq Image frame sequence
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -75,7 +75,7 @@ static inline uint16_t mavlink_msg_camera_trigger_pack(uint8_t system_id, uint8_
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp for the image frame in microseconds
+ * @param time_usec Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param seq Image frame sequence
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -132,7 +132,7 @@ static inline uint16_t mavlink_msg_camera_trigger_encode_chan(uint8_t system_id,
  * @brief Send a camera_trigger message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp for the image frame in microseconds
+ * @param time_usec Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param seq Image frame sequence
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -202,7 +202,7 @@ static inline void mavlink_msg_camera_trigger_send_buf(mavlink_message_t *msgbuf
 /**
  * @brief Get field time_usec from camera_trigger message
  *
- * @return Timestamp for the image frame in microseconds
+ * @return Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_camera_trigger_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_collision.h

@@ -6,9 +6,9 @@
 MAVPACKED(
 typedef struct __mavlink_collision_t {
  uint32_t id; /*< Unique identifier, domain based on src field*/
- float time_to_minimum_delta; /*< Estimated time until collision occurs (seconds)*/
- float altitude_minimum_delta; /*< Closest vertical distance in meters between vehicle and object*/
- float horizontal_minimum_delta; /*< Closest horizontal distance in meteres between vehicle and object*/
+ float time_to_minimum_delta; /*< Estimated time until collision occurs*/
+ float altitude_minimum_delta; /*< Closest vertical distance between vehicle and object*/
+ float horizontal_minimum_delta; /*< Closest horizontal distance between vehicle and object*/
  uint8_t src; /*< Collision data source*/
  uint8_t action; /*< Action that is being taken to avoid this collision*/
  uint8_t threat_level; /*< How concerned the aircraft is about this collision*/
@@ -63,9 +63,9 @@ typedef struct __mavlink_collision_t {
  * @param id Unique identifier, domain based on src field
  * @param action Action that is being taken to avoid this collision
  * @param threat_level How concerned the aircraft is about this collision
- * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
- * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
- * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
+ * @param time_to_minimum_delta Estimated time until collision occurs
+ * @param altitude_minimum_delta Closest vertical distance between vehicle and object
+ * @param horizontal_minimum_delta Closest horizontal distance between vehicle and object
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_collision_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -109,9 +109,9 @@ static inline uint16_t mavlink_msg_collision_pack(uint8_t system_id, uint8_t com
  * @param id Unique identifier, domain based on src field
  * @param action Action that is being taken to avoid this collision
  * @param threat_level How concerned the aircraft is about this collision
- * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
- * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
- * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
+ * @param time_to_minimum_delta Estimated time until collision occurs
+ * @param altitude_minimum_delta Closest vertical distance between vehicle and object
+ * @param horizontal_minimum_delta Closest horizontal distance between vehicle and object
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_collision_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -181,9 +181,9 @@ static inline uint16_t mavlink_msg_collision_encode_chan(uint8_t system_id, uint
  * @param id Unique identifier, domain based on src field
  * @param action Action that is being taken to avoid this collision
  * @param threat_level How concerned the aircraft is about this collision
- * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
- * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
- * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
+ * @param time_to_minimum_delta Estimated time until collision occurs
+ * @param altitude_minimum_delta Closest vertical distance between vehicle and object
+ * @param horizontal_minimum_delta Closest horizontal distance between vehicle and object
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -312,7 +312,7 @@ static inline uint8_t mavlink_msg_collision_get_threat_level(const mavlink_messa
 /**
  * @brief Get field time_to_minimum_delta from collision message
  *
- * @return Estimated time until collision occurs (seconds)
+ * @return Estimated time until collision occurs
  */
 static inline float mavlink_msg_collision_get_time_to_minimum_delta(const mavlink_message_t* msg)
 {
@@ -322,7 +322,7 @@ static inline float mavlink_msg_collision_get_time_to_minimum_delta(const mavlin
 /**
  * @brief Get field altitude_minimum_delta from collision message
  *
- * @return Closest vertical distance in meters between vehicle and object
+ * @return Closest vertical distance between vehicle and object
  */
 static inline float mavlink_msg_collision_get_altitude_minimum_delta(const mavlink_message_t* msg)
 {
@@ -332,7 +332,7 @@ static inline float mavlink_msg_collision_get_altitude_minimum_delta(const mavli
 /**
  * @brief Get field horizontal_minimum_delta from collision message
  *
- * @return Closest horizontal distance in meteres between vehicle and object
+ * @return Closest horizontal distance between vehicle and object
  */
 static inline float mavlink_msg_collision_get_horizontal_minimum_delta(const mavlink_message_t* msg)
 {

common/mavlink_msg_command_ack.h

@@ -5,8 +5,8 @@
 
 MAVPACKED(
 typedef struct __mavlink_command_ack_t {
- uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
- uint8_t result; /*< See MAV_RESULT enum*/
+ uint16_t command; /*< Command ID (of acknowledged command).*/
+ uint8_t result; /*< Result of command.*/
  uint8_t progress; /*< WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.*/
  int32_t result_param2; /*< WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.*/
  uint8_t target_system; /*< WIP: System which requested the command to be executed*/
@@ -56,8 +56,8 @@ typedef struct __mavlink_command_ack_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
+ * @param command Command ID (of acknowledged command).
+ * @param result Result of command.
  * @param progress WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
  * @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
  * @param target_system WIP: System which requested the command to be executed
@@ -99,8 +99,8 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
+ * @param command Command ID (of acknowledged command).
+ * @param result Result of command.
  * @param progress WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
  * @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
  * @param target_system WIP: System which requested the command to be executed
@@ -168,8 +168,8 @@ static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, ui
  * @brief Send a command_ack message
  * @param chan MAVLink channel to send the message
  *
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
+ * @param command Command ID (of acknowledged command).
+ * @param result Result of command.
  * @param progress WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
  * @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
  * @param target_system WIP: System which requested the command to be executed
@@ -258,7 +258,7 @@ static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, m
 /**
  * @brief Get field command from command_ack message
  *
- * @return Command ID, as defined by MAV_CMD enum.
+ * @return Command ID (of acknowledged command).
  */
 static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 {
@@ -268,7 +268,7 @@ static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message
 /**
  * @brief Get field result from command_ack message
  *
- * @return See MAV_RESULT enum
+ * @return Result of command.
  */
 static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 {

common/mavlink_msg_command_int.h

@@ -12,10 +12,10 @@ typedef struct __mavlink_command_int_t {
  int32_t x; /*< PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7*/
  int32_t y; /*< PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7*/
  float z; /*< PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).*/
- uint16_t command; /*< The scheduled action for the mission item, as defined by MAV_CMD enum*/
+ uint16_t command; /*< The scheduled action for the mission item.*/
  uint8_t target_system; /*< System ID*/
  uint8_t target_component; /*< Component ID*/
- uint8_t frame; /*< The coordinate system of the COMMAND, as defined by MAV_FRAME enum*/
+ uint8_t frame; /*< The coordinate system of the COMMAND.*/
  uint8_t current; /*< false:0, true:1*/
  uint8_t autocontinue; /*< autocontinue to next wp*/
 }) mavlink_command_int_t;
@@ -79,8 +79,8 @@ typedef struct __mavlink_command_int_t {
  *
  * @param target_system System ID
  * @param target_component Component ID
- * @param frame The coordinate system of the COMMAND, as defined by MAV_FRAME enum
- * @param command The scheduled action for the mission item, as defined by MAV_CMD enum
+ * @param frame The coordinate system of the COMMAND.
+ * @param command The scheduled action for the mission item.
  * @param current false:0, true:1
  * @param autocontinue autocontinue to next wp
  * @param param1 PARAM1, see MAV_CMD enum
@@ -143,8 +143,8 @@ static inline uint16_t mavlink_msg_command_int_pack(uint8_t system_id, uint8_t c
  * @param msg The MAVLink message to compress the data into
  * @param target_system System ID
  * @param target_component Component ID
- * @param frame The coordinate system of the COMMAND, as defined by MAV_FRAME enum
- * @param command The scheduled action for the mission item, as defined by MAV_CMD enum
+ * @param frame The coordinate system of the COMMAND.
+ * @param command The scheduled action for the mission item.
  * @param current false:0, true:1
  * @param autocontinue autocontinue to next wp
  * @param param1 PARAM1, see MAV_CMD enum
@@ -233,8 +233,8 @@ static inline uint16_t mavlink_msg_command_int_encode_chan(uint8_t system_id, ui
  *
  * @param target_system System ID
  * @param target_component Component ID
- * @param frame The coordinate system of the COMMAND, as defined by MAV_FRAME enum
- * @param command The scheduled action for the mission item, as defined by MAV_CMD enum
+ * @param frame The coordinate system of the COMMAND.
+ * @param command The scheduled action for the mission item.
  * @param current false:0, true:1
  * @param autocontinue autocontinue to next wp
  * @param param1 PARAM1, see MAV_CMD enum
@@ -376,7 +376,7 @@ static inline uint8_t mavlink_msg_command_int_get_target_component(const mavlink
 /**
  * @brief Get field frame from command_int message
  *
- * @return The coordinate system of the COMMAND, as defined by MAV_FRAME enum
+ * @return The coordinate system of the COMMAND.
  */
 static inline uint8_t mavlink_msg_command_int_get_frame(const mavlink_message_t* msg)
 {
@@ -386,7 +386,7 @@ static inline uint8_t mavlink_msg_command_int_get_frame(const mavlink_message_t*
 /**
  * @brief Get field command from command_int message
  *
- * @return The scheduled action for the mission item, as defined by MAV_CMD enum
+ * @return The scheduled action for the mission item.
  */
 static inline uint16_t mavlink_msg_command_int_get_command(const mavlink_message_t* msg)
 {

common/mavlink_msg_command_long.h

@@ -5,14 +5,14 @@
 
 MAVPACKED(
 typedef struct __mavlink_command_long_t {
- float param1; /*< Parameter 1, as defined by MAV_CMD enum.*/
- float param2; /*< Parameter 2, as defined by MAV_CMD enum.*/
- float param3; /*< Parameter 3, as defined by MAV_CMD enum.*/
- float param4; /*< Parameter 4, as defined by MAV_CMD enum.*/
- float param5; /*< Parameter 5, as defined by MAV_CMD enum.*/
- float param6; /*< Parameter 6, as defined by MAV_CMD enum.*/
- float param7; /*< Parameter 7, as defined by MAV_CMD enum.*/
- uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
+ float param1; /*< Parameter 1 (for the specific command).*/
+ float param2; /*< Parameter 2 (for the specific command).*/
+ float param3; /*< Parameter 3 (for the specific command).*/
+ float param4; /*< Parameter 4 (for the specific command).*/
+ float param5; /*< Parameter 5 (for the specific command).*/
+ float param6; /*< Parameter 6 (for the specific command).*/
+ float param7; /*< Parameter 7 (for the specific command).*/
+ uint16_t command; /*< Command ID (of command to send).*/
  uint8_t target_system; /*< System which should execute the command*/
  uint8_t target_component; /*< Component which should execute the command, 0 for all components*/
  uint8_t confirmation; /*< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)*/
@@ -73,15 +73,15 @@ typedef struct __mavlink_command_long_t {
  *
  * @param target_system System which should execute the command
  * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
+ * @param command Command ID (of command to send).
  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ * @param param1 Parameter 1 (for the specific command).
+ * @param param2 Parameter 2 (for the specific command).
+ * @param param3 Parameter 3 (for the specific command).
+ * @param param4 Parameter 4 (for the specific command).
+ * @param param5 Parameter 5 (for the specific command).
+ * @param param6 Parameter 6 (for the specific command).
+ * @param param7 Parameter 7 (for the specific command).
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -131,15 +131,15 @@ static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t
  * @param msg The MAVLink message to compress the data into
  * @param target_system System which should execute the command
  * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
+ * @param command Command ID (of command to send).
  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ * @param param1 Parameter 1 (for the specific command).
+ * @param param2 Parameter 2 (for the specific command).
+ * @param param3 Parameter 3 (for the specific command).
+ * @param param4 Parameter 4 (for the specific command).
+ * @param param5 Parameter 5 (for the specific command).
+ * @param param6 Parameter 6 (for the specific command).
+ * @param param7 Parameter 7 (for the specific command).
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -215,15 +215,15 @@ static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, u
  *
  * @param target_system System which should execute the command
  * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
+ * @param command Command ID (of command to send).
  * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
+ * @param param1 Parameter 1 (for the specific command).
+ * @param param2 Parameter 2 (for the specific command).
+ * @param param3 Parameter 3 (for the specific command).
+ * @param param4 Parameter 4 (for the specific command).
+ * @param param5 Parameter 5 (for the specific command).
+ * @param param6 Parameter 6 (for the specific command).
+ * @param param7 Parameter 7 (for the specific command).
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -348,7 +348,7 @@ static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlin
 /**
  * @brief Get field command from command_long message
  *
- * @return Command ID, as defined by MAV_CMD enum.
+ * @return Command ID (of command to send).
  */
 static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
 {
@@ -368,7 +368,7 @@ static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_me
 /**
  * @brief Get field param1 from command_long message
  *
- * @return Parameter 1, as defined by MAV_CMD enum.
+ * @return Parameter 1 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
 {
@@ -378,7 +378,7 @@ static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t*
 /**
  * @brief Get field param2 from command_long message
  *
- * @return Parameter 2, as defined by MAV_CMD enum.
+ * @return Parameter 2 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
 {
@@ -388,7 +388,7 @@ static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t*
 /**
  * @brief Get field param3 from command_long message
  *
- * @return Parameter 3, as defined by MAV_CMD enum.
+ * @return Parameter 3 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
 {
@@ -398,7 +398,7 @@ static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t*
 /**
  * @brief Get field param4 from command_long message
  *
- * @return Parameter 4, as defined by MAV_CMD enum.
+ * @return Parameter 4 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
 {
@@ -408,7 +408,7 @@ static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t*
 /**
  * @brief Get field param5 from command_long message
  *
- * @return Parameter 5, as defined by MAV_CMD enum.
+ * @return Parameter 5 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
 {
@@ -418,7 +418,7 @@ static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t*
 /**
  * @brief Get field param6 from command_long message
  *
- * @return Parameter 6, as defined by MAV_CMD enum.
+ * @return Parameter 6 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
 {
@@ -428,7 +428,7 @@ static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t*
 /**
  * @brief Get field param7 from command_long message
  *
- * @return Parameter 7, as defined by MAV_CMD enum.
+ * @return Parameter 7 (for the specific command).
  */
 static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
 {

common/mavlink_msg_control_system_state.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_control_system_state_t {
- uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float x_acc; /*< X acceleration in body frame*/
  float y_acc; /*< Y acceleration in body frame*/
  float z_acc; /*< Z acceleration in body frame*/
@@ -91,7 +91,7 @@ typedef struct __mavlink_control_system_state_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x_acc X acceleration in body frame
  * @param y_acc Y acceleration in body frame
  * @param z_acc Z acceleration in body frame
@@ -165,7 +165,7 @@ static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x_acc X acceleration in body frame
  * @param y_acc Y acceleration in body frame
  * @param z_acc Z acceleration in body frame
@@ -265,7 +265,7 @@ static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t syst
  * @brief Send a control_system_state message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x_acc X acceleration in body frame
  * @param y_acc Y acceleration in body frame
  * @param z_acc Z acceleration in body frame
@@ -406,7 +406,7 @@ static inline void mavlink_msg_control_system_state_send_buf(mavlink_message_t *
 /**
  * @brief Get field time_usec from control_system_state message
  *
- * @return Timestamp (micros since boot or Unix epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_data_transmission_handshake.h

@@ -5,13 +5,13 @@
 
 MAVPACKED(
 typedef struct __mavlink_data_transmission_handshake_t {
- uint32_t size; /*< total data size in bytes (set on ACK only)*/
- uint16_t width; /*< Width of a matrix or image*/
- uint16_t height; /*< Height of a matrix or image*/
- uint16_t packets; /*< number of packets beeing sent (set on ACK only)*/
- uint8_t type; /*< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)*/
- uint8_t payload; /*< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)*/
- uint8_t jpg_quality; /*< JPEG quality out of [1,100]*/
+ uint32_t size; /*< total data size (set on ACK only).*/
+ uint16_t width; /*< Width of a matrix or image.*/
+ uint16_t height; /*< Height of a matrix or image.*/
+ uint16_t packets; /*< Number of packets being sent (set on ACK only).*/
+ uint8_t type; /*< Type of requested/acknowledged data.*/
+ uint8_t payload; /*< Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).*/
+ uint8_t jpg_quality; /*< JPEG quality. Values: [1-100].*/
 }) mavlink_data_transmission_handshake_t;
 
 #define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 13
@@ -59,13 +59,13 @@ typedef struct __mavlink_data_transmission_handshake_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
+ * @param type Type of requested/acknowledged data.
+ * @param size total data size (set on ACK only).
+ * @param width Width of a matrix or image.
+ * @param height Height of a matrix or image.
+ * @param packets Number of packets being sent (set on ACK only).
+ * @param payload Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
+ * @param jpg_quality JPEG quality. Values: [1-100].
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -105,13 +105,13 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t syst
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
+ * @param type Type of requested/acknowledged data.
+ * @param size total data size (set on ACK only).
+ * @param width Width of a matrix or image.
+ * @param height Height of a matrix or image.
+ * @param packets Number of packets being sent (set on ACK only).
+ * @param payload Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
+ * @param jpg_quality JPEG quality. Values: [1-100].
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -177,13 +177,13 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_encode_chan(uint8
  * @brief Send a data_transmission_handshake message
  * @param chan MAVLink channel to send the message
  *
- * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
+ * @param type Type of requested/acknowledged data.
+ * @param size total data size (set on ACK only).
+ * @param width Width of a matrix or image.
+ * @param height Height of a matrix or image.
+ * @param packets Number of packets being sent (set on ACK only).
+ * @param payload Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
+ * @param jpg_quality JPEG quality. Values: [1-100].
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -272,7 +272,7 @@ static inline void mavlink_msg_data_transmission_handshake_send_buf(mavlink_mess
 /**
  * @brief Get field type from data_transmission_handshake message
  *
- * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
+ * @return Type of requested/acknowledged data.
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg)
 {
@@ -282,7 +282,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mav
 /**
  * @brief Get field size from data_transmission_handshake message
  *
- * @return total data size in bytes (set on ACK only)
+ * @return total data size (set on ACK only).
  */
 static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg)
 {
@@ -292,7 +292,7 @@ static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const ma
 /**
  * @brief Get field width from data_transmission_handshake message
  *
- * @return Width of a matrix or image
+ * @return Width of a matrix or image.
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_get_width(const mavlink_message_t* msg)
 {
@@ -302,7 +302,7 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_get_width(const m
 /**
  * @brief Get field height from data_transmission_handshake message
  *
- * @return Height of a matrix or image
+ * @return Height of a matrix or image.
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const mavlink_message_t* msg)
 {
@@ -312,7 +312,7 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const
 /**
  * @brief Get field packets from data_transmission_handshake message
  *
- * @return number of packets beeing sent (set on ACK only)
+ * @return Number of packets being sent (set on ACK only).
  */
 static inline uint16_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
 {
@@ -322,7 +322,7 @@ static inline uint16_t mavlink_msg_data_transmission_handshake_get_packets(const
 /**
  * @brief Get field payload from data_transmission_handshake message
  *
- * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
+ * @return Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg)
 {
@@ -332,7 +332,7 @@ static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const
 /**
  * @brief Get field jpg_quality from data_transmission_handshake message
  *
- * @return JPEG quality out of [1,100]
+ * @return JPEG quality. Values: [1-100].
  */
 static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg)
 {

common/mavlink_msg_debug.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_debug_t {
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
  float value; /*< DEBUG value*/
  uint8_t ind; /*< index of debug variable*/
 }) mavlink_debug_t;
@@ -47,7 +47,7 @@ typedef struct __mavlink_debug_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param ind index of debug variable
  * @param value DEBUG value
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -81,7 +81,7 @@ static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t compone
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param ind index of debug variable
  * @param value DEBUG value
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -141,7 +141,7 @@ static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t
  * @brief Send a debug message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param time_boot_ms Timestamp (time since system boot).
  * @param ind index of debug variable
  * @param value DEBUG value
  */
@@ -216,7 +216,7 @@ static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink
 /**
  * @brief Get field time_boot_ms from debug message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
 {

common/mavlink_msg_debug_vect.h

@@ -5,7 +5,7 @@
 
 MAVPACKED(
 typedef struct __mavlink_debug_vect_t {
- uint64_t time_usec; /*< Timestamp*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float x; /*< x*/
  float y; /*< y*/
  float z; /*< z*/
@@ -54,7 +54,7 @@ typedef struct __mavlink_debug_vect_t {
  * @param msg The MAVLink message to compress the data into
  *
  * @param name Name
- * @param time_usec Timestamp
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x x
  * @param y y
  * @param z z
@@ -92,7 +92,7 @@ static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t co
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
  * @param name Name
- * @param time_usec Timestamp
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x x
  * @param y y
  * @param z z
@@ -156,7 +156,7 @@ static inline uint16_t mavlink_msg_debug_vect_encode_chan(uint8_t system_id, uin
  * @param chan MAVLink channel to send the message
  *
  * @param name Name
- * @param time_usec Timestamp
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param x x
  * @param y y
  * @param z z
@@ -246,7 +246,7 @@ static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t*
 /**
  * @brief Get field time_usec from debug_vect message
  *
- * @return Timestamp
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_distance_sensor.h

@@ -5,14 +5,14 @@
 
 MAVPACKED(
 typedef struct __mavlink_distance_sensor_t {
- uint32_t time_boot_ms; /*< Time since system boot*/
- uint16_t min_distance; /*< Minimum distance the sensor can measure in centimeters*/
- uint16_t max_distance; /*< Maximum distance the sensor can measure in centimeters*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
+ uint16_t min_distance; /*< Minimum distance the sensor can measure*/
+ uint16_t max_distance; /*< Maximum distance the sensor can measure*/
  uint16_t current_distance; /*< Current distance reading*/
- uint8_t type; /*< Type from MAV_DISTANCE_SENSOR enum.*/
+ uint8_t type; /*< Type of distance sensor.*/
  uint8_t id; /*< Onboard ID of the sensor*/
- uint8_t orientation; /*< Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270*/
- uint8_t covariance; /*< Measurement covariance in centimeters, 0 for unknown / invalid readings*/
+ uint8_t orientation; /*< Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270*/
+ uint8_t covariance; /*< Measurement covariance, 0 for unknown / invalid readings*/
 }) mavlink_distance_sensor_t;
 
 #define MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN 14
@@ -62,14 +62,14 @@ typedef struct __mavlink_distance_sensor_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Time since system boot
- * @param min_distance Minimum distance the sensor can measure in centimeters
- * @param max_distance Maximum distance the sensor can measure in centimeters
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param min_distance Minimum distance the sensor can measure
+ * @param max_distance Maximum distance the sensor can measure
  * @param current_distance Current distance reading
- * @param type Type from MAV_DISTANCE_SENSOR enum.
+ * @param type Type of distance sensor.
  * @param id Onboard ID of the sensor
- * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
- * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
+ * @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
+ * @param covariance Measurement covariance, 0 for unknown / invalid readings
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -111,14 +111,14 @@ static inline uint16_t mavlink_msg_distance_sensor_pack(uint8_t system_id, uint8
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Time since system boot
- * @param min_distance Minimum distance the sensor can measure in centimeters
- * @param max_distance Maximum distance the sensor can measure in centimeters
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param min_distance Minimum distance the sensor can measure
+ * @param max_distance Maximum distance the sensor can measure
  * @param current_distance Current distance reading
- * @param type Type from MAV_DISTANCE_SENSOR enum.
+ * @param type Type of distance sensor.
  * @param id Onboard ID of the sensor
- * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
- * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
+ * @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
+ * @param covariance Measurement covariance, 0 for unknown / invalid readings
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_distance_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -186,14 +186,14 @@ static inline uint16_t mavlink_msg_distance_sensor_encode_chan(uint8_t system_id
  * @brief Send a distance_sensor message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Time since system boot
- * @param min_distance Minimum distance the sensor can measure in centimeters
- * @param max_distance Maximum distance the sensor can measure in centimeters
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param min_distance Minimum distance the sensor can measure
+ * @param max_distance Maximum distance the sensor can measure
  * @param current_distance Current distance reading
- * @param type Type from MAV_DISTANCE_SENSOR enum.
+ * @param type Type of distance sensor.
  * @param id Onboard ID of the sensor
- * @param orientation Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
- * @param covariance Measurement covariance in centimeters, 0 for unknown / invalid readings
+ * @param orientation Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
+ * @param covariance Measurement covariance, 0 for unknown / invalid readings
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -286,7 +286,7 @@ static inline void mavlink_msg_distance_sensor_send_buf(mavlink_message_t *msgbu
 /**
  * @brief Get field time_boot_ms from distance_sensor message
  *
- * @return Time since system boot
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -296,7 +296,7 @@ static inline uint32_t mavlink_msg_distance_sensor_get_time_boot_ms(const mavlin
 /**
  * @brief Get field min_distance from distance_sensor message
  *
- * @return Minimum distance the sensor can measure in centimeters
+ * @return Minimum distance the sensor can measure
  */
 static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlink_message_t* msg)
 {
@@ -306,7 +306,7 @@ static inline uint16_t mavlink_msg_distance_sensor_get_min_distance(const mavlin
 /**
  * @brief Get field max_distance from distance_sensor message
  *
- * @return Maximum distance the sensor can measure in centimeters
+ * @return Maximum distance the sensor can measure
  */
 static inline uint16_t mavlink_msg_distance_sensor_get_max_distance(const mavlink_message_t* msg)
 {
@@ -326,7 +326,7 @@ static inline uint16_t mavlink_msg_distance_sensor_get_current_distance(const ma
 /**
  * @brief Get field type from distance_sensor message
  *
- * @return Type from MAV_DISTANCE_SENSOR enum.
+ * @return Type of distance sensor.
  */
 static inline uint8_t mavlink_msg_distance_sensor_get_type(const mavlink_message_t* msg)
 {
@@ -346,7 +346,7 @@ static inline uint8_t mavlink_msg_distance_sensor_get_id(const mavlink_message_t
 /**
  * @brief Get field orientation from distance_sensor message
  *
- * @return Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
+ * @return Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
  */
 static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_message_t* msg)
 {
@@ -356,7 +356,7 @@ static inline uint8_t mavlink_msg_distance_sensor_get_orientation(const mavlink_
 /**
  * @brief Get field covariance from distance_sensor message
  *
- * @return Measurement covariance in centimeters, 0 for unknown / invalid readings
+ * @return Measurement covariance, 0 for unknown / invalid readings
  */
 static inline uint8_t mavlink_msg_distance_sensor_get_covariance(const mavlink_message_t* msg)
 {

common/mavlink_msg_estimator_status.h

@@ -5,16 +5,16 @@
 
 MAVPACKED(
 typedef struct __mavlink_estimator_status_t {
- uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  float vel_ratio; /*< Velocity innovation test ratio*/
  float pos_horiz_ratio; /*< Horizontal position innovation test ratio*/
  float pos_vert_ratio; /*< Vertical position innovation test ratio*/
  float mag_ratio; /*< Magnetometer innovation test ratio*/
  float hagl_ratio; /*< Height above terrain innovation test ratio*/
  float tas_ratio; /*< True airspeed innovation test ratio*/
- float pos_horiz_accuracy; /*< Horizontal position 1-STD accuracy relative to the EKF local origin (m)*/
- float pos_vert_accuracy; /*< Vertical position 1-STD accuracy relative to the EKF local origin (m)*/
- uint16_t flags; /*< Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.*/
+ float pos_horiz_accuracy; /*< Horizontal position 1-STD accuracy relative to the EKF local origin*/
+ float pos_vert_accuracy; /*< Vertical position 1-STD accuracy relative to the EKF local origin*/
+ uint16_t flags; /*< Integer bitmap indicating which EKF outputs are valid.*/
 }) mavlink_estimator_status_t;
 
 #define MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN 42
@@ -68,16 +68,16 @@ typedef struct __mavlink_estimator_status_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
- * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
+ * @param flags Integer bitmap indicating which EKF outputs are valid.
  * @param vel_ratio Velocity innovation test ratio
  * @param pos_horiz_ratio Horizontal position innovation test ratio
  * @param pos_vert_ratio Vertical position innovation test ratio
  * @param mag_ratio Magnetometer innovation test ratio
  * @param hagl_ratio Height above terrain innovation test ratio
  * @param tas_ratio True airspeed innovation test ratio
- * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
- * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
+ * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin
+ * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_estimator_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -123,16 +123,16 @@ static inline uint16_t mavlink_msg_estimator_status_pack(uint8_t system_id, uint
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (micros since boot or Unix epoch)
- * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
+ * @param flags Integer bitmap indicating which EKF outputs are valid.
  * @param vel_ratio Velocity innovation test ratio
  * @param pos_horiz_ratio Horizontal position innovation test ratio
  * @param pos_vert_ratio Vertical position innovation test ratio
  * @param mag_ratio Magnetometer innovation test ratio
  * @param hagl_ratio Height above terrain innovation test ratio
  * @param tas_ratio True airspeed innovation test ratio
- * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
- * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
+ * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin
+ * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_estimator_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -204,16 +204,16 @@ static inline uint16_t mavlink_msg_estimator_status_encode_chan(uint8_t system_i
  * @brief Send a estimator_status message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (micros since boot or Unix epoch)
- * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
+ * @param flags Integer bitmap indicating which EKF outputs are valid.
  * @param vel_ratio Velocity innovation test ratio
  * @param pos_horiz_ratio Horizontal position innovation test ratio
  * @param pos_vert_ratio Vertical position innovation test ratio
  * @param mag_ratio Magnetometer innovation test ratio
  * @param hagl_ratio Height above terrain innovation test ratio
  * @param tas_ratio True airspeed innovation test ratio
- * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
- * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
+ * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin
+ * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -314,7 +314,7 @@ static inline void mavlink_msg_estimator_status_send_buf(mavlink_message_t *msgb
 /**
  * @brief Get field time_usec from estimator_status message
  *
- * @return Timestamp (micros since boot or Unix epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_estimator_status_get_time_usec(const mavlink_message_t* msg)
 {
@@ -324,7 +324,7 @@ static inline uint64_t mavlink_msg_estimator_status_get_time_usec(const mavlink_
 /**
  * @brief Get field flags from estimator_status message
  *
- * @return Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
+ * @return Integer bitmap indicating which EKF outputs are valid.
  */
 static inline uint16_t mavlink_msg_estimator_status_get_flags(const mavlink_message_t* msg)
 {
@@ -394,7 +394,7 @@ static inline float mavlink_msg_estimator_status_get_tas_ratio(const mavlink_mes
 /**
  * @brief Get field pos_horiz_accuracy from estimator_status message
  *
- * @return Horizontal position 1-STD accuracy relative to the EKF local origin (m)
+ * @return Horizontal position 1-STD accuracy relative to the EKF local origin
  */
 static inline float mavlink_msg_estimator_status_get_pos_horiz_accuracy(const mavlink_message_t* msg)
 {
@@ -404,7 +404,7 @@ static inline float mavlink_msg_estimator_status_get_pos_horiz_accuracy(const ma
 /**
  * @brief Get field pos_vert_accuracy from estimator_status message
  *
- * @return Vertical position 1-STD accuracy relative to the EKF local origin (m)
+ * @return Vertical position 1-STD accuracy relative to the EKF local origin
  */
 static inline float mavlink_msg_estimator_status_get_pos_vert_accuracy(const mavlink_message_t* msg)
 {

common/mavlink_msg_flight_information.h

@@ -5,10 +5,10 @@
 
 MAVPACKED(
 typedef struct __mavlink_flight_information_t {
- uint64_t arming_time_utc; /*< Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown*/
- uint64_t takeoff_time_utc; /*< Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown*/
- uint64_t flight_uuid; /*< Universally unique identifier (UUID) of flight, should correspond to name of logfiles*/
- uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ uint64_t arming_time_utc; /*< Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown*/
+ uint64_t takeoff_time_utc; /*< Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown*/
+ uint64_t flight_uuid; /*< Universally unique identifier (UUID) of flight, should correspond to name of log files*/
+ uint32_t time_boot_ms; /*< Timestamp (time since system boot).*/
 }) mavlink_flight_information_t;
 
 #define MAVLINK_MSG_ID_FLIGHT_INFORMATION_LEN 28
@@ -50,10 +50,10 @@ typedef struct __mavlink_flight_information_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param arming_time_utc Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param takeoff_time_utc Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of logfiles
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param arming_time_utc Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
+ * @param takeoff_time_utc Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
+ * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of log files
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_flight_information_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -87,10 +87,10 @@ static inline uint16_t mavlink_msg_flight_information_pack(uint8_t system_id, ui
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param arming_time_utc Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param takeoff_time_utc Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of logfiles
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param arming_time_utc Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
+ * @param takeoff_time_utc Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
+ * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of log files
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_flight_information_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -150,10 +150,10 @@ static inline uint16_t mavlink_msg_flight_information_encode_chan(uint8_t system
  * @brief Send a flight_information message
  * @param chan MAVLink channel to send the message
  *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param arming_time_utc Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param takeoff_time_utc Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown
- * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of logfiles
+ * @param time_boot_ms Timestamp (time since system boot).
+ * @param arming_time_utc Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
+ * @param takeoff_time_utc Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
+ * @param flight_uuid Universally unique identifier (UUID) of flight, should correspond to name of log files
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -230,7 +230,7 @@ static inline void mavlink_msg_flight_information_send_buf(mavlink_message_t *ms
 /**
  * @brief Get field time_boot_ms from flight_information message
  *
- * @return Timestamp (milliseconds since system boot)
+ * @return Timestamp (time since system boot).
  */
 static inline uint32_t mavlink_msg_flight_information_get_time_boot_ms(const mavlink_message_t* msg)
 {
@@ -240,7 +240,7 @@ static inline uint32_t mavlink_msg_flight_information_get_time_boot_ms(const mav
 /**
  * @brief Get field arming_time_utc from flight_information message
  *
- * @return Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown
+ * @return Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
  */
 static inline uint64_t mavlink_msg_flight_information_get_arming_time_utc(const mavlink_message_t* msg)
 {
@@ -250,7 +250,7 @@ static inline uint64_t mavlink_msg_flight_information_get_arming_time_utc(const
 /**
  * @brief Get field takeoff_time_utc from flight_information message
  *
- * @return Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown
+ * @return Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
  */
 static inline uint64_t mavlink_msg_flight_information_get_takeoff_time_utc(const mavlink_message_t* msg)
 {
@@ -260,7 +260,7 @@ static inline uint64_t mavlink_msg_flight_information_get_takeoff_time_utc(const
 /**
  * @brief Get field flight_uuid from flight_information message
  *
- * @return Universally unique identifier (UUID) of flight, should correspond to name of logfiles
+ * @return Universally unique identifier (UUID) of flight, should correspond to name of log files
  */
 static inline uint64_t mavlink_msg_flight_information_get_flight_uuid(const mavlink_message_t* msg)
 {

common/mavlink_msg_follow_target.h

@@ -5,11 +5,11 @@
 
 MAVPACKED(
 typedef struct __mavlink_follow_target_t {
- uint64_t timestamp; /*< Timestamp in milliseconds since system boot*/
+ uint64_t timestamp; /*< Timestamp (time since system boot).*/
  uint64_t custom_state; /*< button states or switches of a tracker device*/
- int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
- int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
- float alt; /*< AMSL, in meters*/
+ int32_t lat; /*< Latitude (WGS84)*/
+ int32_t lon; /*< Longitude (WGS84)*/
+ float alt; /*< Altitude (AMSL)*/
  float vel[3]; /*< target velocity (0,0,0) for unknown*/
  float acc[3]; /*< linear target acceleration (0,0,0) for unknown*/
  float attitude_q[4]; /*< (1 0 0 0 for unknown)*/
@@ -75,11 +75,11 @@ typedef struct __mavlink_follow_target_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param timestamp Timestamp in milliseconds since system boot
+ * @param timestamp Timestamp (time since system boot).
  * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt AMSL, in meters
+ * @param lat Latitude (WGS84)
+ * @param lon Longitude (WGS84)
+ * @param alt Altitude (AMSL)
  * @param vel target velocity (0,0,0) for unknown
  * @param acc linear target acceleration (0,0,0) for unknown
  * @param attitude_q (1 0 0 0 for unknown)
@@ -131,11 +131,11 @@ static inline uint16_t mavlink_msg_follow_target_pack(uint8_t system_id, uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param timestamp Timestamp in milliseconds since system boot
+ * @param timestamp Timestamp (time since system boot).
  * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt AMSL, in meters
+ * @param lat Latitude (WGS84)
+ * @param lon Longitude (WGS84)
+ * @param alt Altitude (AMSL)
  * @param vel target velocity (0,0,0) for unknown
  * @param acc linear target acceleration (0,0,0) for unknown
  * @param attitude_q (1 0 0 0 for unknown)
@@ -213,11 +213,11 @@ static inline uint16_t mavlink_msg_follow_target_encode_chan(uint8_t system_id,
  * @brief Send a follow_target message
  * @param chan MAVLink channel to send the message
  *
- * @param timestamp Timestamp in milliseconds since system boot
+ * @param timestamp Timestamp (time since system boot).
  * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt AMSL, in meters
+ * @param lat Latitude (WGS84)
+ * @param lon Longitude (WGS84)
+ * @param alt Altitude (AMSL)
  * @param vel target velocity (0,0,0) for unknown
  * @param acc linear target acceleration (0,0,0) for unknown
  * @param attitude_q (1 0 0 0 for unknown)
@@ -324,7 +324,7 @@ static inline void mavlink_msg_follow_target_send_buf(mavlink_message_t *msgbuf,
 /**
  * @brief Get field timestamp from follow_target message
  *
- * @return Timestamp in milliseconds since system boot
+ * @return Timestamp (time since system boot).
  */
 static inline uint64_t mavlink_msg_follow_target_get_timestamp(const mavlink_message_t* msg)
 {
@@ -344,7 +344,7 @@ static inline uint8_t mavlink_msg_follow_target_get_est_capabilities(const mavli
 /**
  * @brief Get field lat from follow_target message
  *
- * @return Latitude (WGS84), in degrees * 1E7
+ * @return Latitude (WGS84)
  */
 static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t* msg)
 {
@@ -354,7 +354,7 @@ static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t*
 /**
  * @brief Get field lon from follow_target message
  *
- * @return Longitude (WGS84), in degrees * 1E7
+ * @return Longitude (WGS84)
  */
 static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t* msg)
 {
@@ -364,7 +364,7 @@ static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t*
 /**
  * @brief Get field alt from follow_target message
  *
- * @return AMSL, in meters
+ * @return Altitude (AMSL)
  */
 static inline float mavlink_msg_follow_target_get_alt(const mavlink_message_t* msg)
 {

common/mavlink_msg_global_position_int_cov.h

@@ -5,14 +5,14 @@
 
 MAVPACKED(
 typedef struct __mavlink_global_position_int_cov_t {
- uint64_t time_usec; /*< Timestamp (microseconds since system boot or since UNIX epoch)*/
- int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
- int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
- int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), above MSL*/
- int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
- float vx; /*< Ground X Speed (Latitude), expressed as m/s*/
- float vy; /*< Ground Y Speed (Longitude), expressed as m/s*/
- float vz; /*< Ground Z Speed (Altitude), expressed as m/s*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
+ int32_t lat; /*< Latitude*/
+ int32_t lon; /*< Longitude*/
+ int32_t alt; /*< Altitude in meters above MSL*/
+ int32_t relative_alt; /*< Altitude above ground*/
+ float vx; /*< Ground X Speed (Latitude)*/
+ float vy; /*< Ground Y Speed (Longitude)*/
+ float vz; /*< Ground Z Speed (Altitude)*/
  float covariance[36]; /*< Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)*/
  uint8_t estimator_type; /*< Class id of the estimator this estimate originated from.*/
 }) mavlink_global_position_int_cov_t;
@@ -68,15 +68,15 @@ typedef struct __mavlink_global_position_int_cov_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param estimator_type Class id of the estimator this estimate originated from.
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s
- * @param vy Ground Y Speed (Longitude), expressed as m/s
- * @param vz Ground Z Speed (Altitude), expressed as m/s
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param alt Altitude in meters above MSL
+ * @param relative_alt Altitude above ground
+ * @param vx Ground X Speed (Latitude)
+ * @param vy Ground Y Speed (Longitude)
+ * @param vz Ground Z Speed (Altitude)
  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -121,15 +121,15 @@ static inline uint16_t mavlink_msg_global_position_int_cov_pack(uint8_t system_i
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param estimator_type Class id of the estimator this estimate originated from.
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s
- * @param vy Ground Y Speed (Longitude), expressed as m/s
- * @param vz Ground Z Speed (Altitude), expressed as m/s
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param alt Altitude in meters above MSL
+ * @param relative_alt Altitude above ground
+ * @param vx Ground X Speed (Latitude)
+ * @param vy Ground Y Speed (Longitude)
+ * @param vz Ground Z Speed (Altitude)
  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -200,15 +200,15 @@ static inline uint16_t mavlink_msg_global_position_int_cov_encode_chan(uint8_t s
  * @brief Send a global_position_int_cov message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param estimator_type Class id of the estimator this estimate originated from.
- * @param lat Latitude, expressed as degrees * 1E7
- * @param lon Longitude, expressed as degrees * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s
- * @param vy Ground Y Speed (Longitude), expressed as m/s
- * @param vz Ground Z Speed (Altitude), expressed as m/s
+ * @param lat Latitude
+ * @param lon Longitude
+ * @param alt Altitude in meters above MSL
+ * @param relative_alt Altitude above ground
+ * @param vx Ground X Speed (Latitude)
+ * @param vy Ground Y Speed (Longitude)
+ * @param vz Ground Z Speed (Altitude)
  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -306,7 +306,7 @@ static inline void mavlink_msg_global_position_int_cov_send_buf(mavlink_message_
 /**
  * @brief Get field time_usec from global_position_int_cov message
  *
- * @return Timestamp (microseconds since system boot or since UNIX epoch)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_global_position_int_cov_get_time_usec(const mavlink_message_t* msg)
 {
@@ -326,7 +326,7 @@ static inline uint8_t mavlink_msg_global_position_int_cov_get_estimator_type(con
 /**
  * @brief Get field lat from global_position_int_cov message
  *
- * @return Latitude, expressed as degrees * 1E7
+ * @return Latitude
  */
 static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_message_t* msg)
 {
@@ -336,7 +336,7 @@ static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_
 /**
  * @brief Get field lon from global_position_int_cov message
  *
- * @return Longitude, expressed as degrees * 1E7
+ * @return Longitude
  */
 static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_message_t* msg)
 {
@@ -346,7 +346,7 @@ static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_
 /**
  * @brief Get field alt from global_position_int_cov message
  *
- * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ * @return Altitude in meters above MSL
  */
 static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_message_t* msg)
 {
@@ -356,7 +356,7 @@ static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_
 /**
  * @brief Get field relative_alt from global_position_int_cov message
  *
- * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
+ * @return Altitude above ground
  */
 static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const mavlink_message_t* msg)
 {
@@ -366,7 +366,7 @@ static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const
 /**
  * @brief Get field vx from global_position_int_cov message
  *
- * @return Ground X Speed (Latitude), expressed as m/s
+ * @return Ground X Speed (Latitude)
  */
 static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_message_t* msg)
 {
@@ -376,7 +376,7 @@ static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_mes
 /**
  * @brief Get field vy from global_position_int_cov message
  *
- * @return Ground Y Speed (Longitude), expressed as m/s
+ * @return Ground Y Speed (Longitude)
  */
 static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_message_t* msg)
 {
@@ -386,7 +386,7 @@ static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_mes
 /**
  * @brief Get field vz from global_position_int_cov message
  *
- * @return Ground Z Speed (Altitude), expressed as m/s
+ * @return Ground Z Speed (Altitude)
  */
 static inline float mavlink_msg_global_position_int_cov_get_vz(const mavlink_message_t* msg)
 {

common/mavlink_msg_global_vision_position_estimate.h

@@ -5,13 +5,13 @@
 
 MAVPACKED(
 typedef struct __mavlink_global_vision_position_estimate_t {
- uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
+ uint64_t usec; /*< Timestamp (UNIX time or since system boot)*/
  float x; /*< Global X position*/
  float y; /*< Global Y position*/
  float z; /*< Global Z position*/
- float roll; /*< Roll angle in rad*/
- float pitch; /*< Pitch angle in rad*/
- float yaw; /*< Yaw angle in rad*/
+ float roll; /*< Roll angle*/
+ float pitch; /*< Pitch angle*/
+ float yaw; /*< Yaw angle*/
  float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
 }) mavlink_global_vision_position_estimate_t;
 
@@ -62,13 +62,13 @@ typedef struct __mavlink_global_vision_position_estimate_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param usec Timestamp (UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
+ * @param roll Roll angle
+ * @param pitch Pitch angle
+ * @param yaw Yaw angle
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -109,13 +109,13 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param usec Timestamp (UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
+ * @param roll Roll angle
+ * @param pitch Pitch angle
+ * @param yaw Yaw angle
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -182,13 +182,13 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(u
  * @brief Send a global_vision_position_estimate message
  * @param chan MAVLink channel to send the message
  *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @param usec Timestamp (UNIX time or since system boot)
  * @param x Global X position
  * @param y Global Y position
  * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
+ * @param roll Roll angle
+ * @param pitch Pitch angle
+ * @param yaw Yaw angle
  * @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -278,7 +278,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
 /**
  * @brief Get field usec from global_vision_position_estimate message
  *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
+ * @return Timestamp (UNIX time or since system boot)
  */
 static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
 {
@@ -318,7 +318,7 @@ static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavl
 /**
  * @brief Get field roll from global_vision_position_estimate message
  *
- * @return Roll angle in rad
+ * @return Roll angle
  */
 static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
 {
@@ -328,7 +328,7 @@ static inline float mavlink_msg_global_vision_position_estimate_get_roll(const m
 /**
  * @brief Get field pitch from global_vision_position_estimate message
  *
- * @return Pitch angle in rad
+ * @return Pitch angle
  */
 static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
 {
@@ -338,7 +338,7 @@ static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const
 /**
  * @brief Get field yaw from global_vision_position_estimate message
  *
- * @return Yaw angle in rad
+ * @return Yaw angle
  */
 static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
 {

common/mavlink_msg_gps2_rtk.h

@@ -5,17 +5,17 @@
 
 MAVPACKED(
 typedef struct __mavlink_gps2_rtk_t {
- uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received in ms.*/
+ uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received.*/
  uint32_t tow; /*< GPS Time of Week of last baseline*/
- int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component in mm.*/
- int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component in mm.*/
- int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component in mm.*/
+ int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component.*/
+ int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component.*/
+ int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component.*/
  uint32_t accuracy; /*< Current estimate of baseline accuracy.*/
  int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/
  uint16_t wn; /*< GPS Week Number of last baseline*/
  uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/
  uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
- uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
+ uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS*/
  uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
  uint8_t baseline_coords_type; /*< Coordinate system of baseline*/
 }) mavlink_gps2_rtk_t;
@@ -77,17 +77,17 @@ typedef struct __mavlink_gps2_rtk_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -141,17 +141,17 @@ static inline uint16_t mavlink_msg_gps2_rtk_pack(uint8_t system_id, uint8_t comp
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -231,17 +231,17 @@ static inline uint16_t mavlink_msg_gps2_rtk_encode_chan(uint8_t system_id, uint8
  * @brief Send a gps2_rtk message
  * @param chan MAVLink channel to send the message
  *
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  */
@@ -356,7 +356,7 @@ static inline void mavlink_msg_gps2_rtk_send_buf(mavlink_message_t *msgbuf, mavl
 /**
  * @brief Get field time_last_baseline_ms from gps2_rtk message
  *
- * @return Time since boot of last baseline message received in ms.
+ * @return Time since boot of last baseline message received.
  */
 static inline uint32_t mavlink_msg_gps2_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
 {
@@ -406,7 +406,7 @@ static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_health(const mavlink_message_
 /**
  * @brief Get field rtk_rate from gps2_rtk message
  *
- * @return Rate of baseline messages being received by GPS, in HZ
+ * @return Rate of baseline messages being received by GPS
  */
 static inline uint8_t mavlink_msg_gps2_rtk_get_rtk_rate(const mavlink_message_t* msg)
 {
@@ -436,7 +436,7 @@ static inline uint8_t mavlink_msg_gps2_rtk_get_baseline_coords_type(const mavlin
 /**
  * @brief Get field baseline_a_mm from gps2_rtk message
  *
- * @return Current baseline in ECEF x or NED north component in mm.
+ * @return Current baseline in ECEF x or NED north component.
  */
 static inline int32_t mavlink_msg_gps2_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
 {
@@ -446,7 +446,7 @@ static inline int32_t mavlink_msg_gps2_rtk_get_baseline_a_mm(const mavlink_messa
 /**
  * @brief Get field baseline_b_mm from gps2_rtk message
  *
- * @return Current baseline in ECEF y or NED east component in mm.
+ * @return Current baseline in ECEF y or NED east component.
  */
 static inline int32_t mavlink_msg_gps2_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
 {
@@ -456,7 +456,7 @@ static inline int32_t mavlink_msg_gps2_rtk_get_baseline_b_mm(const mavlink_messa
 /**
  * @brief Get field baseline_c_mm from gps2_rtk message
  *
- * @return Current baseline in ECEF z or NED down component in mm.
+ * @return Current baseline in ECEF z or NED down component.
  */
 static inline int32_t mavlink_msg_gps2_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
 {

common/mavlink_msg_gps_global_origin.h

@@ -5,10 +5,10 @@
 
 MAVPACKED(
 typedef struct __mavlink_gps_global_origin_t {
- int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
- int32_t longitude; /*< Longitude (WGS84), in degrees * 1E7*/
- int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
- uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
+ int32_t latitude; /*< Latitude (WGS84)*/
+ int32_t longitude; /*< Longitude (WGS84)*/
+ int32_t altitude; /*< Altitude (AMSL). Positive for up.*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
 }) mavlink_gps_global_origin_t;
 
 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 20
@@ -50,10 +50,10 @@ typedef struct __mavlink_gps_global_origin_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param latitude Latitude (WGS84)
+ * @param longitude Longitude (WGS84)
+ * @param altitude Altitude (AMSL). Positive for up.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -87,10 +87,10 @@ static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uin
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param latitude Latitude (WGS84)
+ * @param longitude Longitude (WGS84)
+ * @param altitude Altitude (AMSL). Positive for up.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -150,10 +150,10 @@ static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_
  * @brief Send a gps_global_origin message
  * @param chan MAVLink channel to send the message
  *
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param latitude Latitude (WGS84)
+ * @param longitude Longitude (WGS84)
+ * @param altitude Altitude (AMSL). Positive for up.
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -230,7 +230,7 @@ static inline void mavlink_msg_gps_global_origin_send_buf(mavlink_message_t *msg
 /**
  * @brief Get field latitude from gps_global_origin message
  *
- * @return Latitude (WGS84), in degrees * 1E7
+ * @return Latitude (WGS84)
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
 {
@@ -240,7 +240,7 @@ static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_m
 /**
  * @brief Get field longitude from gps_global_origin message
  *
- * @return Longitude (WGS84), in degrees * 1E7
+ * @return Longitude (WGS84)
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 {
@@ -250,7 +250,7 @@ static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_
 /**
  * @brief Get field altitude from gps_global_origin message
  *
- * @return Altitude (AMSL), in meters * 1000 (positive for up)
+ * @return Altitude (AMSL). Positive for up.
  */
 static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
 {
@@ -260,7 +260,7 @@ static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_m
 /**
  * @brief Get field time_usec from gps_global_origin message
  *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_gps_global_origin_get_time_usec(const mavlink_message_t* msg)
 {

common/mavlink_msg_gps_rtk.h

@@ -5,17 +5,17 @@
 
 MAVPACKED(
 typedef struct __mavlink_gps_rtk_t {
- uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received in ms.*/
+ uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received.*/
  uint32_t tow; /*< GPS Time of Week of last baseline*/
- int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component in mm.*/
- int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component in mm.*/
- int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component in mm.*/
+ int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component.*/
+ int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component.*/
+ int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component.*/
  uint32_t accuracy; /*< Current estimate of baseline accuracy.*/
  int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/
  uint16_t wn; /*< GPS Week Number of last baseline*/
  uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/
  uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
- uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
+ uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS*/
  uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
  uint8_t baseline_coords_type; /*< Coordinate system of baseline*/
 }) mavlink_gps_rtk_t;
@@ -77,17 +77,17 @@ typedef struct __mavlink_gps_rtk_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -141,17 +141,17 @@ static inline uint16_t mavlink_msg_gps_rtk_pack(uint8_t system_id, uint8_t compo
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  * @return length of the message in bytes (excluding serial stream start sign)
@@ -231,17 +231,17 @@ static inline uint16_t mavlink_msg_gps_rtk_encode_chan(uint8_t system_id, uint8_
  * @brief Send a gps_rtk message
  * @param chan MAVLink channel to send the message
  *
- * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
+ * @param time_last_baseline_ms Time since boot of last baseline message received.
  * @param rtk_receiver_id Identification of connected RTK receiver.
  * @param wn GPS Week Number of last baseline
  * @param tow GPS Time of Week of last baseline
  * @param rtk_health GPS-specific health report for RTK data.
- * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
+ * @param rtk_rate Rate of baseline messages being received by GPS
  * @param nsats Current number of sats used for RTK calculation.
  * @param baseline_coords_type Coordinate system of baseline
- * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
- * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
- * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
+ * @param baseline_a_mm Current baseline in ECEF x or NED north component.
+ * @param baseline_b_mm Current baseline in ECEF y or NED east component.
+ * @param baseline_c_mm Current baseline in ECEF z or NED down component.
  * @param accuracy Current estimate of baseline accuracy.
  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  */
@@ -356,7 +356,7 @@ static inline void mavlink_msg_gps_rtk_send_buf(mavlink_message_t *msgbuf, mavli
 /**
  * @brief Get field time_last_baseline_ms from gps_rtk message
  *
- * @return Time since boot of last baseline message received in ms.
+ * @return Time since boot of last baseline message received.
  */
 static inline uint32_t mavlink_msg_gps_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
 {
@@ -406,7 +406,7 @@ static inline uint8_t mavlink_msg_gps_rtk_get_rtk_health(const mavlink_message_t
 /**
  * @brief Get field rtk_rate from gps_rtk message
  *
- * @return Rate of baseline messages being received by GPS, in HZ
+ * @return Rate of baseline messages being received by GPS
  */
 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_rate(const mavlink_message_t* msg)
 {
@@ -436,7 +436,7 @@ static inline uint8_t mavlink_msg_gps_rtk_get_baseline_coords_type(const mavlink
 /**
  * @brief Get field baseline_a_mm from gps_rtk message
  *
- * @return Current baseline in ECEF x or NED north component in mm.
+ * @return Current baseline in ECEF x or NED north component.
  */
 static inline int32_t mavlink_msg_gps_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
 {
@@ -446,7 +446,7 @@ static inline int32_t mavlink_msg_gps_rtk_get_baseline_a_mm(const mavlink_messag
 /**
  * @brief Get field baseline_b_mm from gps_rtk message
  *
- * @return Current baseline in ECEF y or NED east component in mm.
+ * @return Current baseline in ECEF y or NED east component.
  */
 static inline int32_t mavlink_msg_gps_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
 {
@@ -456,7 +456,7 @@ static inline int32_t mavlink_msg_gps_rtk_get_baseline_b_mm(const mavlink_messag
 /**
  * @brief Get field baseline_c_mm from gps_rtk message
  *
- * @return Current baseline in ECEF z or NED down component in mm.
+ * @return Current baseline in ECEF z or NED down component.
  */
 static inline int32_t mavlink_msg_gps_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
 {

common/mavlink_msg_heartbeat.h

@@ -6,10 +6,10 @@
 MAVPACKED(
 typedef struct __mavlink_heartbeat_t {
  uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags*/
- uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
- uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
- uint8_t base_mode; /*< System mode bitfield, as defined by MAV_MODE_FLAG enum*/
- uint8_t system_status; /*< System status flag, as defined by MAV_STATE enum*/
+ uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc.)*/
+ uint8_t autopilot; /*< Autopilot type / class.*/
+ uint8_t base_mode; /*< System mode bitfield.*/
+ uint8_t system_status; /*< System status flag.*/
  uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
 }) mavlink_heartbeat_t;
 
@@ -56,11 +56,11 @@ typedef struct __mavlink_heartbeat_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, as defined by MAV_MODE_FLAG enum
+ * @param type Type of the MAV (quadrotor, helicopter, etc.)
+ * @param autopilot Autopilot type / class.
+ * @param base_mode System mode bitfield.
  * @param custom_mode A bitfield for use for autopilot-specific flags
- * @param system_status System status flag, as defined by MAV_STATE enum
+ * @param system_status System status flag.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
@@ -98,11 +98,11 @@ static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t com
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, as defined by MAV_MODE_FLAG enum
+ * @param type Type of the MAV (quadrotor, helicopter, etc.)
+ * @param autopilot Autopilot type / class.
+ * @param base_mode System mode bitfield.
  * @param custom_mode A bitfield for use for autopilot-specific flags
- * @param system_status System status flag, as defined by MAV_STATE enum
+ * @param system_status System status flag.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
@@ -166,11 +166,11 @@ static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint
  * @brief Send a heartbeat message
  * @param chan MAVLink channel to send the message
  *
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, as defined by MAV_MODE_FLAG enum
+ * @param type Type of the MAV (quadrotor, helicopter, etc.)
+ * @param autopilot Autopilot type / class.
+ * @param base_mode System mode bitfield.
  * @param custom_mode A bitfield for use for autopilot-specific flags
- * @param system_status System status flag, as defined by MAV_STATE enum
+ * @param system_status System status flag.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
@@ -255,7 +255,7 @@ static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mav
 /**
  * @brief Get field type from heartbeat message
  *
- * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ * @return Type of the MAV (quadrotor, helicopter, etc.)
  */
 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
 {
@@ -265,7 +265,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* ms
 /**
  * @brief Get field autopilot from heartbeat message
  *
- * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ * @return Autopilot type / class.
  */
 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
 {
@@ -275,7 +275,7 @@ static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_
 /**
  * @brief Get field base_mode from heartbeat message
  *
- * @return System mode bitfield, as defined by MAV_MODE_FLAG enum
+ * @return System mode bitfield.
  */
 static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
 {
@@ -295,7 +295,7 @@ static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_messa
 /**
  * @brief Get field system_status from heartbeat message
  *
- * @return System status flag, as defined by MAV_STATE enum
+ * @return System status flag.
  */
 static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
 {

common/mavlink_msg_hil_actuator_controls.h

@@ -5,10 +5,10 @@
 
 MAVPACKED(
 typedef struct __mavlink_hil_actuator_controls_t {
- uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
+ uint64_t time_usec; /*< Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
  uint64_t flags; /*< Flags as bitfield, reserved for future use.*/
  float controls[16]; /*< Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
- uint8_t mode; /*< System mode (MAV_MODE), includes arming state.*/
+ uint8_t mode; /*< System mode. Includes arming state.*/
 }) mavlink_hil_actuator_controls_t;
 
 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
@@ -50,9 +50,9 @@ typedef struct __mavlink_hil_actuator_controls_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
- * @param mode System mode (MAV_MODE), includes arming state.
+ * @param mode System mode. Includes arming state.
  * @param flags Flags as bitfield, reserved for future use.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -85,9 +85,9 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id,
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
- * @param mode System mode (MAV_MODE), includes arming state.
+ * @param mode System mode. Includes arming state.
  * @param flags Flags as bitfield, reserved for future use.
  * @return length of the message in bytes (excluding serial stream start sign)
  */
@@ -146,9 +146,9 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t sys
  * @brief Send a hil_actuator_controls message
  * @param chan MAVLink channel to send the message
  *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @param time_usec Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  * @param controls Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
- * @param mode System mode (MAV_MODE), includes arming state.
+ * @param mode System mode. Includes arming state.
  * @param flags Flags as bitfield, reserved for future use.
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
@@ -222,7 +222,7 @@ static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t
 /**
  * @brief Get field time_usec from hil_actuator_controls message
  *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ * @return Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
  */
 static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
 {
@@ -242,7 +242,7 @@ static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavl
 /**
  * @brief Get field mode from hil_actuator_controls message
  *
- * @return System mode (MAV_MODE), includes arming state.
+ * @return System mode. Includes arming state.
  */
 static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
 {