Merge branch 'main' into pr-ekf2_dist_sensor_validation

msg/CMakeLists.txt

@@ -81,7 +81,7 @@ set(msg_files
 	EstimatorStates.msg
 	EstimatorStatus.msg
 	EstimatorStatusFlags.msg
-	Event.msg
+	versioned/Event.msg
 	FigureEightStatus.msg
 	FailsafeFlags.msg
 	FailureDetectorStatus.msg
@@ -90,6 +90,9 @@ set(msg_files
 	FollowTargetEstimator.msg
 	FollowTargetStatus.msg
 	FuelTankStatus.msg
+	FixedWingLateralGuidanceStatus.msg
+	FixedWingLateralStatus.msg
+	FixedWingRunwayControl.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
 	GeofenceStatus.msg
@@ -137,7 +140,6 @@ set(msg_files
 	NavigatorMissionItem.msg
 	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
-	NpfgStatus.msg
 	ObstacleDistance.msg
 	OffboardControlMode.msg
 	OnboardComputerStatus.msg
@@ -241,8 +243,12 @@ set(msg_files
 	versioned/ArmingCheckRequest.msg
 	versioned/BatteryStatus.msg
 	versioned/ConfigOverrides.msg
+	versioned/FixedWingLateralSetpoint.msg
+	versioned/FixedWingLongitudinalSetpoint.msg
 	versioned/GotoSetpoint.msg
 	versioned/HomePosition.msg
+	versioned/LateralControlConfiguration.msg
+	versioned/LongitudinalControlConfiguration.msg
 	versioned/ManualControlSetpoint.msg
 	versioned/ModeCompleted.msg
 	versioned/RegisterExtComponentReply.msg

msg/CellularStatus.msg

@@ -2,37 +2,37 @@
 #
 # This is currently used only for logging cell status from MAVLink.
 
-uint64 timestamp # Time since system start [us]
+uint64 timestamp # [us] Time since system start.
 
-uint16 status # Status bitmap [@enum STATUS_FLAG]
-uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable
-uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable
-uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized
-uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked
-uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down
-uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
-uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
-uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
-uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register
-uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use
-uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
-uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
-uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected
+uint16 status # [@enum STATUS_FLAG] Status bitmap.
+uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable.
+uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable.
+uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized.
+uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked.
+uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down.
+uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state.
+uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state.
+uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections.
+uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register.
+uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use.
+uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated.
+uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered.
+uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected.
 
-uint8 failure_reason # Failure reason [@enum FAILURE_REASON]
-uint8 FAILURE_REASON_NONE = 0 # No error
-uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown
-uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing
-uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection
+uint8 failure_reason # [@enum FAILURE_REASON] Failure reason.
+uint8 FAILURE_REASON_NONE = 0 # No error.
+uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown.
+uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing.
+uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection.
 
-uint8 type # Cellular network radio type [@enum CELLULAR_NETWORK_RADIO_TYPE]
-uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0
-uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1
-uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2
-uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3
-uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4
+uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type.
+uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
+uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
+uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE
 
-uint8 quality # Cellular network RSSI/RSRP, absolute value [dBm]
-uint16 mcc # Mobile country code. [@invalid UINT16_MAX]
-uint16 mnc # Mobile network code. [@invalid UINT16_MAX]
-uint16 lac # Location area code. [@invalid 0]
+uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value.
+uint16 mcc # [@invalid UINT16_MAX] Mobile country code.
+uint16 mnc # [@invalid UINT16_MAX] Mobile network code.
+uint16 lac # [@invalid 0] Location area code.

msg/FailsafeFlags.msg

@@ -12,6 +12,7 @@ uint32 mode_req_local_alt
 uint32 mode_req_local_position
 uint32 mode_req_local_position_relaxed
 uint32 mode_req_global_position
+uint32 mode_req_global_position_relaxed
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
@@ -29,6 +30,7 @@ bool local_position_invalid           # Local position estimate invalid
 bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
 bool local_velocity_invalid           # Local velocity estimate invalid
 bool global_position_invalid          # Global position estimate invalid
+bool global_position_invalid_relaxed  # Global position estimate invalid with relaxed accuracy requirements
 bool auto_mission_missing             # No mission available
 bool offboard_control_signal_lost     # Offboard signal lost
 bool home_position_invalid            # No home position available
@@ -48,7 +50,7 @@ bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
-bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid
+bool position_accuracy_low            # Position estimate has dropped below threshold, but is currently still declared valid
 bool navigator_failure        	      # Navigator failed to execute a mode
 
 # Failure detector

msg/FixedWingLateralGuidanceStatus.msg

@@ -0,0 +1,13 @@
+# Fixed Wing Lateral Guidance Status message
+# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+
+uint64 timestamp                # time since system start (microseconds)
+
+float32 course_setpoint         # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
+float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
+float32 bearing_feas            # [@range 0,1] bearing feasibility
+float32 bearing_feas_on_track   # [@range 0,1] on-track bearing feasibility
+float32 signed_track_error      # [m] signed track error
+float32 track_error_bound       # [m] track error bound
+float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
+uint8 wind_est_valid            # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)

msg/FixedWingLateralStatus.msg

@@ -0,0 +1,7 @@
+# Fixed Wing Lateral Status message
+# Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
+
+uint64 timestamp                         # time since system start (microseconds)
+
+float32 lateral_acceleration_setpoint    # [m/s^2] [FRD] resultant lateral acceleration setpoint
+float32 can_run_factor 	 	         # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint

msg/FixedWingRunwayControl.msg

@@ -0,0 +1,8 @@
+# Auxiliary control fields for fixed-wing runway takeoff/landing
+
+# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
+
+uint64 timestamp # [us] time since system start
+
+bool wheel_steering_enabled		# Flag that enables the wheel steering.
+float32 wheel_steering_nudging_rate	# [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.

msg/InternalCombustionEngineControl.msg

@@ -1,8 +1,8 @@
 uint64 timestamp        		# time since system start (microseconds)
 
-bool ignition_on          		# activate/deactivate ignition (Spark Plug)
-float32 throttle_control		# [0,1] - Motor should idle with 0. Includes slew rate if enabled.
-float32 choke_control			# [0,1] - 1 fully closes the air inlet.
-float32 starter_engine_control		# [0,1] - control value for electric starter motor.
+bool ignition_on          		# activate/deactivate ignition (spark plug)
+float32 throttle_control		# setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor]
+float32 choke_control			# setpoint for choke actuator, 1: fully closed [norm] [@range 0,1]
+float32 starter_engine_control		# setpoint for (electric) starter motor [norm] [@range 0,1]
 
 uint8 user_request			# user intent for the ICE being on/off

msg/NpfgStatus.msg

@@ -1,17 +0,0 @@
-uint64 timestamp                # time since system start (microseconds)
-
-uint8 wind_est_valid            # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
-float32 lat_accel               # resultant lateral acceleration reference [m/s^2]
-float32 lat_accel_ff            # lateral acceleration demand only for maintaining curvature [m/s^2]
-float32 bearing_feas            # bearing feasibility [0,1]
-float32 bearing_feas_on_track   # on-track bearing feasibility [0,1]
-float32 signed_track_error      # signed track error [m]
-float32 track_error_bound       # track error bound [m]
-float32 airspeed_ref            # (true) airspeed reference [m/s]
-float32 bearing                 # bearing angle [rad]
-float32 heading_ref             # heading angle reference [rad]
-float32 min_ground_speed_ref    # minimum forward ground speed reference [m/s]
-float32 adapted_period          # adapted period (if auto-tuning enabled) [s]
-float32 p_gain                  # controller proportional gain [rad/s]
-float32 time_const              # controller time constant [s]
-float32 can_run_factor 	 	# estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]

msg/RateCtrlStatus.msg

@@ -4,4 +4,3 @@ uint64 timestamp		# time since system start (microseconds)
 float32 rollspeed_integ
 float32 pitchspeed_integ
 float32 yawspeed_integ
-float32 wheel_rate_integ	# FW only and optional

msg/RoverPositionSetpoint.msg

@@ -1,6 +1,8 @@
 uint64 timestamp # time since system start (microseconds)
 
 float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
-float32 cruising_speed  # (Optional) Specify rover speed (Defaults to maximum speed)
+float32[2] start_ned	# (Optional) 2-dimensional start position in NED frame used to define the line that the rover will track to position_ned [m] (Defaults to vehicle position)
+float32 cruising_speed  # (Optional) Specify rover speed [m/s] (Defaults to maximum speed)
+float32 arrival_speed   # (Optional) Specify arrival speed [m/s] (Defaults to zero)
 
-float32 yaw             # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only.
+float32 yaw             # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)

msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg

@@ -0,0 +1,34 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+EventV0[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4

msg/px4_msgs_old/msg/EventV0.msg

@@ -0,0 +1,14 @@
+# this message is required here in the msg_old folder because other msg are depending on it
+# Events interface
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint32 id                   # Event ID
+uint16 event_sequence       # Event sequence number
+uint8[25] arguments         # (optional) arguments, depend on event id
+
+uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external
+
+uint8 ORB_QUEUE_LENGTH = 16

msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg

@@ -0,0 +1,18 @@
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp		# time since system start (microseconds)
+
+float32 yaw_sp_move_rate	# rad/s (commanded by user)
+
+# For quaternion-based attitude control
+float32[4] q_d			# Desired quaternion for quaternion control
+
+# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
+# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
+float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]
+
+bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
+
+bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
+
+# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

msg/translation_node/translations/all_translations.h

@@ -12,3 +12,6 @@
 
 #include "translation_vehicle_status_v1.h"
 #include "translation_airspeed_validated_v1.h"
+#include "translation_vehicle_attitude_setpoint_v1.h"
+#include "translation_arming_check_reply_v1.h"
+#include "translation_event_v1.h"

msg/translation_node/translations/translation_arming_check_reply_v1.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ArmingCheckReply v0 <--> v1
+#include <px4_msgs_old/msg/arming_check_reply_v0.hpp>
+#include <px4_msgs/msg/arming_check_reply.hpp>
+#include "translation_event_v1.h"
+
+class ArmingCheckReplyV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::ArmingCheckReplyV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::ArmingCheckReply;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "/fmu/in/arming_check_reply";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+
+	    msg_newer.request_id = msg_older.request_id;
+	    msg_newer.registration_id = msg_older.registration_id;
+
+	    msg_newer.health_component_index = msg_older.health_component_index;
+	    msg_newer.health_component_is_present = msg_older.health_component_is_present;
+	    msg_newer.health_component_warning = msg_older.health_component_warning;
+	    msg_newer.health_component_error = msg_older.health_component_error;
+
+	    msg_newer.can_arm_and_run = msg_older.can_arm_and_run;
+
+
+	    for (std::size_t i = 0; i < msg_newer.events.size();i++) {
+		    EventV1Translation::fromOlder(msg_older.events.at(i), msg_newer.events.at(i));
+	    }
+
+
+	    msg_newer.mode_req_angular_velocity = msg_older.mode_req_angular_velocity;
+	    msg_newer.mode_req_attitude = msg_older.mode_req_attitude;
+	    msg_newer.mode_req_local_alt = msg_older.mode_req_local_alt;
+	    msg_newer.mode_req_local_position = msg_older.mode_req_local_position;
+	    msg_newer.mode_req_local_position_relaxed = msg_older.mode_req_local_position_relaxed;
+	    msg_newer.mode_req_global_position = msg_older.mode_req_global_position;
+	    msg_newer.mode_req_global_position_relaxed = false;
+	    msg_newer.mode_req_mission = msg_older.mode_req_mission;
+	    msg_newer.mode_req_home_position = msg_older.mode_req_home_position;
+	    msg_newer.mode_req_prevent_arming = msg_older.mode_req_prevent_arming;
+	    msg_newer.mode_req_manual_control = msg_older.mode_req_manual_control;
+
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+
+	    msg_older.request_id = msg_newer.request_id;
+	    msg_older.registration_id = msg_newer.registration_id;
+
+	    msg_older.health_component_index = msg_newer.health_component_index;
+	    msg_older.health_component_is_present = msg_newer.health_component_is_present;
+	    msg_older.health_component_warning = msg_newer.health_component_warning;
+	    msg_older.health_component_error = msg_newer.health_component_error;
+
+	    msg_older.can_arm_and_run = msg_newer.can_arm_and_run;
+
+	    for (std::size_t i = 0; i < msg_older.events.size();i++) {
+		    EventV1Translation::toOlder(msg_newer.events.at(i), msg_older.events.at(i));
+	    }
+
+	    msg_older.mode_req_angular_velocity = msg_newer.mode_req_angular_velocity;
+	    msg_older.mode_req_attitude = msg_newer.mode_req_attitude;
+	    msg_older.mode_req_local_alt = msg_newer.mode_req_local_alt;
+	    msg_older.mode_req_local_position = msg_newer.mode_req_local_position;
+	    msg_older.mode_req_global_position = msg_newer.mode_req_global_position;
+	    msg_older.mode_req_mission = msg_newer.mode_req_mission;
+	    msg_older.mode_req_home_position = msg_newer.mode_req_home_position;
+	    msg_older.mode_req_prevent_arming = msg_newer.mode_req_prevent_arming;
+	    msg_older.mode_req_manual_control = msg_newer.mode_req_manual_control;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckReplyV1Translation);

msg/translation_node/translations/translation_event_v1.h

@@ -0,0 +1,38 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate Event v0 <--> v1
+#include <px4_msgs_old/msg/event_v0.hpp>
+#include <px4_msgs/msg/event.hpp>
+
+class EventV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::EventV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::Event;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "fmu/out/event";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+	    msg_newer.id = msg_older.id;
+	    msg_newer.event_sequence = msg_older.event_sequence;
+	    msg_newer.arguments = msg_older.arguments;
+	    msg_newer.log_levels = msg_older.log_levels;
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+	    msg_older.id = msg_newer.id;
+	    msg_older.event_sequence = msg_newer.event_sequence;
+	    msg_older.arguments = msg_newer.arguments;
+	    msg_older.log_levels = msg_newer.log_levels;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(EventV1Translation);

msg/translation_node/translations/translation_vehicle_attitude_setpoint_v1.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate VehicleAttitudeSetpoint v0 <--> v1
+#include <px4_msgs_old/msg/vehicle_attitude_setpoint_v0.hpp>
+#include <px4_msgs/msg/vehicle_attitude_setpoint.hpp>
+
+class VehicleAttitudeSetpointV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::VehicleAttitudeSetpointV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::VehicleAttitudeSetpoint;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/in/vehicle_attitude_setpoint";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		// Set msg_newer from msg_older
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.yaw_sp_move_rate = msg_older.yaw_sp_move_rate;
+		msg_newer.q_d[0] = msg_older.q_d[0];
+		msg_newer.q_d[1] = msg_older.q_d[1];
+		msg_newer.q_d[2] = msg_older.q_d[2];
+		msg_newer.q_d[3] = msg_older.q_d[3];
+		msg_newer.thrust_body[0] = msg_older.thrust_body[0];
+		msg_newer.thrust_body[1] = msg_older.thrust_body[1];
+		msg_newer.thrust_body[2] = msg_older.thrust_body[2];
+
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		// Set msg_older from msg_newer
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.yaw_sp_move_rate = msg_newer.yaw_sp_move_rate;
+		msg_older.q_d[0] = msg_newer.q_d[0];
+		msg_older.q_d[1] = msg_newer.q_d[1];
+		msg_older.q_d[2] = msg_newer.q_d[2];
+		msg_older.q_d[3] = msg_newer.q_d[3];
+		msg_older.thrust_body[0] = msg_newer.thrust_body[0];
+		msg_older.thrust_body[1] = msg_newer.thrust_body[1];
+		msg_older.thrust_body[2] = msg_newer.thrust_body[2];
+
+		msg_older.reset_integral = false;
+		msg_older.fw_control_yaw_wheel = false;
+
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeSetpointV1Translation);

msg/versioned/ArmingCheckReply.msg

@@ -1,34 +1,43 @@
-uint32 MESSAGE_VERSION = 0
+# Arming check reply.
+#
+# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
+# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
+# The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
+#
+# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
+# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
 
-uint64 timestamp # time since system start (microseconds)
+uint32 MESSAGE_VERSION = 1
 
-uint8 request_id
-uint8 registration_id
+uint64 timestamp # [us] Time since system start.
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+uint8 request_id # Id of ArmingCheckRequest for which this is a response.
+uint8 registration_id # Id of external component emitting this response.
 
-uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
-bool health_component_is_present
-bool health_component_warning
-bool health_component_error
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
 
-bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
 
-uint8 num_events
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
 
-Event[5] events
+uint8 num_events # Number of queued failure messages (Event) in the events field.
+
+Event[5] events # Arming failure reasons (Queue of events to report to GCS).
 
 # Mode requirements
-bool mode_req_angular_velocity
-bool mode_req_attitude
-bool mode_req_local_alt
-bool mode_req_local_position
-bool mode_req_local_position_relaxed
-bool mode_req_global_position
-bool mode_req_mission
-bool mode_req_home_position
-bool mode_req_prevent_arming
-bool mode_req_manual_control
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_attitude # Requires an attitude estimate.
+bool mode_req_local_alt # Requires a local altitude estimate.
+bool mode_req_local_position # Requires a local position estimate.
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
+bool mode_req_global_position # Requires a global position estimate.
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
+bool mode_req_mission # Requires an uploaded mission.
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
+bool mode_req_manual_control # Requires a manual controller
 
-
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 4 #

msg/versioned/ArmingCheckRequest.msg

@@ -1,7 +1,14 @@
+# Arming check request.
+#
+# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+#
+# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-# broadcast message to request all registered arming checks to be reported
-
-uint8 request_id
+uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.

msg/versioned/Event.msg

@@ -1,4 +1,6 @@
 # Events interface
+uint32 MESSAGE_VERSION = 1
+
 uint64 timestamp			# time since system start (microseconds)
 
 uint32 id                   # Event ID

msg/versioned/FixedWingLateralSetpoint.msg

@@ -0,0 +1,11 @@
+# Fixed Wing Lateral Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 course 				# [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction    		# [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

msg/versioned/FixedWingLongitudinalSetpoint.msg

@@ -0,0 +1,14 @@
+# Fixed Wing Longitudinal Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+# If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 altitude  			# [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate 			# [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed 		# [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct 			# [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct 		# [norm] [@range 0,1] NAN if not controlled, overrides total energy controller

msg/versioned/LateralControlConfiguration.msg

@@ -0,0 +1,8 @@
+# Fixed Wing Lateral Control Configuration message
+# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp          # time since system start (microseconds)
+
+float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY

msg/versioned/LongitudinalControlConfiguration.msg

@@ -0,0 +1,17 @@
+# Fixed Wing Longitudinal Control Configuration message
+# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+# and configure the resultant setpoints.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 pitch_min   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
+float32 pitch_max   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
+float32 throttle_min 			# [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
+float32 throttle_max 			# [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
+float32 climb_rate_target 		# [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target 		# [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight 			# [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition 	# [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
+bool disable_underspeed_protection 	# [boolean] if true, underspeed handling is disabled in the altitude controller

msg/versioned/VehicleAttitudeSetpoint.msg

@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp		# time since system start (microseconds)
 
@@ -11,8 +11,4 @@ float32[4] q_d			# Desired quaternion for quaternion control
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
 float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]
 
-bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
-
-bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
-
 # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

msg/versioned/VehicleCommand.msg

@@ -3,127 +3,127 @@
 
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp					# time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command
-uint16 VEHICLE_CMD_CUSTOM_1 = 1				# test command
-uint16 VEHICLE_CMD_CUSTOM_2 = 2				# test command
-uint16 VEHICLE_CMD_NAV_WAYPOINT = 16			# Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17		# Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18		# Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19			# Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|Yaw angle in NED if yaw source available, ignored otherwise [deg] [@range 0,360]|Latitude (WGS-84)|Longitude (WGS-84)|Altitude AMSL [m]|
-uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
-uint16 VEHICLE_CMD_DO_ORBIT = 34			# Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
-uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35        		# Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
-uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
-uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
-uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85			# Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_DELAY = 93				# Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_LAST = 95			# NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113		# Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
-uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114		# Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_YAW = 115			# Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_LAST = 159			# NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_CONDITION_GATE = 4501		# Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|
-uint16 VEHICLE_CMD_DO_SET_MODE = 176			# Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_JUMP = 177			# Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178		# Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_HOME = 179			# Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180		# Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_RELAY = 181			# Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182		# Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186		# Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187		# Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index|
-uint16 VEHICLE_CMD_DO_LAND_START = 189			# Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|
-uint16 VEHICLE_CMD_DO_GO_AROUND = 191			# Mission command to safely abort an autonomous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_REPOSITION = 192			# Reposition to specific WGS84 GPS position. |Ground speed [m/s] |Bitmask |Loiter radius [m] for planes |Yaw	[deg] |Latitude	|Longitude |Altitude |
+uint16 VEHICLE_CMD_CUSTOM_0 = 0 # Test command.
+uint16 VEHICLE_CMD_CUSTOM_1 = 1 # Test command.
+uint16 VEHICLE_CMD_CUSTOM_2 = 2 # Test command.
+uint16 VEHICLE_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. |[s] (decimal) Hold time. (ignored by fixed wing, time to stay at MISSION for rotary wing)|[m] Acceptance radius (if the sphere with this radius is hit, the MISSION counts as reached)|0 to pass through the WP, if > 0 radius [m] to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.|Desired yaw angle at MISSION (rotary wing)|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time. |Unused|Unused|[m] Radius around MISSION. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns. |Turns|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for time. |[s] Seconds (decimal)|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand. |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|[deg] [@range 0,360] Yaw angle in NED if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude AMSL|
+uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing.
+uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |[m] Radius|[m/s] Velocity|[@enum ORBIT_YAW_BEHAVIOUR] Yaw behaviour|Unused|Latitude/X|Longitude/Y|Altitude/Z|
+uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
+uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
+uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
+uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout  - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time. |[s] Delay (decimal, -1 to enable time-of-day fields)|[h] hour (24h format, UTC, -1 to ignore)|minute (24h format, UTC, -1 to ignore)|second (24h format, UTC)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration.|Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |[s] Delay (decimal seconds)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired altitude reached.|Descent / Ascend rate (m/s)|Unused|Unused|Unused|Unused|Unused|Finish Altitude|
+uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV point. |Distance [m]|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_YAW = 115 # Reach a certain target angle. |[deg] [@range 0,360] Target angle. 0 is north|[deg/s] Speed during yaw change|[@range -1,1] Direction: negative: counter clockwise, positive: clockwise |[ 1,0] Relative offset or absolute angle|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_CONDITION_GATE = 4501 # Wait until passing a threshold. |2D coord mode: 0: Orthogonal to planned route|Altitude mode: 0: Ignore altitude|Unused|Unused|Lat|Lon|Alt|
+uint16 VEHICLE_CMD_DO_SET_MODE = 176 # Set system mode. |Mode, as defined by ENUM MAV_MODE|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action only the specified number of times. |Sequence number|Repeat count|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. |[@enum SPEED_TYPE] Speed type (0=Airspeed, 1=Ground Speed)|Speed (m/s, -1 indicates no change)|[%] Throttle ( Percent, -1 indicates no change)|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)|Unused|Unused|Unused|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number|Parameter value|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number|Setting (1=on, 0=off, others possible depending on system hardware)|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number|Cycle count|[s] Cycle time (decimal seconds)|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number|[us] PWM rate (1000 to 2000 typical)|Cycle count|[s] Cycle time|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately. |Flight termination activated if > 0.5|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value. |Altitude|Frame of new altitude|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1|Actuator 2|Actuator 3|Actuator 4|Actuator 5|Actuator 6|Index|
+uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Unused|Unused|Unused|Unused|Latitude|Longitude|Unused|
+uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |[m] Altitude|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |[m/s] Ground speed|Bitmask|[m] Loiter radius for planes|[deg] Yaw|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
-uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195		# Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
-uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 	# Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
-uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197		# Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_SET_ROI = 201			# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
+uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Pitch offset from next waypoint|Roll offset from next waypoint|Yaw offset from next waypoint|
+uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197 # Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)|Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw|Transmission mode: 0: video stream, >0: single images every n seconds (decimal seconds)|Recording: 0: disabled, 1: enabled compressed, 2: enabled raw|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
 uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
-uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|
-uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set TRIG_DIST for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207			# Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_PARACHUTE=208			# Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOTOR_TEST=209			# motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
-uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210		# Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GRIPPER = 211			# Command to operate a gripper
-uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214	# Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220		# Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221			# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222			# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_DO_LAST = 240			# NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241		# Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
-uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
-uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242	# Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
-uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243		# UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
-uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245		# Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246	# Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260			# Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
-uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262		# Enable the specified standard MAVLink mode |MAV_STANDARD_MODE|
-uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283	# Command to ask information about a low level gimbal
+uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204 # Mission command to configure a camera or antenna mount. |[@enum MAV_MOUNT_MODE] Mount operation mode|Stabilize roll? (1 = yes, 0 = no)|Stabilize pitch? (1 = yes, 0 = no)|stabilize yaw? (1 = yes, 0 = no)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205 # Mission command to control a camera or antenna mount. |[deg] Pitch or lat, depending on mount mode.|[deg] Roll or lon depending on mount mode|[deg]/[m] Yaw or alt depending on mount mode|Unused|Unused|Unused|[@enum MAV_MOUNT_MODE]|
+uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206 # Mission command to set TRIG_DIST for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofence. |enable? (0=disable, 1=enable)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |action [@enum PARACHUTE_ACTION] (0=disable, 1=enable, 2=release, for some systems see [@enum PARACHUTE_ACTION], not in general message set.)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
+uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min(AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See MAVLink spec MAV_CMD_PREFLIGHT_CALIBRATION.
+uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration.
+uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow|X axis offset (or generic dimension 1), in the sensor's raw units|Y axis offset (or generic dimension 2), in the sensor's raw units|Z axis offset (or generic dimension 3), in the sensor's raw units|Generic dimension 4, in the sensor's raw units|Generic dimension 5, in the sensor's raw units|Generic dimension 6, in the sensor's raw units|
+uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started.
+uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.|0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.|Unused|Unused|Unused|Unused|Unused|
+uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Camera minimum trigger interval|Number of positions|Roll|Pitch|Unused|
+uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode. |MAV_STANDARD_MODE|
+uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
 
-uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
-uint16 VEHICLE_CMD_ACTUATOR_TEST = 310			# Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
-uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311		# Actuator configuration command|configuration|Empty|Empty|Empty|output function|
-uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm
-uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401      	# Instructs a target system to run pre-arm checks.
-uint16 VEHICLE_CMD_INJECT_FAILURE = 420			# Inject artificial failure for testing purposes
-uint16 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
-uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512    		# Request to send a single instance of the specified message
-uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521     # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|
-uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530		# Set camera capture mode (photo, video, etc.)
-uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531		# Set camera zoom
+uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
+uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
+uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
+uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
+uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
+uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
+uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing. |0:Spektrum|0:Spektrum DSM2, 1:Spektrum DSMX|
+uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message.
+uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities|Reserved (all remaining params)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|
+uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
+uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 	# Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
-uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 	# Gimbal configuration to set which sysid/compid is in primary and secondary control
-uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000   	# Start image capture sequence.
-uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003		# Enable or disable on-board camera triggering system
-uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500   	# Start a video capture.
-uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501    	# Stop the current video capture.
-uint16 VEHICLE_CMD_LOGGING_START = 2510			# start streaming ULog data
-uint16 VEHICLE_CMD_LOGGING_STOP = 2511			# stop streaming ULog data
-uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600		# control starting/stopping transmitting data over the high latency link
-uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    	# Command VTOL transition
-uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001	# Request arm authorization
-uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
-uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
-uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
-uint16 VEHICLE_CMD_DO_WINCH = 42600			# Command to operate winch.
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
+uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
+uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
+uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system.
+uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500 # Start a video capture.
+uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501 # Stop the current video capture.
+uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
+uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
+uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
+uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
+uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
+uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
+uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
+uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
+uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
 
-uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning
+uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
 uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
 
-# PX4 vehicle commands (beyond 16 bit mavlink commands)
-uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|Altitude [m] (AMSL from GNSS, positive above ground)|
-uint32 VEHICLE_CMD_SET_NAV_STATE = 100001               # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
+# PX4 vehicle commands (beyond 16 bit MAVLink commands).
+uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
+uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
 
-uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
-uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
-uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2		# Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3		# Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
-uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4			# Load neutral position and start to point to Lat,Lon,Alt |
-uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5			#
+uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
+uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
+uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.
+uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization.
+uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt.
+uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
 
-uint8 VEHICLE_ROI_NONE = 0                         	# No region of interest |
-uint8 VEHICLE_ROI_WPNEXT = 1                       	# Point toward next MISSION |
-uint8 VEHICLE_ROI_WPINDEX = 2                     	# Point toward given MISSION |
-uint8 VEHICLE_ROI_LOCATION = 3                    	# Point toward fixed location |
-uint8 VEHICLE_ROI_TARGET = 4                       	# Point toward target
+uint8 VEHICLE_ROI_NONE = 0 # No region of interest.
+uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION.
+uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION.
+uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
+uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
 uint8 VEHICLE_ROI_ENUM_END = 5
 
 uint8 PARACHUTE_ACTION_DISABLE = 0
@@ -155,13 +155,13 @@ uint8 FAILURE_TYPE_SLOW = 5
 uint8 FAILURE_TYPE_DELAYED = 6
 uint8 FAILURE_TYPE_INTERMITTENT = 7
 
-# used as param1 in DO_CHANGE_SPEED command
+# Used as param1 in DO_CHANGE_SPEED command.
 uint8 SPEED_TYPE_AIRSPEED = 0
 uint8 SPEED_TYPE_GROUNDSPEED = 1
 uint8 SPEED_TYPE_CLIMB_SPEED = 2
 uint8 SPEED_TYPE_DESCEND_SPEED = 3
 
-# used as param3 in CMD_DO_ORBIT
+# Used as param3 in CMD_DO_ORBIT.
 uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
 uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
 uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
@@ -169,29 +169,29 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
 uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
 uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
 
-# used as param1 in ARM_DISARM command
+# Used as param1 in ARM_DISARM command.
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1
 
-# param2 in VEHICLE_CMD_DO_GRIPPER
+# param2 in VEHICLE_CMD_DO_GRIPPER.
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1
 
 uint8 ORB_QUEUE_LENGTH = 8
 
-float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param2			# Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param3			# Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param4			# Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float64 param5			# Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float64 param6			# Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
-float32 param7			# Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
-uint32 command			# Command ID
-uint8 target_system		# System which should execute the command
-uint8 target_component		# Component which should execute the command, 0 for all components
-uint8 source_system		# System sending the command
-uint16 source_component	# Component / mode executor sending the command
-uint8 confirmation		# 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param3 # Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
+float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
+uint32 command # Command ID.
+uint8 target_system # System which should execute the command.
+uint8 target_component # Component which should execute the command, 0 for all components.
+uint8 source_system # System sending the command.
+uint16 source_component # Component / mode executor sending the command.
+uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command).
 bool from_external
 
 uint16 COMPONENT_MODE_EXECUTOR_START = 1000