autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/c12ec6ef34cd8818239c8ff52580771208d47b6d

ASLUAV/ASLUAV.h

@@ -96,12 +96,12 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -131,11 +131,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -144,18 +144,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -168,9 +168,9 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -180,7 +180,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */

ardupilotmega/ardupilotmega.h

@@ -114,14 +114,14 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GRIPPER=211, /* Mission command to operate EPM gripper. |1: Gripper number (a number from 1 to max number of grippers on the vehicle).| 2: Gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum).| 3: Empty.| 4: Empty.| 5: Empty.| 6: Empty.| 7: Empty.|  */
    MAV_CMD_DO_AUTOTUNE_ENABLE=212, /* Enable/disable autotune. |1: Enable (1: enable, 0:disable).| 2: Empty.| 3: Empty.| 4: Empty.| 5: Empty.| 6: Empty.| 7: Empty.|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -151,11 +151,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -164,18 +164,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -188,9 +188,9 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -200,7 +200,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
@@ -268,18 +268,6 @@ typedef enum RALLY_FLAGS
 } RALLY_FLAGS;
 #endif
 
-/** @brief  */
-#ifndef HAVE_ENUM_PARACHUTE_ACTION
-#define HAVE_ENUM_PARACHUTE_ACTION
-typedef enum PARACHUTE_ACTION
-{
-   PARACHUTE_DISABLE=0, /* Disable parachute release. | */
-   PARACHUTE_ENABLE=1, /* Enable parachute release. | */
-   PARACHUTE_RELEASE=2, /* Release parachute. | */
-   PARACHUTE_ACTION_ENUM_END=3, /*  | */
-} PARACHUTE_ACTION;
-#endif
-
 /** @brief Gripper actions. */
 #ifndef HAVE_ENUM_GRIPPER_ACTIONS
 #define HAVE_ENUM_GRIPPER_ACTIONS

autoquad/autoquad.h

@@ -140,12 +140,12 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -175,11 +175,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -188,18 +188,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -212,9 +212,9 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -224,7 +224,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */

common/common.h

@@ -491,12 +491,12 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -526,11 +526,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -539,18 +539,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -563,9 +563,9 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -575,7 +575,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
@@ -1414,6 +1414,18 @@ typedef enum PRECISION_LAND_MODE
 } PRECISION_LAND_MODE;
 #endif
 
+/** @brief  */
+#ifndef HAVE_ENUM_PARACHUTE_ACTION
+#define HAVE_ENUM_PARACHUTE_ACTION
+typedef enum PARACHUTE_ACTION
+{
+   PARACHUTE_DISABLE=0, /* Disable parachute release. | */
+   PARACHUTE_ENABLE=1, /* Enable parachute release. | */
+   PARACHUTE_RELEASE=2, /* Release parachute. | */
+   PARACHUTE_ACTION_ENUM_END=3, /*  | */
+} PARACHUTE_ACTION;
+#endif
+
 // MAVLINK VERSION
 
 #ifndef MAVLINK_VERSION

matrixpilot/matrixpilot.h

@@ -113,12 +113,12 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -148,11 +148,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -161,18 +161,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -185,9 +185,9 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -197,7 +197,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */

message_definitions/ardupilotmega.xml

@@ -275,18 +275,6 @@
         <description>Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.</description>
       </entry>
     </enum>
-    <!-- parachute action enum -->
-    <enum name="PARACHUTE_ACTION">
-      <entry value="0" name="PARACHUTE_DISABLE">
-        <description>Disable parachute release.</description>
-      </entry>
-      <entry value="1" name="PARACHUTE_ENABLE">
-        <description>Enable parachute release.</description>
-      </entry>
-      <entry value="2" name="PARACHUTE_RELEASE">
-        <description>Release parachute.</description>
-      </entry>
-    </enum>
     <!-- gripper action enum -->
     <enum name="GRIPPER_ACTIONS">
       <description>Gripper actions.</description>

message_definitions/common.xml

@@ -1336,7 +1336,7 @@
       </entry>
       <entry value="208" name="MAV_CMD_DO_PARACHUTE">
         <description>Mission command to trigger a parachute</description>
-        <param index="1">action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)</param>
+        <param index="1" label="action" enum="PARACHUTE_ACTION">action</param>
         <param index="2">Empty</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>
@@ -3193,6 +3193,18 @@
         <description>Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).</description>
       </entry>
     </enum>
+    <!-- parachute action enum -->
+    <enum name="PARACHUTE_ACTION">
+      <entry value="0" name="PARACHUTE_DISABLE">
+        <description>Disable parachute release.</description>
+      </entry>
+      <entry value="1" name="PARACHUTE_ENABLE">
+        <description>Enable parachute release.</description>
+      </entry>
+      <entry value="2" name="PARACHUTE_RELEASE">
+        <description>Release parachute.</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="0" name="HEARTBEAT">

slugs/slugs.h

@@ -96,12 +96,12 @@ typedef enum MAV_CMD
    MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |1: pitch depending on mount mode (degrees or degrees/second depending on pitch input).| 2: roll depending on mount mode (degrees or degrees/second depending on roll input).| 3: yaw depending on mount mode (degrees or degrees/second depending on yaw input).| 4: alt in meters depending on mount mode.| 5: latitude in degrees * 1E7, set if appropriate mount mode.| 6: longitude in degrees * 1E7, set if appropriate mount mode.| 7: MAV_MOUNT_MODE enum value|  */
    MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger distance (meters). 0 to stop triggering.| 2: Camera shutter integration time (milliseconds). -1 or 0 to ignore| 3: er camera once immediately. (0 = no trigger, 1 = trigger)| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |1: enable? (0=disable, 1=enable, 2=disable_floor_only)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |1: action| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |1: motor number (a number from 1 to max number of motors on the vehicle)| 2: throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| 3: throttle| 4: timeout (in seconds)| 5: motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)| 6: motor test order (See MOTOR_TEST_ORDER enum)| 7: Empty|  */
    MAV_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |1: inverted (0=normal, 1=inverted)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_NAV_SET_YAW_SPEED=213, /* Sets a desired vehicle turn angle and speed change |1: yaw angle to adjust steering by in centidegress| 2: speed - normalized to 0 .. 1| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL=214, /* Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. |1: Camera trigger cycle time (milliseconds). -1 or 0 to ignore.| 2: Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: -rotation)| 3: q3 - quaternion param #3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
+   MAV_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |1: q1 - quaternion param #1, w (1 in null-rotation)| 2: q2 - quaternion param #2, x (0 in null-rotation)| 3: 3, y (0 in null-rotation)| 4: q4 - quaternion param #4, z (0 in null-rotation)| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |1: System ID| 2: Component ID| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_GUIDED_LIMITS=222, /* Set limits for external control |1: Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout.| 2: Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.| 3: Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.| 4: Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.| 5: Empty| 6: Empty| 7: Empty|  */
    MAV_CMD_DO_ENGINE_CONTROL=223, /* Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines |1: 0: Stop engine, 1:Start Engine| 2: 0: Warm start, 1:Cold start. Controls use of choke where applicable| 3: Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
@@ -131,11 +131,11 @@ typedef enum MAV_CMD
    MAV_CMD_RESET_CAMERA_SETTINGS=529, /* Reset all camera settings to Factory Default |1: 0: No Action 1: Reset all settings| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_MODE=530, /* Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. |1: Reserved (Set to 0)| 2: Camera mode| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_CAMERA_ZOOM=531, /* Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Zoom type| 2: Zoom value. The range of valid values depend on the zoom type.| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_SET_CAMERA_FOCUS=532, /* Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. |1: Focus type| 2: Focus value| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_JUMP_TAG=600, /* Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. |1: Tag.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_JUMP_TAG=601, /* Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. |1: Target tag to jump to.| 2: Repeat count| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).| 3: Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.| 4: Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.| 5: Reserved (all remaining params)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: ved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence Use NaN for reserved values. |1: Reserved (Set to 0)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE=2002, /* Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. |1: Sequence number for missing CAMERA_IMAGE_CAPTURE message| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |1: Trigger enable/disable (0 for disable, 1 for start), -1 to ignore| 2: 1 to reset the trigger sequence, -1 or 0 to ignore| 3: 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture (recording). Use NaN for reserved values. |1: Video Stream ID (0 for all streams)| 2: Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)| 3: Reserved (all remaining params)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -144,18 +144,18 @@ typedef enum MAV_CMD
    MAV_CMD_VIDEO_STOP_STREAMING=2503, /* Stop the given video stream |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION=2504, /* Request video stream information (VIDEO_STREAM_INFORMATION) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS=2505, /* Request video stream status (VIDEO_STREAM_STATUS) |1: Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)| 2: Reserved (all remaining params)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: mat: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
+   MAV_CMD_LOGGING_START=2510, /* Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) |1: Format: 0: ULog| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_LOGGING_STOP=2511, /* Request to stop streaming log data over MAVLink |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_AIRFRAME_CONFIGURATION=2520, /*  |1: Landing gear ID (default: 0, -1 for all)| 2: Landing gear position (Down: 0, Up: 1, NaN for no change)| 3: Reserved, set to NaN| 4: Reserved, set to NaN| 5: Reserved, set to NaN| 6: Reserved, set to NaN| 7: Reserved, set to NaN|  */
    MAV_CMD_CONTROL_HIGH_LATENCY=2600, /* Request to start/stop transmitting over the high latency telemetry |1: Control transmission over high latency telemetry (0: stop, 1: start)| 2: Empty| 3: Empty| 4: Empty| 5: Empty| 6: Empty| 7: Empty|  */
-   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
+   MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |1: l of the panorama (in degrees, +- 0.5 the total angle)| 2: Viewing angle vertical of panorama (in degrees)| 3: Speed of the horizontal rotation (in degrees per second)| 4: Speed of the vertical rotation (in degrees per second)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |1: The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_ARM_AUTHORIZATION_REQUEST=3001, /* Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
          |1: Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD=4000, /* This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
                    |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE=4001, /* This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
-                   |1: Radius of desired circle in CIRCLE_MODE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
+                   |1: DE| 2: User defined| 3: User defined| 4: User defined| 5: Unscaled target latitude of center of circle in CIRCLE_MODE| 6: Unscaled target longitude of center of circle in CIRCLE_MODE| 7: Reserved (default:0)|  */
    MAV_CMD_CONDITION_GATE=4501, /* Delay mission state machine until gate has been reached. |1: Geometry: 0: orthogonal to path between previous and next waypoint.| 2: Altitude: 0: ignore altitude| 3: Empty| 4: Empty| 5: Latitude| 6: Longitude| 7: Altitude|  */
    MAV_CMD_NAV_FENCE_RETURN_POINT=5000, /* Fence return point. There can only be one fence return point.
          |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
@@ -168,7 +168,7 @@ typedef enum MAV_CMD
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION=5004, /* Circular fence area. The vehicle must stay outside this area.
          |1: radius in meters| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Reserved|  */
    MAV_CMD_NAV_RALLY_POINT=5100, /* Rally point. You can have multiple rally points defined.
-         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: Longitude| 7: Altitude|  */
+         |1: Reserved| 2: Reserved| 3: Reserved| 4: Reserved| 5: Latitude| 6: tude| 7: Altitude|  */
    MAV_CMD_UAVCAN_GET_NODE_INFO=5200, /* Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. |1: Reserved (set to 0)| 2: Reserved (set to 0)| 3: Reserved (set to 0)| 4: Reserved (set to 0)| 5: Reserved (set to 0)| 6: Reserved (set to 0)| 7: Reserved (set to 0)|  */
    MAV_CMD_DO_NOTHING=10001, /* Does nothing. |1: 1 to arm, 0 to disarm| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_RETURN_TO_BASE=10011, /* Return vehicle to base. |1: 0: return to base, 1: track mobile base| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
@@ -176,7 +176,7 @@ typedef enum MAV_CMD
    MAV_CMD_TURN_LIGHT=10013, /* Turns the vehicle's visible or infrared lights on or off. |1: 0: visible lights, 1: infrared lights| 2: 0: turn on, 1: turn off| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_GET_MID_LEVEL_COMMANDS=10014, /* Requests vehicle to send current mid-level commands to ground station. |1: Reserved (default:0)| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
    MAV_CMD_MIDLEVEL_STORAGE=10015, /* Requests storage of mid-level commands. |1: Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM| 2: Reserved (default:0)| 3: Reserved (default:0)| 4: Reserved (default:0)| 5: Reserved (default:0)| 6: Reserved (default:0)| 7: Reserved (default:0)|  */
-   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |1: Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| 2: Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| 3: Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| 4: Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| 5: Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 6: Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| 7: Altitude (MSL), in meters|  */
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY=30002, /* Control the payload deployment. |1: Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.| 2: Reserved| 3: Reserved| 4: Reserved| 5: Reserved| 6: Reserved| 7: Reserved|  */
    MAV_CMD_WAYPOINT_USER_1=31000, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_WAYPOINT_USER_2=31001, /* User defined waypoint item. Ground Station will show the Vehicle as flying through this item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
@@ -186,7 +186,7 @@ typedef enum MAV_CMD
    MAV_CMD_SPATIAL_USER_1=31005, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_2=31006, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_3=31007, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
-   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
+   MAV_CMD_SPATIAL_USER_4=31008, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: er defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_SPATIAL_USER_5=31009, /* User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: Latitude unscaled| 6: Longitude unscaled| 7: Altitude (MSL), in meters|  */
    MAV_CMD_USER_1=31010, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */
    MAV_CMD_USER_2=31011, /* User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. |1: User defined| 2: User defined| 3: User defined| 4: User defined| 5: User defined| 6: User defined| 7: User defined|  */