mirror of https://github.com/ArduPilot/ardupilot
186 lines
9.1 KiB
XML
186 lines
9.1 KiB
XML
<?xml version="1.0"?>
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<mavlink>
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<include>common.xml</include>
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<!-- <enums>
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<enum name="SLUGS_ACTION" >
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<description> Slugs Actions </description>
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<entry name = "SLUGS_ACTION_NONE">
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<entry name = "SLUGS_ACTION_SUCCESS">
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<entry name = "SLUGS_ACTION_FAIL">
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<entry name = "SLUGS_ACTION_EEPROM">
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<entry name = "SLUGS_ACTION_MODE_CHANGE">
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<entry name = "SLUGS_ACTION_MODE_REPORT">
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<entry name = "SLUGS_ACTION_PT_CHANGE">
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<entry name = "SLUGS_ACTION_PT_REPORT">
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<entry name = "SLUGS_ACTION_PID_CHANGE">
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<entry name = "SLUGS_ACTION_PID_REPORT">
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<entry name = "SLUGS_ACTION_WP_CHANGE">
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<entry name = "SLUGS_ACTION_WP_REPORT">
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<entry name = "SLUGS_ACTION_MLC_CHANGE">
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<entry name = "SLUGS_ACTION_MLC_REPORT">
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</enum>
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<enum name="WP_PROTOCOL_STATE" >
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<description> Waypoint Protocol States </description>
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<entry name = "WP_PROT_IDLE">
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<entry name = "WP_PROT_LIST_REQUESTED">
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<entry name = "WP_PROT_NUM_SENT">
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<entry name = "WP_PROT_TX_WP">
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<entry name = "WP_PROT_RX_WP">
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<entry name = "WP_PROT_SENDING_WP_IDLE">
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<entry name = "WP_PROT_GETTING_WP_IDLE">
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</enum>
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</enums> -->
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<messages>
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<message name="CPU_LOAD" id="170">
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Sensor and DSC control loads.
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<field name="sensLoad" type="uint8_t">Sensor DSC Load</field>
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<field name="ctrlLoad" type="uint8_t">Control DSC Load</field>
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<field name="batVolt" type="uint16_t">Battery Voltage in millivolts</field>
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</message>
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<message name="AIR_DATA" id="171">
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Air data for altitude and airspeed computation.
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<field name="dynamicPressure" type="float">Dynamic pressure (Pa)</field>
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<field name="staticPressure" type="float">Static pressure (Pa)</field>
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<field name="temperature" type="uint16_t">Board temperature</field>
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</message>
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<message name="SENSOR_BIAS" id="172">
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Accelerometer and gyro biases.
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<field name="axBias" type="float">Accelerometer X bias (m/s)</field>
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<field name="ayBias" type="float">Accelerometer Y bias (m/s)</field>
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<field name="azBias" type="float">Accelerometer Z bias (m/s)</field>
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<field name="gxBias" type="float">Gyro X bias (rad/s)</field>
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<field name="gyBias" type="float">Gyro Y bias (rad/s)</field>
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<field name="gzBias" type="float">Gyro Z bias (rad/s)</field>
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</message>
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<message name="DIAGNOSTIC" id="173">
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Configurable diagnostic messages.
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<field name="diagFl1" type="float">Diagnostic float 1</field>
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<field name="diagFl2" type="float">Diagnostic float 2</field>
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<field name="diagFl3" type="float">Diagnostic float 3</field>
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<field name="diagSh1" type="int16_t">Diagnostic short 1</field>
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<field name="diagSh2" type="int16_t">Diagnostic short 2</field>
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<field name="diagSh3" type="int16_t">Diagnostic short 3</field>
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</message>
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<message name="PILOT_CONSOLE" id="174">
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Pilot console PWM messges.
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<field name="dt" type="uint16_t">Pilot's console throttle command </field>
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<field name="dla" type="uint16_t">Pilot's console left aileron command </field>
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<field name="dra" type="uint16_t">Pilot's console right aileron command </field>
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<field name="dr" type="uint16_t">Pilot's console rudder command </field>
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<field name="de" type="uint16_t">Pilot's console elevator command </field>
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</message>
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<message name="PWM_COMMANDS" id="175">
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PWM Commands from the AP to the control surfaces.
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<field name="dt_c" type="uint16_t">AutoPilot's throttle command </field>
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<field name="dla_c" type="uint16_t">AutoPilot's left aileron command </field>
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<field name="dra_c" type="uint16_t">AutoPilot's right aileron command </field>
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<field name="dr_c" type="uint16_t">AutoPilot's rudder command </field>
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<field name="dle_c" type="uint16_t">AutoPilot's left elevator command </field>
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<field name="dre_c" type="uint16_t">AutoPilot's right elevator command </field>
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<field name="dlf_c" type="uint16_t">AutoPilot's left flap command </field>
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<field name="drf_c" type="uint16_t">AutoPilot's right flap command </field>
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<field name="aux1" type="uint16_t">AutoPilot's aux1 command </field>
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<field name="aux2" type="uint16_t">AutoPilot's aux2 command </field>
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</message>
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<message name="SLUGS_NAVIGATION" id="176">
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Data used in the navigation algorithm.
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<field name="u_m" type="float">Measured Airspeed prior to the Nav Filter</field>
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<field name="phi_c" type="float">Commanded Roll</field>
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<field name="theta_c" type="float">Commanded Pitch</field>
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<field name="psiDot_c" type="float">Commanded Turn rate</field>
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<field name="ay_body" type="float">Y component of the body acceleration</field>
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<field name="totalDist" type="float">Total Distance to Run on this leg of Navigation</field>
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<field name="dist2Go" type="float">Remaining distance to Run on this leg of Navigation</field>
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<field name="fromWP" type="uint8_t">Origin WP</field>
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<field name="toWP" type="uint8_t">Destination WP</field>
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</message>
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<message name="DATA_LOG" id="177">
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Configurable data log probes to be used inside Simulink
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<field name="fl_1" type="float">Log value 1 </field>
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<field name="fl_2" type="float">Log value 2 </field>
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<field name="fl_3" type="float">Log value 3 </field>
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<field name="fl_4" type="float">Log value 4 </field>
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<field name="fl_5" type="float">Log value 5 </field>
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<field name="fl_6" type="float">Log value 6 </field>
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</message>
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<message name="FILTERED_DATA" id="178">
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Measured value from the IMU in units after sensor calibration and temperature compensation. Note that this IS NOT the output of the attitude filter, for that see messages 30 and 33.
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<field name="aX" type="float">Accelerometer X value (m/s^2) </field>
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<field name="aY" type="float">Accelerometer Y value (m/s^2)</field>
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<field name="aZ" type="float">Accelerometer Z value (m/s^2)</field>
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<field name="gX" type="float">Gyro X value (rad/s) </field>
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<field name="gY" type="float">Gyro Y value (rad/s)</field>
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<field name="gZ" type="float">Gyro Z value (rad/s)</field>
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<field name="mX" type="float">Magnetometer X (normalized to 1) </field>
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<field name="mY" type="float">Magnetometer Y (normalized to 1) </field>
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<field name="mZ" type="float">Magnetometer Z (normalized to 1) </field>
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</message>
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<message name="GPS_DATE_TIME" id="179">
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Pilot console PWM messges.
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<field name="year" type="uint8_t">Year reported by Gps </field>
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<field name="month" type="uint8_t">Month reported by Gps </field>
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<field name="day" type="uint8_t">Day reported by Gps </field>
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<field name="hour" type="uint8_t">Hour reported by Gps </field>
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<field name="min" type="uint8_t">Min reported by Gps </field>
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<field name="sec" type="uint8_t">Sec reported by Gps </field>
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<field name="visSat" type="uint8_t">Visible sattelites reported by Gps </field>
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</message>
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<message name="MID_LVL_CMDS" id="180">
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Mid Level commands sent from the GS to the autopilot. These are only sent when being opperated in mid-level commands mode from the ground; for periodic report of these commands generated from the autopilot see message XXXX.
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<field name="target" type="uint8_t">The system setting the commands</field>
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<field name="hCommand" type="float">Commanded Airspeed</field>
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<field name="uCommand" type="float">Log value 2 </field>
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<field name="rCommand" type="float">Log value 3 </field>
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</message>
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<message name="CTRL_SRFC_PT" id="181">
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This message configures the Selective Passthrough mode. it allows to select which control surfaces the Pilot can control from his console. It is implemented as a bitfield as follows:
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Position Bit Code
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=================================
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15-8 Reserved
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7 dt_pass 128
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6 dla_pass 64
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5 dra_pass 32
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4 dr_pass 16
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3 dle_pass 8
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2 dre_pass 4
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1 dlf_pass 2
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0 drf_pass 1
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Where Bit 15 is the MSb. 0 = AP has control of the surface; 1 = Pilot Console has control of the surface.
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<field name="target" type="uint8_t">The system setting the commands</field>
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<field name="bitfieldPt" type="uint16_t">Bitfield containing the PT configuration</field>
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</message>
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<message name="PID" id="182">
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Configure a PID loop.
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<field name="target" type="uint8_t">The system setting the PID values</field>
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<field name="pVal" type="float">Proportional gain</field>
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<field name="iVal" type="float">Integral gain</field>
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<field name="dVal" type="float">Derivative gain</field>
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<field name="idx" type="uint8_t">PID loop index</field>
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</message>
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<message name="SLUGS_ACTION" id="183">
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Action messages focused on the SLUGS AP.
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<field name="target" type="uint8_t">The system reporting the action</field>
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<field name="actionId" type="uint8_t">Action ID. See apDefinitions.h in the SLUGS /clib directory for the ID names</field>
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<field name="actionVal" type="uint16_t">Value associated with the action</field>
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</message>
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</messages>
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</mavlink> |