mirror of https://github.com/ArduPilot/ardupilot
169 lines
12 KiB
C
169 lines
12 KiB
C
/** @file
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* @brief MAVLink comm protocol.
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* @see http://pixhawk.ethz.ch/software/mavlink
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* Generated on Wednesday, May 18 2011, 03:15 UTC
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*/
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#ifndef COMMON_H
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#define COMMON_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "../protocol.h"
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#define MAVLINK_ENABLED_COMMON
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// MAVLINK VERSION
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#ifndef MAVLINK_VERSION
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#define MAVLINK_VERSION 2
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#endif
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#if (MAVLINK_VERSION == 0)
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#undef MAVLINK_VERSION
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#define MAVLINK_VERSION 2
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#endif
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// ENUM DEFINITIONS
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/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
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enum MAV_CMD
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{
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MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint.Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.Desired yaw angle at waypoint (rotary wing)LatitudeLongitudeAltitude*/
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MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of timeEmptyEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
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MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turnsTurnsEmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
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MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X secondsSeconds (decimal)EmptyRadius around waypoint, in meters. If positive loiter clockwise, else counter-clockwiseDesired yaw angle.LatitudeLongitudeAltitude*/
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MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch locationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_NAV_LAND=21, /* Land at locationEmptyEmptyEmptyDesired yaw angle.LatitudeLongitudeAltitude*/
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MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / handMinimum pitch (if airspeed sensor present), desired pitch without sensorEmptyEmptyYaw angle (if magnetometer present), ignored without magnetometerLatitudeLongitudeAltitude*/
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MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV.0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridEmptyYaw angle at goal, in compass degrees, [0..360]Latitude/X of goalLongitude/Y of goalAltitude/Z of goal*/
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MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine.Delay in seconds (decimal)EmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached.Descent / Ascend rate (m/s)EmptyEmptyEmptyEmptyEmptyFinish Altitude*/
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MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point.Distance (meters)EmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle.target angle: [0-360], 0 is northspeed during yaw change:[deg per second]direction: negative: counter clockwise, positive: clockwise [-1,1]relative offset or absolute angle: [ 1,0]EmptyEmptyEmpty*/
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MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_SET_MODE=176, /* Set system mode.Mode, as defined by ENUM MAV_MODEEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of timesSequence numberRepeat countEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points.Speed type (0=Airspeed, 1=Ground Speed)Speed (m/s, -1 indicates no change)Throttle ( Percent, -1 indicates no change)EmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location.Use current (1=use current location, 0=use specified location)EmptyEmptyEmptyLatitudeLongitudeAltitude*/
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MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.Parameter numberParameter valueEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition.Relay numberSetting (1=on, 0=off, others possible depending on system hardware)EmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period.Relay numberCycle countCycle time (seconds, decimal)EmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value.Servo numberPWM (microseconds, 1000 to 2000 typical)EmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.Servo numberPWM (microseconds, 1000 to 2000 typical)Cycle countCycle time (seconds)EmptyEmptyEmpty*/
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MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system.Camera ID (-1 for all)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawTransmission mode: 0: video stream, >0: single images every n seconds (decimal)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawEmptyEmptyEmpty*/
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MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various devices such as cameras.Region of interest mode. (see MAV_ROI enum)Waypoint index/ target ID. (see MAV_ROI enum)ROI index (allows a vehicle to manage multiple cameras etc.)Emptyx the location of the fixed ROI (see MAV_FRAME)yz*/
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MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumerationEmptyEmptyEmptyEmptyEmptyEmptyEmpty*/
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MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode.Gyro calibration: 0: no, 1: yesMagnetometer calibration: 0: no, 1: yesGround pressure: 0: no, 1: yesRadio calibration: 0: no, 1: yesEmptyEmptyEmpty*/
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MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMMission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROMReservedReservedEmptyEmptyEmpty*/
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MAV_CMD_ENUM_END
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};
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/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */
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enum MAV_DATA_STREAM
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{
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MAV_DATA_STREAM_ALL=0, /* Enable all data streams*/
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MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.*/
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MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS*/
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MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW*/
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MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.*/
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MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.*/
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MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot*/
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MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot*/
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MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot*/
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MAV_DATA_STREAM_ENUM_END
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};
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/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_DO_SET_ROI). */
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enum MAV_ROI
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{
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MAV_ROI_NONE=0, /* No region of interest.*/
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MAV_ROI_WPNEXT=1, /* Point toward next waypoint.*/
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MAV_ROI_WPINDEX=2, /* Point toward given waypoint.*/
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MAV_ROI_LOCATION=3, /* Point toward fixed location.*/
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MAV_ROI_TARGET=4, /* Point toward target of given id.*/
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MAV_ROI_ENUM_END
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};
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// MESSAGE DEFINITIONS
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#include "./mavlink_msg_heartbeat.h"
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#include "./mavlink_msg_boot.h"
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#include "./mavlink_msg_system_time.h"
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#include "./mavlink_msg_ping.h"
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#include "./mavlink_msg_system_time_utc.h"
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#include "./mavlink_msg_change_operator_control.h"
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#include "./mavlink_msg_change_operator_control_ack.h"
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#include "./mavlink_msg_auth_key.h"
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#include "./mavlink_msg_action_ack.h"
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#include "./mavlink_msg_action.h"
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#include "./mavlink_msg_set_mode.h"
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#include "./mavlink_msg_set_nav_mode.h"
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#include "./mavlink_msg_param_request_read.h"
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#include "./mavlink_msg_param_request_list.h"
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#include "./mavlink_msg_param_value.h"
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#include "./mavlink_msg_param_set.h"
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#include "./mavlink_msg_gps_raw_int.h"
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#include "./mavlink_msg_scaled_imu.h"
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#include "./mavlink_msg_gps_status.h"
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#include "./mavlink_msg_raw_imu.h"
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#include "./mavlink_msg_raw_pressure.h"
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#include "./mavlink_msg_scaled_pressure.h"
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#include "./mavlink_msg_attitude.h"
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#include "./mavlink_msg_local_position.h"
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#include "./mavlink_msg_global_position.h"
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#include "./mavlink_msg_gps_raw.h"
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#include "./mavlink_msg_sys_status.h"
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#include "./mavlink_msg_rc_channels_raw.h"
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#include "./mavlink_msg_rc_channels_scaled.h"
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#include "./mavlink_msg_servo_output_raw.h"
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#include "./mavlink_msg_waypoint.h"
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#include "./mavlink_msg_waypoint_request.h"
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#include "./mavlink_msg_waypoint_set_current.h"
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#include "./mavlink_msg_waypoint_current.h"
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#include "./mavlink_msg_waypoint_request_list.h"
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#include "./mavlink_msg_waypoint_count.h"
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#include "./mavlink_msg_waypoint_clear_all.h"
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#include "./mavlink_msg_waypoint_reached.h"
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#include "./mavlink_msg_waypoint_ack.h"
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#include "./mavlink_msg_gps_set_global_origin.h"
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#include "./mavlink_msg_gps_local_origin_set.h"
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#include "./mavlink_msg_local_position_setpoint_set.h"
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#include "./mavlink_msg_local_position_setpoint.h"
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#include "./mavlink_msg_control_status.h"
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#include "./mavlink_msg_safety_set_allowed_area.h"
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#include "./mavlink_msg_safety_allowed_area.h"
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#include "./mavlink_msg_attitude_controller_output.h"
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#include "./mavlink_msg_position_controller_output.h"
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#include "./mavlink_msg_nav_controller_output.h"
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#include "./mavlink_msg_position_target.h"
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#include "./mavlink_msg_state_correction.h"
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#include "./mavlink_msg_set_altitude.h"
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#include "./mavlink_msg_request_data_stream.h"
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#include "./mavlink_msg_manual_control.h"
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#include "./mavlink_msg_rc_channels_override.h"
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#include "./mavlink_msg_global_position_int.h"
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#include "./mavlink_msg_vfr_hud.h"
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#include "./mavlink_msg_command.h"
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#include "./mavlink_msg_command_ack.h"
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#include "./mavlink_msg_debug_vect.h"
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#include "./mavlink_msg_named_value_float.h"
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#include "./mavlink_msg_named_value_int.h"
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#include "./mavlink_msg_statustext.h"
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#include "./mavlink_msg_debug.h"
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// MESSAGE LENGTHS
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#undef MAVLINK_MESSAGE_LENGTHS
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#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
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#ifdef __cplusplus
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}
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#endif
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#endif
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