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ardupilot/libraries/AP_Scripting/modules/MAVLink/Readme.md

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These .lua definition for messages can be generated using pymavlink with the following command: (change the last path acoordingly to place the files where you need them)

cd ardupilot/modules/mavlink
python ./pymavlink/tools/mavgen.py --lang Lua ./message_definitions/v1.0/all.xml --out ./modules/MAVLink