Bug 577273 - [Robotics} Provide additional model libraries (notable Mavros and PX4)
- Add plugin with extra model libraries for Mavros, PX4 and geometry_msgs
- Add plugin to build
- Add plugin to feature
- Remove unsued xend build commands from oepr.ros2.library.base plugin (pom.xml)
Change-Id: I97b220c82943f9581f3e0b44407a9a814ebc5032
Signed-off-by: Ansgar Radermacher <ansgar.radermacher@cea.fr>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.base/pom.xml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.base/pom.xml
index 175c9f7..7f8867d 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.base/pom.xml
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.base/pom.xml
@@ -10,46 +10,4 @@
<artifactId>org.eclipse.papyrus.robotics.ros2.library.base</artifactId>
<packaging>eclipse-plugin</packaging>
<description>Papyrus for Robotics: library with ROS2 base service definitions</description>
-
- <build>
- <plugins>
- <plugin>
- <groupId>org.apache.maven.plugins</groupId>
- <artifactId>maven-compiler-plugin</artifactId>
- </plugin>
- <plugin>
- <groupId>org.apache.maven.plugins</groupId>
- <artifactId>maven-clean-plugin</artifactId>
- <configuration>
- <filesets>
- <fileset>
- <directory>xtend-gen</directory>
- <includes>
- <include>**/*</include>
- </includes>
- <excludes>
- <exclude>.gitignore</exclude>
- </excludes>
- </fileset>
- </filesets>
- </configuration>
- </plugin>
- <plugin>
- <groupId>org.eclipse.xtend</groupId>
- <artifactId>xtend-maven-plugin</artifactId>
- <executions>
- <execution>
- <phase>generate-sources</phase>
- <goals>
- <goal>compile</goal>
- </goals>
- </execution>
- </executions>
- <configuration>
- <outputDirectory>xtend-gen</outputDirectory>
- <testOutputDirectory>${project.build.directory}/xtend-gen/test</testOutputDirectory>
- </configuration>
- </plugin>
- </plugins>
- </build>
</project>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.classpath b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.classpath
new file mode 100644
index 0000000..cbd391f
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.classpath
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+ <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11"/>
+ <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
+ <classpathentry kind="output" path="target/classes"/>
+</classpath>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.project b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.project
new file mode 100644
index 0000000..405086b
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/.project
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>org.eclipse.papyrus.robotics.ros2.library.extra</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.jdt.core.javabuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.pde.ManifestBuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.pde.SchemaBuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.m2e.core.maven2Builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.m2e.core.maven2Nature</nature>
+ <nature>org.eclipse.pde.PluginNature</nature>
+ <nature>org.eclipse.jdt.core.javanature</nature>
+ </natures>
+</projectDescription>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/META-INF/MANIFEST.MF b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/META-INF/MANIFEST.MF
new file mode 100644
index 0000000..be12489
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/META-INF/MANIFEST.MF
@@ -0,0 +1,11 @@
+Manifest-Version: 1.0
+Require-Bundle: org.eclipse.ui
+Bundle-Vendor: %providerName
+Bundle-ActivationPolicy: lazy
+Bundle-Version: 0.8.0.qualifier
+Bundle-Localization: plugin
+Bundle-Name: %pluginName
+Bundle-ManifestVersion: 2
+Bundle-SymbolicName: org.eclipse.papyrus.robotics.ros2.library.extra;singleton:=true
+Bundle-RequiredExecutionEnvironment: JavaSE-11
+Automatic-Module-Name: org.eclipse.papyrus.robotics.ros2.library.extra
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/about.html b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/about.html
new file mode 100644
index 0000000..778e1ba
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/about.html
@@ -0,0 +1,27 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1"/>
+<title>About</title>
+</head>
+<body lang="EN-US">
+<h2>About This Content</h2>
+
+<h3>License</h3>
+
+<p>The Eclipse Foundation makes available all content in this plug-in ("Content"). Unless otherwise
+indicated below, the Content is provided to you under the terms and conditions of the
+Eclipse Public License Version 2.0 ("EPL"). A copy of the EPL is available
+at <a href="https://www.eclipse.org/legal/epl-2.0/">https://www.eclipse.org/legal/epl-2.0/</a>.
+For purposes of the EPL, "Program" will mean the Content.</p>
+
+<p>If you did not receive this Content directly from the Eclipse Foundation, the Content is
+being redistributed by another party ("Redistributor") and different terms and conditions may
+apply to your use of any object code in the Content. Check the Redistributor's license that was
+provided with the Content. If no such license exists, contact the Redistributor. Unless otherwise
+indicated below, the terms and conditions of the EPL still apply to any source code in the Content
+and such source code may be obtained at <a href="http://www.eclipse.org/">http://www.eclipse.org</a>.</p>
+
+</body>
+</html>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/build.properties b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/build.properties
new file mode 100644
index 0000000..7edd357
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/build.properties
@@ -0,0 +1,12 @@
+#
+#Thu Jun 28 15:46:18 CEST 2012
+bin.includes = META-INF/,\
+ .,\
+ models/,\
+ plugin.xml,\
+ .classpath,\
+ .project,\
+ about.html,\
+ plugin.properties
+src.includes = models/,\
+ about.html
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.di b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.di
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.notation b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.notation
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.notation
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.uml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.uml
new file mode 100644
index 0000000..17ac429
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/geographic_msgs.servicedef.uml
@@ -0,0 +1,554 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.commobject="http://www.eclipse.org/papyrus/robotics/commobject/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.services="http://www.eclipse.org/papyrus/robotics/services/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/commobject/1 http://www.eclipse.org/papyrus/robotics/1#//commobject http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/services/1 http://www.eclipse.org/papyrus/robotics/1#//services">
+ <uml:Model xmi:id="ID" name="geographic_msgs">
+ <packageImport xmi:id="_2567gRlvEeyKv52rycOycA">
+ <importedPackage xmi:type="uml:Model" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_DV8nkBv8EduZN5aJJITI5w"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Package" xmi:id="_2567ghlvEeyKv52rycOycA" name="svcdefs">
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_BoundingBox" name="P_BoundingBox">
+ <templateBinding xmi:id="_4WHMsRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4WHMshlvEeyKv52rycOycA" actual="ID_msg_BoundingBox">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeoPath" name="P_GeoPath">
+ <templateBinding xmi:id="_4Yvp8RlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4Yvp8hlvEeyKv52rycOycA" actual="ID_msg_GeoPath">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeoPoint" name="P_GeoPoint">
+ <templateBinding xmi:id="_4bYuQRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4bYuQhlvEeyKv52rycOycA" actual="ID_msg_GeoPoint">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeoPointStamped" name="P_GeoPointStamped">
+ <templateBinding xmi:id="_4eEO0RlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4eEO0hlvEeyKv52rycOycA" actual="ID_msg_GeoPointStamped">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeoPose" name="P_GeoPose">
+ <templateBinding xmi:id="_4gsFARlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4gsFAhlvEeyKv52rycOycA" actual="ID_msg_GeoPose">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeoPoseStamped" name="P_GeoPoseStamped">
+ <templateBinding xmi:id="_4jW-gRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4jW-ghlvEeyKv52rycOycA" actual="ID_msg_GeoPoseStamped">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeographicMap" name="P_GeographicMap">
+ <templateBinding xmi:id="_4mBQ8RlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4mBQ8hlvEeyKv52rycOycA" actual="ID_msg_GeographicMap">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_GeographicMapChanges" name="P_GeographicMapChanges">
+ <templateBinding xmi:id="_4ot_oRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4ot_ohlvEeyKv52rycOycA" actual="ID_msg_GeographicMapChanges">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_KeyValue" name="P_KeyValue">
+ <templateBinding xmi:id="_4rZgMRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4rZgMhlvEeyKv52rycOycA" actual="ID_msg_KeyValue">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_MapFeature" name="P_MapFeature">
+ <templateBinding xmi:id="_4uEZsRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4uEZshlvEeyKv52rycOycA" actual="ID_msg_MapFeature">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_RouteNetwork" name="P_RouteNetwork">
+ <templateBinding xmi:id="_4w0LsRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4w0LshlvEeyKv52rycOycA" actual="ID_msg_RouteNetwork">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_RoutePath" name="P_RoutePath">
+ <templateBinding xmi:id="_4zfFMRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_4zfFMhlvEeyKv52rycOycA" actual="ID_msg_RoutePath">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_RouteSegment" name="P_RouteSegment">
+ <templateBinding xmi:id="_42KlwRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_42LM0BlvEeyKv52rycOycA" actual="ID_msg_RouteSegment">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_WayPoint" name="P_WayPoint">
+ <templateBinding xmi:id="_44zDARlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_44zqEBlvEeyKv52rycOycA" actual="ID_msg_WayPoint">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/Q_GetGeoPath" name="Q_GetGeoPath">
+ <templateBinding xmi:id="_7ikhoRlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_7ikhohlvEeyKv52rycOycA" actual="ID_srv_GetGeoPathReq">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwSanEeiurq-kTHMlgA"/>
+ </parameterSubstitution>
+ <parameterSubstitution xmi:id="_7ikhoxlvEeyKv52rycOycA" actual="ID_srv_GetGeoPathRes">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwyanEeiurq-kTHMlgA"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwCanEeiurq-kTHMlgA"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/Q_GetGeographicMap" name="Q_GetGeographicMap">
+ <templateBinding xmi:id="_7lM-4BlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_7lM-4RlvEeyKv52rycOycA" actual="ID_srv_GetGeographicMapReq">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwSanEeiurq-kTHMlgA"/>
+ </parameterSubstitution>
+ <parameterSubstitution xmi:id="_7lM-4hlvEeyKv52rycOycA" actual="ID_srv_GetGeographicMapRes">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwyanEeiurq-kTHMlgA"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwCanEeiurq-kTHMlgA"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/Q_GetRoutePlan" name="Q_GetRoutePlan">
+ <templateBinding xmi:id="_7n3RURlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_7n3RUhlvEeyKv52rycOycA" actual="ID_srv_GetRoutePlanReq">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_5u2FwSanEeiurq-kTHMlgA"/>
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+ <appliedProfile href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_bz5AcPCaEeee6ab5J_C5Dg"/>
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+ <appliedProfile href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_SV7GwC6LEei0V9-WLHIyvg"/>
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+ <profileApplication xmi:id="_2567lBlvEeyKv52rycOycA">
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+ <appliedProfile href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_-pU5oDmpEei--ZsfKWaFtw"/>
+ </profileApplication>
+ <profileApplication xmi:id="_2567lhlvEeyKv52rycOycA">
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+ <appliedProfile href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/>
+ </profileApplication>
+ </uml:Model>
+ <robotics.services:ServiceDefinitionModel xmi:id="_2567mBlvEeyKv52rycOycA" base_Package="ID"/>
+ <robotics.generics:Package xmi:id="_2567mRlvEeyKv52rycOycA" base_Package="_2567gxlvEeyKv52rycOycA"/>
+ <robotics.generics:Package xmi:id="_2567mhlvEeyKv52rycOycA" base_Package="_2567ghlvEeyKv52rycOycA"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28fHUBlvEeyKv52rycOycA" description="Geographic map bounding box. The two GeoPoints denote diagonally opposite corners of the box. If min_pt.latitude is NaN, the bounding box is "global", matching any valid latitude, longitude and altitude. If min_pt.altitude is NaN, the bounding box is two-dimensional and matches any altitude within the specified latitude and longitude range." base_DataType="ID_msg_BoundingBox"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28hjkBlvEeyKv52rycOycA" base_DataType="ID_msg_GeoPath"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28j_0BlvEeyKv52rycOycA" description="Geographic point, using the WGS 84 reference ellipsoid. Latitude [degrees]. Positive is north of equator; negative is south (-90 <= latitude <= +90)." base_DataType="ID_msg_GeoPoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28l1ABlvEeyKv52rycOycA" base_DataType="ID_msg_GeoPointStamped"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28nqMBlvEeyKv52rycOycA" description="Geographic pose, using the WGS 84 reference ellipsoid. Orientation uses the East-North-Up (ENU) frame of reference. (But, what about singularities at the poles?)" base_DataType="ID_msg_GeoPose"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28pfYBlvEeyKv52rycOycA" base_DataType="ID_msg_GeoPoseStamped"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28rUkBlvEeyKv52rycOycA" description="Geographic map for a specified region." base_DataType="ID_msg_GeographicMap"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28tJwBlvEeyKv52rycOycA" description="A list of geographic map changes." base_DataType="ID_msg_GeographicMapChanges"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28vmABlvEeyKv52rycOycA" description="Geographic map tag (key, value) pair This is equivalent to diagnostic_msgs/KeyValue, repeated here to avoid introducing a trivial stack dependency." base_DataType="ID_msg_KeyValue"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28xbMBlvEeyKv52rycOycA" description="Geographic map feature. A list of WayPoint IDs for features like streets, highways, hiking trails, the outlines of buildings and parking lots in sequential order. Feature lists may also contain other feature lists as members." base_DataType="ID_msg_MapFeature"/>
+ <robotics.commobject:CommunicationObject xmi:id="_28zQYBlvEeyKv52rycOycA" description="Geographic map route network. A directed graph of WayPoint nodes and RouteSegment edges. This information is extracted from the more-detailed contents of a GeographicMap. A RouteNetwork contains only the way points and route segments of interest for path planning." base_DataType="ID_msg_RouteNetwork"/>
+ <robotics.commobject:CommunicationObject xmi:id="_281FkBlvEeyKv52rycOycA" description="Path through a route network. A path is a sequence of RouteSegment edges. This information is extracted from a RouteNetwork graph. A RoutePath lists the route segments needed to reach some chosen goal." base_DataType="ID_msg_RoutePath"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2826wBlvEeyKv52rycOycA" description="Route network segment. This is one directed edge of a RouteNetwork graph. It represents a known path from one way point to another. If the path is two-way, there will be another RouteSegment with "start" and "end" reversed." base_DataType="ID_msg_RouteSegment"/>
+ <robotics.commobject:CommunicationObject xmi:id="_285XABlvEeyKv52rycOycA" description="Way-point element for a geographic map." base_DataType="ID_msg_WayPoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Bcf0BlvEeyKv52rycOycA" base_DataType="ID_srv_GetGeoPathReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BeVABlvEeyKv52rycOycA" description="Searches for given start and goal the nearest route segments and determine the path through the RouteNetwork" base_DataType="ID_srv_GetGeoPathRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BfjIBlvEeyKv52rycOycA" base_DataType="ID_srv_GetGeographicMapReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BhYUBlvEeyKv52rycOycA" description="This service requests a region of a geographic map." base_DataType="ID_srv_GetGeographicMapRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BjNgBlvEeyKv52rycOycA" base_DataType="ID_srv_GetRoutePlanReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BlpwBlvEeyKv52rycOycA" description="Get a plan to traverse a route network from start to goal. Similar to nav_msgs/GetPlan, but constrained to use the route network." base_DataType="ID_srv_GetRoutePlanRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Bm34BlvEeyKv52rycOycA" base_DataType="ID_srv_UpdateGeographicMapReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BotEBlvEeyKv52rycOycA" description="This service updates a geographic map. Changes to geographic map." base_DataType="ID_srv_UpdateGeographicMapRes"/>
+ <robotics.commobject:DataAttribute xmi:id="_4V6YYBlvEeyKv52rycOycA" description="lowest and most Southwestern corner" base_Property="_4V5KQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4V7mgBlvEeyKv52rycOycA" description="highest and most Northeastern corner" base_Property="_4V6YYRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4WIa0BlvEeyKv52rycOycA" base_Interface="svcdefs/P_BoundingBox"/>
+ <robotics.services:ServiceDefinition xmi:id="_4Yw4EBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeoPath"/>
+ <robotics.services:ServiceDefinition xmi:id="_4bZ8YBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeoPoint"/>
+ <robotics.services:ServiceDefinition xmi:id="_4eFc8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeoPointStamped"/>
+ <robotics.services:ServiceDefinition xmi:id="_4gt6MBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeoPose"/>
+ <robotics.services:ServiceDefinition xmi:id="_4jYMoBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeoPoseStamped"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l0coBlvEeyKv52rycOycA" description="stamp specifies time" base_Property="_4lzOgBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l1qwBlvEeyKv52rycOycA" description="identifier for this map" base_Property="_4l0coRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l244BlvEeyKv52rycOycA" description="2D bounding box containing map" base_Property="_4l1qwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l4HABlvEeyKv52rycOycA" description="way-points" base_Property="_4l244RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l58MBlvEeyKv52rycOycA" description="map features" base_Property="_4l4uEBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4l7KUBlvEeyKv52rycOycA" description="map properties" base_Property="_4l58MRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4mCfEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeographicMap"/>
+ <robotics.commobject:DataAttribute xmi:id="_4oiZcBlvEeyKv52rycOycA" description="stamp specifies time of change" base_Property="_4ohLUBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4ojnkBlvEeyKv52rycOycA" description="new and changed points and features" base_Property="_4oiZcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4ok1sBlvEeyKv52rycOycA" description="deleted map components" base_Property="_4ojnkRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4ovNwBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GeographicMapChanges"/>
+ <robotics.commobject:DataAttribute xmi:id="_4rN6ABlvEeyKv52rycOycA" description="tag label" base_Property="_4rMr4BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4rPIIBlvEeyKv52rycOycA" description="corresponding value" base_Property="_4rN6ARlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4rauUBlvEeyKv52rycOycA" base_Interface="svcdefs/P_KeyValue"/>
+ <robotics.commobject:DataAttribute xmi:id="_4t4zgBlvEeyKv52rycOycA" description="Unique feature identifier" base_Property="_4t3lYBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4t6BoBlvEeyKv52rycOycA" description="Sequence of feature components" base_Property="_4t4zgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4t7PwBlvEeyKv52rycOycA" description="Key/value properties for this feature" base_Property="_4t6BoRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4uFn0BlvEeyKv52rycOycA" base_Interface="svcdefs/P_MapFeature"/>
+ <robotics.commobject:DataAttribute xmi:id="_4whQwBlvEeyKv52rycOycA" description="This route network identifier" base_Property="_4wgCoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4wie4BlvEeyKv52rycOycA" description="2D bounding box for network" base_Property="_4whQwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4wjtABlvEeyKv52rycOycA" description="Way points in this network" base_Property="_4wie4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4wliMBlvEeyKv52rycOycA" description="Directed edges of this network" base_Property="_4wjtARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4wmwUBlvEeyKv52rycOycA" description="Network key/value properties" base_Property="_4wliMRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4w1Z0BlvEeyKv52rycOycA" base_Interface="svcdefs/P_RouteNetwork"/>
+ <robotics.commobject:DataAttribute xmi:id="_4zS38BlvEeyKv52rycOycA" description="Route network containing this path" base_Property="_4zRp0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4zUGEBlvEeyKv52rycOycA" description="Sequence of RouteSegment IDs" base_Property="_4zS38RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_4zV7QBlvEeyKv52rycOycA" description="Key/value properties" base_Property="_4zUtIBlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_4zgTUBlvEeyKv52rycOycA" base_Interface="svcdefs/P_RoutePath"/>
+ <robotics.commobject:DataAttribute xmi:id="_41-_kBlvEeyKv52rycOycA" description="Unique identifier for this segment" base_Property="_419xcBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_42A0wBlvEeyKv52rycOycA" description="beginning way point of segment" base_Property="_41_moBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_42CC4BlvEeyKv52rycOycA" description="ending way point of segment" base_Property="_42A0wRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_42DRABlvEeyKv52rycOycA" description="segment properties" base_Property="_42CC4RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_42Lz4BlvEeyKv52rycOycA" base_Interface="svcdefs/P_RouteSegment"/>
+ <robotics.commobject:DataAttribute xmi:id="_44m1wBlvEeyKv52rycOycA" description="Unique way-point identifier" base_Property="_44lAkBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_44oD4BlvEeyKv52rycOycA" description="Position relative to WGS 84 ellipsoid" base_Property="_44m1wRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_44pSABlvEeyKv52rycOycA" description="Key/value properties for this point" base_Property="_44oD4RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_440RIBlvEeyKv52rycOycA" base_Interface="svcdefs/P_WayPoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_7iYUYBlvEeyKv52rycOycA" description="starting point" base_Property="_7iXGQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7iZigBlvEeyKv52rycOycA" description="goal point" base_Property="_7iYUYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7iawoBlvEeyKv52rycOycA" description="true if the call succeeded" base_Property="_7iZigRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ib-wBlvEeyKv52rycOycA" description="more details" base_Property="_7iawoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7idM4BlvEeyKv52rycOycA" description="path to follow" base_Property="_7ib-wRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7iebABlvEeyKv52rycOycA" description="the uuid of the RouteNetwork" base_Property="_7idM4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ifpIBlvEeyKv52rycOycA" description="the uuid of the starting RouteSegment" base_Property="_7iebARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ig3QBlvEeyKv52rycOycA" description="the uuid of the ending RouteSegment" base_Property="_7ifpIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7iiFYBlvEeyKv52rycOycA" description="the length of the plan" base_Property="_7iheUBlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7ilvwBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_GetGeoPath"/>
+ <robotics.commobject:DataAttribute xmi:id="_7k_jgBlvEeyKv52rycOycA" description="where to read map data" base_Property="_7k-VYBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7lBYsBlvEeyKv52rycOycA" description="true if the call succeeded" base_Property="_7lAKkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7lCm0BlvEeyKv52rycOycA" description="more details" base_Property="_7lBYsRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7lNl8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_GetGeographicMap"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nqdABlvEeyKv52rycOycA" description="route network to use" base_Property="_7npO4BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nrrIBlvEeyKv52rycOycA" description="starting way point" base_Property="_7nqdARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ns5QBlvEeyKv52rycOycA" description="goal way point" base_Property="_7nrrIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nuHYBlvEeyKv52rycOycA" description="true if the call succeeded" base_Property="_7ns5QRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nvVgBlvEeyKv52rycOycA" description="more details" base_Property="_7nuHYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nwjoBlvEeyKv52rycOycA" description="path to follow" base_Property="_7nvVgRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7n4fcBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_GetRoutePlan"/>
+ <robotics.commobject:DataAttribute xmi:id="_7qUvcBlvEeyKv52rycOycA" description="true if the call succeeded" base_Property="_7qThURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7qV9kBlvEeyKv52rycOycA" description="more details" base_Property="_7qUvcRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7qhjwBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_UpdateGeographicMap"/>
+</xmi:XMI>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.di b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.di
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.notation b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.notation
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.notation
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.uml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.uml
new file mode 100644
index 0000000..2cbbdfb
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/mavros_msgs.servicedef.uml
@@ -0,0 +1,6095 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+ </templateBinding>
+ </packagedElement>
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+ <templateBinding xmi:id="_78_z0RlvEeyKv52rycOycA">
+ <parameterSubstitution xmi:id="_78_z0hlvEeyKv52rycOycA" actual="ID_srv_CommandTriggerIntervalReq">
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+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/Q_CommandVtolTransition" name="Q_CommandVtolTransition">
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+ </packagedElement>
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+ </packagedElement>
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+ <robotics.commobject:CommunicationObject xmi:id="_2_LO8BlvEeyKv52rycOycA" description="Msg for Debug MAVLink API Supported types: DEBUG			https://mavlink.io/en/messages/common.html#DEBUG DEBUG_VECTOR			https://mavlink.io/en/messages/common.html#DEBUG_VECT NAMED_VALUE_FLOAT		https://mavlink.io/en/messages/common.html#NAMED_VALUE_FLOAT NAMED_VALUE_INT		https://mavlink.io/en/messages/common.html#NAMED_VALUE_INT @TODO: add support for DEBUG_ARRAY (https://github.com/mavlink/mavlink/pull/734)" base_DataType="ID_msg_DebugValue"/>
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+ <robotics.commobject:CommunicationObject xmi:id="_2_Z4cBlvEeyKv52rycOycA" description="FCU GPS RAW message for the gps_status plugin A merge of <a href="https://mavlink.io/en/messages/common.html#GPS_RAW_INT">mavlink GPS_RAW_INT</a> and <a href="https://mavlink.io/en/messages/common.html#GPS2_RAW">mavlink GPS2_RAW</a> messages." base_DataType="ID_msg_GPSRAW"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_btoBlvEeyKv52rycOycA" description="FCU GPS RTK message for the gps_status plugin A copy of <a href="https://mavlink.io/en/messages/common.html#GPS_RTK">mavlink GPS_RTK message</a>" base_DataType="ID_msg_GPSRTK"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_di0BlvEeyKv52rycOycA" description="Message for SET_POSITION_TARGET_GLOBAL_INT https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT Some complex system requires all feautures that mavlink message provide. See issue #402, #415." base_DataType="ID_msg_GlobalPositionTarget"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_fYABlvEeyKv52rycOycA" description="HilActuatorControls.msg ROS representation of MAVLink HIL_ACTUATOR_CONTROLS See mavlink message documentation here: https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS" base_DataType="ID_msg_HilActuatorControls"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_hNMBlvEeyKv52rycOycA" description="HilControls.msg ROS representation of MAVLink HIL_CONTROLS (deprecated, use HIL_ACTUATOR_CONTROLS instead) See mavlink message documentation here: https://mavlink.io/en/messages/common.html#HIL_CONTROLS" base_DataType="ID_msg_HilControls"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_jCYBlvEeyKv52rycOycA" description="HilControls.msg ROS representation of MAVLink HIL_GPS See mavlink message documentation here: https://mavlink.io/en/messages/common.html#HIL_GPS" base_DataType="ID_msg_HilGPS"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_k3kBlvEeyKv52rycOycA" description="HilSensor.msg ROS representation of MAVLink HIL_SENSOR See mavlink message documentation here: https://mavlink.io/en/messages/common.html#HIL_SENSOR" base_DataType="ID_msg_HilSensor"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_mswBlvEeyKv52rycOycA" description="HilStateQuaternion.msg ROS representation of MAVLink HIL_STATE_QUATERNION See mavlink message documentation here: https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION" base_DataType="ID_msg_HilStateQuaternion"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_oh8BlvEeyKv52rycOycA" description="MAVLink message: HOME_POSITION https://mavlink.io/en/messages/common.html#HOME_POSITION" base_DataType="ID_msg_HomePosition"/>
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+ <robotics.commobject:CommunicationObject xmi:id="_2_uBgBlvEeyKv52rycOycA" description="Information about a single log :id: - log id :num_logs: - total number of logs :last_log_num: - id of last log :time_utc: - UTC timestamp of log (ros::Time(0) if not available) :size: - size of log in bytes (may be approximate)" base_DataType="ID_msg_LogEntry"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_v2sBlvEeyKv52rycOycA" description="Manual Control state" base_DataType="ID_msg_ManualControl"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_xr4BlvEeyKv52rycOycA" description="Mavlink message transport type. Used to transport mavlink_message_t via ROS topic :framing_status: Frame decoding status: OK, CRC error, bad Signature (mavlink v2.0) You may simply drop all non valid messages. Used for GCS Bridge to transport unknown messages. :magic: STX byte, used to determine protocol version v1.0 or v2.0. Please use mavros_msgs::mavlink::convert() from <mavros_msgs/mavlink_convert.hpp> to convert between ROS and MAVLink message type mavlink_framing_t enum" base_DataType="ID_msg_Mavlink"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_zhEBlvEeyKv52rycOycA" description="MAVLink message: DO_MOUNT_CONTROL https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL" base_DataType="ID_msg_MountControl"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_1WQBlvEeyKv52rycOycA" description="Mavros message: ONBOARDCOMPUTERSTATUS" base_DataType="ID_msg_OnboardComputerStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_3LcBlvEeyKv52rycOycA" description="OPTICAL_FLOW_RAD message data" base_DataType="ID_msg_OpticalFlowRad"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_5AoBlvEeyKv52rycOycA" description="Override RC Input Currently MAVLink defines override for 8 channel" base_DataType="ID_msg_OverrideRCIn"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_610BlvEeyKv52rycOycA" description="Parameter msg. XXX DEPRECATED: replaced by ParamEvent" base_DataType="ID_msg_Param"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_8rABlvEeyKv52rycOycA" description="Parameter Event That messages replaces mavros_msgs/Param from mavros v1. Reason for that: ROS2 have native message for parameters ROS2 also have it's own ParameterEvent stream, which could be used to get FCU updates too. But that message is simpler to use." base_DataType="ID_msg_ParamEvent"/>
+ <robotics.commobject:CommunicationObject xmi:id="_2_-gMBlvEeyKv52rycOycA" description="Parameter value storage type. Integer and float fields: if integer != 0: it is integer value else if real != 0.0: it is float value else: it is zero. XXX DEPRECATED: replaced by rmw_interfaces/ParameterValue" base_DataType="ID_msg_ParamValue"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AAVYBlvEeyKv52rycOycA" description="Play tune V2 https://mavlink.io/en/messages/common.html#PLAY_TUNE_V2 # TUNE_FORMAT enum" base_DataType="ID_msg_PlayTuneV2"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ACKkBlvEeyKv52rycOycA" description="Message for SET_POSITION_TARGET_LOCAL_NED Some complex system requires all feautures that mavlink message provide. See issue #402." base_DataType="ID_msg_PositionTarget"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AD_wBlvEeyKv52rycOycA" description="RAW RC input state" base_DataType="ID_msg_RCIn"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AF08BlvEeyKv52rycOycA" description="RAW Servo out state" base_DataType="ID_msg_RCOut"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AHqIBlvEeyKv52rycOycA" description="RTCM message for the gps_rtk plugin The gps_rtk plugin will fragment the data if necessary and forward it to the FCU via Mavlink through the available link. data should be <= 4*180, higher will be discarded." base_DataType="ID_msg_RTCM"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AJfUBlvEeyKv52rycOycA" description="RTKBaseline received from the FCU. Full description: https://mavlink.io/en/messages/common.html#GPS_RTK Mavlink Common, #127and #128" base_DataType="ID_msg_RTKBaseline"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ALUgBlvEeyKv52rycOycA" description="RADIO_STATUS message" base_DataType="ID_msg_RadioStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ANJsBlvEeyKv52rycOycA" description="Current autopilot state Known modes listed here: http://wiki.ros.org/mavros/CustomModes For system_status values see https://mavlink.io/en/messages/common.html#MAV_STATE " base_DataType="ID_msg_State"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AO-4BlvEeyKv52rycOycA" description="STATUSTEXT message representation https://mavlink.io/en/messages/common.html#STATUSTEXT Severity levels" base_DataType="ID_msg_StatusText"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AQ0EBlvEeyKv52rycOycA" description="Thrust to send to the FCU" base_DataType="ID_msg_Thrust"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ASpQBlvEeyKv52rycOycA" description="Status of the MAVLink time synchroniser" base_DataType="ID_msg_TimesyncStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AUecBlvEeyKv52rycOycA" description="MAVLink message: TRAJECTORY https://mavlink.io/en/messages/common.html#TRAJECTORY" base_DataType="ID_msg_Trajectory"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AWToBlvEeyKv52rycOycA" description="Vehicle Info msg" base_DataType="ID_msg_VehicleInfo"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AYI0BlvEeyKv52rycOycA" description="Metrics typically displayed on a HUD for fixed wing aircraft VFR_HUD message" base_DataType="ID_msg_VfrHud"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AZ-ABlvEeyKv52rycOycA" description="VIBRATION message data @description: Vibration levels and accelerometer clipping" base_DataType="ID_msg_Vibration"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AbzMBlvEeyKv52rycOycA" description="Waypoint.msg ROS representation of MAVLink MISSION_ITEM See mavlink documentation see enum MAV_FRAME" base_DataType="ID_msg_Waypoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AePcBlvEeyKv52rycOycA" description="WaypointList.msg :current_seq: seq nr of currently active waypoint waypoints[current_seq].is_current == True :waypoints: list of waypoints" base_DataType="ID_msg_WaypointList"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3AfdkBlvEeyKv52rycOycA" description="That message represent MISSION_ITEM_REACHED :wp_seq: index number of reached waypoint" base_DataType="ID_msg_WaypointReached"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Ah50BlvEeyKv52rycOycA" description="Stamped wheel odometry message For streaming timestamped data from FCU wheel encoders (RPM or WHEEL_DISTANCE)." base_DataType="ID_msg_WheelOdomStamped"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BsXcBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandBoolReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BuMoBlvEeyKv52rycOycA" description="Common type for switch commands" base_DataType="ID_srv_CommandBoolRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3BwB0BlvEeyKv52rycOycA" base_DataType="ID_srv_CommandHomeReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ByeEBlvEeyKv52rycOycA" description="request set new home position" base_DataType="ID_srv_CommandHomeRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B06UBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandIntReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B2vgBlvEeyKv52rycOycA" description="Generic COMMAND_INT" base_DataType="ID_srv_CommandIntRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B4ksBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandLongReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B6Z4BlvEeyKv52rycOycA" description="Generic COMMAND_LONG" base_DataType="ID_srv_CommandLongRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B8PEBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandTOLReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B-EQBlvEeyKv52rycOycA" description="Common type for Take Off and Landing" base_DataType="ID_srv_CommandTOLRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3B_5cBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandTriggerControlReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CBuoBlvEeyKv52rycOycA" description="Type for controlling onboard camera triggering system" base_DataType="ID_srv_CommandTriggerControlRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CDj0BlvEeyKv52rycOycA" base_DataType="ID_srv_CommandTriggerIntervalReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CFZABlvEeyKv52rycOycA" description="Type for controlling camera trigger interval and integration time" base_DataType="ID_srv_CommandTriggerIntervalRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CGnIBlvEeyKv52rycOycA" base_DataType="ID_srv_CommandVtolTransitionReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CIcUBlvEeyKv52rycOycA" description="MAVLink command: DO_VTOL_TRANSITION https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION" base_DataType="ID_srv_CommandVtolTransitionRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CKRgBlvEeyKv52rycOycA" base_DataType="ID_srv_EndpointAddReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CMGsBlvEeyKv52rycOycA" description="Adds endpoint to router " base_DataType="ID_srv_EndpointAddRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CN74BlvEeyKv52rycOycA" base_DataType="ID_srv_EndpointDelReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CPxEBlvEeyKv52rycOycA" description="Removes endpoint from router " base_DataType="ID_srv_EndpointDelRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CRmQBlvEeyKv52rycOycA" base_DataType="ID_srv_FileChecksumReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CTbcBlvEeyKv52rycOycA" description="FTP::Checksum :file_path:	file to calculate checksum :crc32:	file checksum :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileChecksumRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CVQoBlvEeyKv52rycOycA" base_DataType="ID_srv_FileCloseReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CXF0BlvEeyKv52rycOycA" description="FTP::Close Call FTP::Open first. :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileCloseRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CY7ABlvEeyKv52rycOycA" base_DataType="ID_srv_FileListReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CawMBlvEeyKv52rycOycA" description="FTP::List :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileListRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CclYBlvEeyKv52rycOycA" base_DataType="ID_srv_FileMakeDirReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CeakBlvEeyKv52rycOycA" description="FTP::MakeDir :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileMakeDirRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CgPwBlvEeyKv52rycOycA" base_DataType="ID_srv_FileOpenReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CiE8BlvEeyKv52rycOycA" description="FTP::Open :file_path:	used as session id in read/write/close services :size:	file size returned for MODE_READ :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileOpenRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Cj6IBlvEeyKv52rycOycA" base_DataType="ID_srv_FileReadReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3ClvUBlvEeyKv52rycOycA" description="FTP::Read Call FTP::Open first. :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileReadRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CnkgBlvEeyKv52rycOycA" base_DataType="ID_srv_FileRemoveReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CoyoBlvEeyKv52rycOycA" description="FTP::Remove :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileRemoveRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Cqn0BlvEeyKv52rycOycA" base_DataType="ID_srv_FileRemoveDirReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CsdABlvEeyKv52rycOycA" description="FTP::RemoveDir :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileRemoveDirRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CuSMBlvEeyKv52rycOycA" base_DataType="ID_srv_FileRenameReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CwHYBlvEeyKv52rycOycA" description="FTP::Rename :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileRenameRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Cx8kBlvEeyKv52rycOycA" base_DataType="ID_srv_FileTruncateReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3CzxwBlvEeyKv52rycOycA" description="FTP::Truncate :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileTruncateRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C1m8BlvEeyKv52rycOycA" base_DataType="ID_srv_FileWriteReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C3cIBlvEeyKv52rycOycA" description="FTP::Write Call FTP::Open first. :success:	indicates success end of request :r_errno:	remote errno if applicapable" base_DataType="ID_srv_FileWriteRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C5RUBlvEeyKv52rycOycA" base_DataType="ID_srv_LogRequestDataReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C7tkBlvEeyKv52rycOycA" description="Request a chunk of a log :id: - log id from LogEntry message :offset: - offset into the log :count: - number of bytes to get" base_DataType="ID_srv_LogRequestDataRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C9iwBlvEeyKv52rycOycA" base_DataType="ID_srv_LogRequestEndReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3C__ABlvEeyKv52rycOycA" description="Stop log transfer and resume normal logging" base_DataType="ID_srv_LogRequestEndRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DCbQBlvEeyKv52rycOycA" base_DataType="ID_srv_LogRequestListReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DFekBlvEeyKv52rycOycA" description="Request a list of available logs :start: - first log id (0 for first available) :end: - last log id (0xffff for last available)" base_DataType="ID_srv_LogRequestListRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DHTwBlvEeyKv52rycOycA" base_DataType="ID_srv_MessageIntervalReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DJI8BlvEeyKv52rycOycA" description="sets message interval See MAV_CMD_SET_MESSAGE_INTERVAL" base_DataType="ID_srv_MessageIntervalRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DLlMBlvEeyKv52rycOycA" base_DataType="ID_srv_MountConfigureReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DNaYBlvEeyKv52rycOycA" description="MAVLink message: DO_MOUNT_CONTROL https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONFIGURE" base_DataType="ID_srv_MountConfigureRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DPPkBlvEeyKv52rycOycA" base_DataType="ID_srv_ParamGetReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DREwBlvEeyKv52rycOycA" description="Request parameter from attached device XXX DEPRECATED: use ros2 parameters api instead" base_DataType="ID_srv_ParamGetRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DS58BlvEeyKv52rycOycA" base_DataType="ID_srv_ParamPullReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DUvIBlvEeyKv52rycOycA" description="Request parameters from device Returns success status and param_recived count" base_DataType="ID_srv_ParamPullRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DWkUBlvEeyKv52rycOycA" base_DataType="ID_srv_ParamPushReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DYZgBlvEeyKv52rycOycA" description="Send current send Returns success status and param_transfered count XXX DEPRECATED: not used. param plugin listen to parameter changes" base_DataType="ID_srv_ParamPushRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Da1wBlvEeyKv52rycOycA" base_DataType="ID_srv_ParamSetReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Dcq8BlvEeyKv52rycOycA" description="Request set parameter value XXX DEPRECATED: replaced by ParamSetV2" base_DataType="ID_srv_ParamSetRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DegIBlvEeyKv52rycOycA" base_DataType="ID_srv_ParamSetV2Req"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DgVUBlvEeyKv52rycOycA" description="Request set parameter value That interface allow to bypass some checks and send value as is to the FCU if force_set is true. Use that api only if ROS2 Parameter API is not sufficient for your application." base_DataType="ID_srv_ParamSetV2Res"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DiKgBlvEeyKv52rycOycA" base_DataType="ID_srv_SetMavFrameReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Dj_sBlvEeyKv52rycOycA" description="Set MAV_FRAME for setpoints XXX DEPRECATED [[[cog: from pymavlink.dialects.v20 import common def decl_enum(ename, pfx='', bsz=8): enum = sorted(common.enums[ename].items()) enum.pop() # remove ENUM_END cog.outl("# " + ename) for k, e in enum: sn = e.name[len(ename) + 1:] l = "uint{bsz} {pfx}{sn} = {k}".format(**locals()) if e.description: l += ' ' * (40 - len(l)) + ' # ' + e.description cog.outl(l) decl_enum('MAV_FRAME', 'FRAME_') ]]] MAV_FRAME" base_DataType="ID_srv_SetMavFrameRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Dl04BlvEeyKv52rycOycA" base_DataType="ID_srv_SetModeReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DnqEBlvEeyKv52rycOycA" description="set FCU mode Known custom modes listed here: http://wiki.ros.org/mavros/CustomModes basic modes from MAV_MODE" base_DataType="ID_srv_SetModeRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DpfQBlvEeyKv52rycOycA" base_DataType="ID_srv_StreamRateReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DrUcBlvEeyKv52rycOycA" description="sets stream rate See REQUEST_DATA_STREAM message" base_DataType="ID_srv_StreamRateRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DtJoBlvEeyKv52rycOycA" base_DataType="ID_srv_VehicleInfoGetReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3Du-0BlvEeyKv52rycOycA" description="Request the Vehicle Info use this to request the current target sysid / compid defined in mavros set get_all = True to request all available vehicles" base_DataType="ID_srv_VehicleInfoGetRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DxbEBlvEeyKv52rycOycA" base_DataType="ID_srv_WaypointClearReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3DzQQBlvEeyKv52rycOycA" description="Request clear waypoint" base_DataType="ID_srv_WaypointClearRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D1FcBlvEeyKv52rycOycA" base_DataType="ID_srv_WaypointPullReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D26oBlvEeyKv52rycOycA" description="Requests waypoints from device Returns success status and received count" base_DataType="ID_srv_WaypointPullRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D4v0BlvEeyKv52rycOycA" base_DataType="ID_srv_WaypointPushReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D6lABlvEeyKv52rycOycA" description="Send waypoints to device :start_index: will define a partial waypoint update. Set to 0 for full update Returns success status and transfered count" base_DataType="ID_srv_WaypointPushRes"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D9BQBlvEeyKv52rycOycA" base_DataType="ID_srv_WaypointSetCurrentReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_3D-2cBlvEeyKv52rycOycA" description="Request set current waypoint wp_seq - index in waypoint array" base_DataType="ID_srv_WaypointSetCurrentRes"/>
+ <robotics.commobject:DataAttribute xmi:id="_47RIMBlvEeyKv52rycOycA" description="Altitude reported from a Baro source using QNH reference" base_Property="_47P6EBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47SWUBlvEeyKv52rycOycA" description="Altitude reported from a GNSS source" base_Property="_47RvQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47WnwBlvEeyKv52rycOycA" description="AMSL" base_Property="_47VZoBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47X14BlvEeyKv52rycOycA" description="deg [0..360)" base_Property="_47WnwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47ZEABlvEeyKv52rycOycA" description="m/s" base_Property="_47X14RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47aSIBlvEeyKv52rycOycA" description="m/s" base_Property="_47ZEARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47bgQBlvEeyKv52rycOycA" description="Type from ADSB_ALTITUDE_TYPE enum" base_Property="_47a5MBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47cuYBlvEeyKv52rycOycA" description="Type from ADSB_EMITTER_TYPE enum" base_Property="_47cHUBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47ejkBlvEeyKv52rycOycA" description="Duration from last communication, seconds [0..255]" base_Property="_47dVcBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47fxsBlvEeyKv52rycOycA" description="ADSB_FLAGS bit field" base_Property="_47ejkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_47g_0BlvEeyKv52rycOycA" description="Squawk code" base_Property="_47fxsRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_47iN8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_ADSBVehicle"/>
+ <robotics.services:ServiceDefinition xmi:id="_4-KEIBlvEeyKv52rycOycA" base_Interface="svcdefs/P_ActuatorControl"/>
+ <robotics.services:ServiceDefinition xmi:id="_5Ax6UBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Altitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_5DM8MBlvEeyKv52rycOycA" description="body_rate.x" base_Property="_5DLHAhlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5DOKUBlvEeyKv52rycOycA" description="body_rate.y" base_Property="_5DM8MRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5DPYcBlvEeyKv52rycOycA" description="body_rate.z" base_Property="_5DOKURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5DQmkBlvEeyKv52rycOycA" description="orientation field" base_Property="_5DPYcxlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5DZwgBlvEeyKv52rycOycA" base_Interface="svcdefs/P_AttitudeTarget"/>
+ <robotics.commobject:DataAttribute xmi:id="_5F6R8BlvEeyKv52rycOycA" description="Timestamp when the camera was triggered" base_Property="_5F5D0BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5F7gEBlvEeyKv52rycOycA" description="Sequence number of the image frame" base_Property="_5F6R8RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5GI7cBlvEeyKv52rycOycA" base_Interface="svcdefs/P_CamIMUStamp"/>
+ <robotics.commobject:DataAttribute xmi:id="_5InAoBlvEeyKv52rycOycA" description="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." base_Property="_5IlLchlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IoOwBlvEeyKv52rycOycA" description="If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking." base_Property="_5InAoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IqD8BlvEeyKv52rycOycA" description="If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking." base_Property="_5IoOwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IrSEBlvEeyKv52rycOycA" description="Stops ongoing tracking." base_Property="_5IqD8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IsgMBlvEeyKv52rycOycA" description="Arms / Disarms a component" base_Property="_5IrSERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5ItuUBlvEeyKv52rycOycA" description="Delay mission state machine." base_Property="_5IsgMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Iu8cBlvEeyKv52rycOycA" description="Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached." base_Property="_5ItuURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IwKkBlvEeyKv52rycOycA" description="Delay mission state machine until within desired distance of next NAV point." base_Property="_5Iu8cRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Ix_wBlvEeyKv52rycOycA" description="Reach a certain target angle." base_Property="_5IwxoBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5IzN4BlvEeyKv52rycOycA" description="NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration" base_Property="_5Ix_wRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I0cABlvEeyKv52rycOycA" description="Delay mission state machine until gate has been reached." base_Property="_5IzN4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I1qIBlvEeyKv52rycOycA" description="Request to start/stop transmitting over the high latency telemetry" base_Property="_5I0cARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I24QBlvEeyKv52rycOycA" description="Begin following a target" base_Property="_5I1qIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I4GYBlvEeyKv52rycOycA" description="Reposition the MAV after a follow target command has been sent" base_Property="_5I24QRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I5UgBlvEeyKv52rycOycA" description="Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults." base_Property="_5I4GYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I6ioBlvEeyKv52rycOycA" description="Set system mode." base_Property="_5I5UgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I7JsBlvEeyKv52rycOycA" description="Jump to the desired command in the mission list. Repeat this action only the specified number of times" base_Property="_5I6ioRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I8X0BlvEeyKv52rycOycA" description="Change speed and/or throttle set points." base_Property="_5I7wwBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I9l8BlvEeyKv52rycOycA" description="Changes the home location either to the current location or a specified location." base_Property="_5I8X0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5I-0EBlvEeyKv52rycOycA" description="Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter." base_Property="_5I9l8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JACMBlvEeyKv52rycOycA" description="Set a relay to a condition." base_Property="_5I-0ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JBQUBlvEeyKv52rycOycA" description="Cycle a relay on and off for a desired number of cycles with a desired period." base_Property="_5JACMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JCecBlvEeyKv52rycOycA" description="Set a servo to a desired PWM value." base_Property="_5JBQURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JDskBlvEeyKv52rycOycA" description="Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period." base_Property="_5JCecRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JE6sBlvEeyKv52rycOycA" description="Terminate flight immediately" base_Property="_5JDskRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JGI0BlvEeyKv52rycOycA" description="Change altitude set point." base_Property="_5JE6sRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JHW8BlvEeyKv52rycOycA" description="Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter)." base_Property="_5JGI0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JIlEBlvEeyKv52rycOycA" description="Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence." base_Property="_5JHW8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JJMIBlvEeyKv52rycOycA" description="Mission command to perform a landing from a rally point." base_Property="_5JIlERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JKaQBlvEeyKv52rycOycA" description="Mission command to safely abort an autonomous landing." base_Property="_5JJzMBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JLoYBlvEeyKv52rycOycA" description="Reposition the vehicle to a specific WGS84 global position." base_Property="_5JKaQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JM2gBlvEeyKv52rycOycA" description="If in a GPS controlled position mode, hold the current position or continue." base_Property="_5JLoYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JOEoBlvEeyKv52rycOycA" description="Set moving direction to forward or reverse." base_Property="_5JM2gRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JPSwBlvEeyKv52rycOycA" description="Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message." base_Property="_5JOEoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JQg4BlvEeyKv52rycOycA" description="Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message." base_Property="_5JPSwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JRvABlvEeyKv52rycOycA" description="Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position." base_Property="_5JQg4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JS9IBlvEeyKv52rycOycA" description="Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message." base_Property="_5JRvARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JULQBlvEeyKv52rycOycA" description="Control onboard camera system." base_Property="_5JS9IRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JVZYBlvEeyKv52rycOycA" description="Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras." base_Property="_5JULQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JWngBlvEeyKv52rycOycA" description="Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html )." base_Property="_5JVZYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JX1oBlvEeyKv52rycOycA" description="Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html )." base_Property="_5JWngRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JZDwBlvEeyKv52rycOycA" description="Mission command to configure a camera or antenna mount" base_Property="_5JYcsBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Ja48BlvEeyKv52rycOycA" description="Mission command to control a camera or antenna mount" base_Property="_5JZq0BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JcHEBlvEeyKv52rycOycA" description="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." base_Property="_5Ja48RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JdVMBlvEeyKv52rycOycA" description="Mission command to enable the geofence" base_Property="_5JcHERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JejUBlvEeyKv52rycOycA" description="Mission item/command to release a parachute or enable/disable auto release." base_Property="_5JdVMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JfxcBlvEeyKv52rycOycA" description="Mission command to perform motor test." base_Property="_5JejURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jg_kBlvEeyKv52rycOycA" description="Change to/from inverted flight." base_Property="_5JfxcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JiNsBlvEeyKv52rycOycA" description="Mission command to operate a gripper." base_Property="_5Jg_kRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jjb0BlvEeyKv52rycOycA" description="Enable/disable autotune." base_Property="_5JiNsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jkp8BlvEeyKv52rycOycA" description="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." base_Property="_5Jjb0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jl4EBlvEeyKv52rycOycA" description="Mission command to control a camera or antenna mount, using a quaternion as reference." base_Property="_5Jkp8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JnGMBlvEeyKv52rycOycA" description="set id of master controller" base_Property="_5Jl4ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JoUUBlvEeyKv52rycOycA" description="Set limits for external control" base_Property="_5JnGMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JpicBlvEeyKv52rycOycA" description="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" base_Property="_5JoUURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JqwkBlvEeyKv52rycOycA" description="Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between)." base_Property="_5JpicRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jr-sBlvEeyKv52rycOycA" description="NOP - This command is only used to mark the upper limit of the DO commands in the enumeration" base_Property="_5JqwkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JtM0BlvEeyKv52rycOycA" description="Request a target system to start an upgrade of one (or all) of its components. For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html." base_Property="_5JslwBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jua8BlvEeyKv52rycOycA" description="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." base_Property="_5Jtz4BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JvpEBlvEeyKv52rycOycA" description="High level setpoint to be sent to a gimbal manager to set a gimbal attitude. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: a gimbal is never to react to this command but only the gimbal manager." base_Property="_5Jua8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jw3MBlvEeyKv52rycOycA" description="Gimbal configuration to set which sysid/compid is in primary and secondary control." base_Property="_5JwQIBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5JyFUBlvEeyKv52rycOycA" description="Enable or disable on-board camera triggering system." base_Property="_5JxeQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Jz6gBlvEeyKv52rycOycA" description="Request VTOL transition" base_Property="_5JysYBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J1IoBlvEeyKv52rycOycA" description="Command to operate winch." base_Property="_5Jz6gRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J2WwBlvEeyKv52rycOycA" description="Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location." base_Property="_5J1IoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J3k4BlvEeyKv52rycOycA" description="Request the home position from the vehicle." base_Property="_5J2WwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J4zABlvEeyKv52rycOycA" description="Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message." base_Property="_5J3k4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J6BIBlvEeyKv52rycOycA" description="Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light)." base_Property="_5J4zARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J7PQBlvEeyKv52rycOycA" description="Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values." base_Property="_5J6BIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J8dYBlvEeyKv52rycOycA" description="Stop image capture sequence Use NaN for reserved values." base_Property="_5J7PQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J9rgBlvEeyKv52rycOycA" description="Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting." base_Property="_5J8dYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5J-5oBlvEeyKv52rycOycA" description="Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG." base_Property="_5J9rgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KAHwBlvEeyKv52rycOycA" description="Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)" base_Property="_5J-5oRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KBV4BlvEeyKv52rycOycA" description="Request to stop streaming log data over MAVLink" base_Property="_5KAHwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KCkABlvEeyKv52rycOycA" description="start running a mission" base_Property="_5KBV4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KDyIBlvEeyKv52rycOycA" description="Navigate to waypoint." base_Property="_5KCkARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KFAQBlvEeyKv52rycOycA" description="Loiter around this waypoint an unlimited amount of time" base_Property="_5KDyIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KGOYBlvEeyKv52rycOycA" description="Loiter around this waypoint for X turns" base_Property="_5KFnUBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KHcgBlvEeyKv52rycOycA" description="Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint." base_Property="_5KG1cBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KIqoBlvEeyKv52rycOycA" description="Return to launch location" base_Property="_5KHcgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KJ4wBlvEeyKv52rycOycA" description="Land at location." base_Property="_5KJRsBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KLt8BlvEeyKv52rycOycA" description="Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode." base_Property="_5KKf0BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KM8EBlvEeyKv52rycOycA" description="Land at local position (local frame only)" base_Property="_5KLt8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KOKMBlvEeyKv52rycOycA" description="Takeoff from local position (local frame only)" base_Property="_5KM8ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KPYUBlvEeyKv52rycOycA" description="Vehicle following, i.e. this waypoint represents the position of a moving vehicle" base_Property="_5KOxQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KQmcBlvEeyKv52rycOycA" description="Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached." base_Property="_5KP_YBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KR0kBlvEeyKv52rycOycA" description="Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint." base_Property="_5KRNgBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KTCsBlvEeyKv52rycOycA" description="Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras." base_Property="_5KSboBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KUQ0BlvEeyKv52rycOycA" description="Control autonomous path planning on the MAV." base_Property="_5KTpwBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KVe8BlvEeyKv52rycOycA" description="Navigate to waypoint using a spline path." base_Property="_5KU34BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KXUIBlvEeyKv52rycOycA" description="Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.)." base_Property="_5KWGABlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KYiQBlvEeyKv52rycOycA" description="Land using VTOL mode" base_Property="_5KXUIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KZwYBlvEeyKv52rycOycA" description="hand control over to an external controller" base_Property="_5KYiQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Ka-gBlvEeyKv52rycOycA" description="Delay the next navigation command a number of seconds or until a specified time" base_Property="_5KZwYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KcMoBlvEeyKv52rycOycA" description="Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload." base_Property="_5Ka-gRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KdawBlvEeyKv52rycOycA" description="NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration" base_Property="_5KcMoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Keo4BlvEeyKv52rycOycA" description="Sets a desired vehicle turn angle and speed change." base_Property="_5KdawRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Kf3ABlvEeyKv52rycOycA" description="Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead." base_Property="_5Keo4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KhFIBlvEeyKv52rycOycA" description="Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required." base_Property="_5Kf3ARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KiTQBlvEeyKv52rycOycA" description="Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required." base_Property="_5KhsMBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KjhYBlvEeyKv52rycOycA" description="Circular fence area. The vehicle must stay inside this area." base_Property="_5KiTQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KkvgBlvEeyKv52rycOycA" description="Circular fence area. The vehicle must stay outside this area." base_Property="_5KjhYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Kl9oBlvEeyKv52rycOycA" description="Rally point. You can have multiple rally points defined." base_Property="_5KkvgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KnLwBlvEeyKv52rycOycA" description="Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera." base_Property="_5Kl9oRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KoZ4BlvEeyKv52rycOycA" description="Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position." base_Property="_5KnLwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KpoABlvEeyKv52rycOycA" description="Create a panorama at the current position" base_Property="_5KpA8BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KrdMBlvEeyKv52rycOycA" description="Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters." base_Property="_5KqPEBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KsrUBlvEeyKv52rycOycA" description="Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity." base_Property="_5KrdMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Kt5cBlvEeyKv52rycOycA" description="Control the payload deployment." base_Property="_5KsrURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KvHkBlvEeyKv52rycOycA" description="Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero." base_Property="_5Kt5cRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KwVsBlvEeyKv52rycOycA" description="Set sensor offsets. This command will be only accepted if in pre-flight mode." base_Property="_5KvHkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Kxj0BlvEeyKv52rycOycA" description="Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named)." base_Property="_5KwVsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KyK4BlvEeyKv52rycOycA" description="Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode." base_Property="_5Kxj0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5KzZABlvEeyKv52rycOycA" description="Request the reboot or shutdown of system components." base_Property="_5Kyx8BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K0nIBlvEeyKv52rycOycA" description="Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL)." base_Property="_5KzZARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K2cUBlvEeyKv52rycOycA" description="Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message" base_Property="_5K1OMBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K3qcBlvEeyKv52rycOycA" description="Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message" base_Property="_5K2cURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K44kBlvEeyKv52rycOycA" description="Request camera information (CAMERA_INFORMATION)." base_Property="_5K3qcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K6GsBlvEeyKv52rycOycA" description="Request camera settings (CAMERA_SETTINGS)." base_Property="_5K44kRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K7U0BlvEeyKv52rycOycA" description="Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage." base_Property="_5K6GsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K8i8BlvEeyKv52rycOycA" description="Request camera capture status (CAMERA_CAPTURE_STATUS)" base_Property="_5K7U0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K9xEBlvEeyKv52rycOycA" description="Request flight information (FLIGHT_INFORMATION)" base_Property="_5K8i8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5K-_MBlvEeyKv52rycOycA" description="Re-request a CAMERA_IMAGE_CAPTURED message." base_Property="_5K9xERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LANUBlvEeyKv52rycOycA" description="Request video stream information (VIDEO_STREAM_INFORMATION)" base_Property="_5K-_MRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LBbcBlvEeyKv52rycOycA" description="Request video stream status (VIDEO_STREAM_STATUS)" base_Property="_5LANURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LCpkBlvEeyKv52rycOycA" description="Reset all camera settings to Factory Default" base_Property="_5LBbcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LD3sBlvEeyKv52rycOycA" description="Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM." base_Property="_5LCpkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LFF0BlvEeyKv52rycOycA" description="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." base_Property="_5LD3sRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LGT8BlvEeyKv52rycOycA" description="Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success)." base_Property="_5LFF0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LG7ABlvEeyKv52rycOycA" description="Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success)." base_Property="_5LGT8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LIJIBlvEeyKv52rycOycA" description="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." base_Property="_5LHiEBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LJXQBlvEeyKv52rycOycA" description="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." base_Property="_5LIwMBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LKlYBlvEeyKv52rycOycA" description="User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item." base_Property="_5LJXQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LLzgBlvEeyKv52rycOycA" description="User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item." base_Property="_5LKlYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LNBoBlvEeyKv52rycOycA" description="User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item." base_Property="_5LLzgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LOPwBlvEeyKv52rycOycA" description="User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item." base_Property="_5LNBoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LPd4BlvEeyKv52rycOycA" description="User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item." base_Property="_5LOPwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LQsABlvEeyKv52rycOycA" description="Starts receiver pairing." base_Property="_5LPd4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LR6IBlvEeyKv52rycOycA" description="Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage." base_Property="_5LQsARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LTIQBlvEeyKv52rycOycA" description="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." base_Property="_5LR6IRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LUWYBlvEeyKv52rycOycA" description="User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item." base_Property="_5LTIQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LVkgBlvEeyKv52rycOycA" description="User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item." base_Property="_5LUWYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LWyoBlvEeyKv52rycOycA" description="User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item." base_Property="_5LWLkBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LYAwBlvEeyKv52rycOycA" description="User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item." base_Property="_5LWyoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LZO4BlvEeyKv52rycOycA" description="User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item." base_Property="_5LYAwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LadABlvEeyKv52rycOycA" description="Starts video capture (recording)." base_Property="_5LZO4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LbrIBlvEeyKv52rycOycA" description="Stop the current video capture (recording)." base_Property="_5LadARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Lc5QBlvEeyKv52rycOycA" description="Start video streaming" base_Property="_5LbrIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LeHYBlvEeyKv52rycOycA" description="Stop the given video stream" base_Property="_5Lc5QRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LfVgBlvEeyKv52rycOycA" description="User defined waypoint item. Ground Station will show the Vehicle as flying through this item." base_Property="_5LeHYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LgjoBlvEeyKv52rycOycA" description="User defined waypoint item. Ground Station will show the Vehicle as flying through this item." base_Property="_5LfVgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LhxwBlvEeyKv52rycOycA" description="User defined waypoint item. Ground Station will show the Vehicle as flying through this item." base_Property="_5LgjoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5LiY0BlvEeyKv52rycOycA" description="User defined waypoint item. Ground Station will show the Vehicle as flying through this item." base_Property="_5LhxwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Ljm8BlvEeyKv52rycOycA" description="User defined waypoint item. Ground Station will show the Vehicle as flying through this item." base_Property="_5Li_4BlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5Lk1EBlvEeyKv52rycOycA" base_Interface="svcdefs/P_CommandCode"/>
+ <robotics.commobject:DataAttribute xmi:id="_5OFWgBlvEeyKv52rycOycA" description="See enum COMPANION_PROCESS_STATE" base_Property="_5OEIYBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5OGkoBlvEeyKv52rycOycA" description="See enum MAV_COMPONENT" base_Property="_5OFWgRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5OSx4BlvEeyKv52rycOycA" base_Interface="svcdefs/P_CompanionProcessStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Qw3EBlvEeyKv52rycOycA" description="index value of DEBUG value (-1 if not indexed)" base_Property="_5Qvo8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5QyFMBlvEeyKv52rycOycA" description="value name/key" base_Property="_5Qw3ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5QzTUBlvEeyKv52rycOycA" description="float value for NAMED_VALUE_FLOAT and DEBUG" base_Property="_5QyFMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Q0hcBlvEeyKv52rycOycA" description="int value for NAMED_VALUE_INT" base_Property="_5QzTURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5Q1vkBlvEeyKv52rycOycA" description="DEBUG vector or array" base_Property="_5Q0hcRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5Q-ScBlvEeyKv52rycOycA" base_Interface="svcdefs/P_DebugValue"/>
+ <robotics.services:ServiceDefinition xmi:id="_5TpzABlvEeyKv52rycOycA" base_Interface="svcdefs/P_ESCInfo"/>
+ <robotics.services:ServiceDefinition xmi:id="_5WUFcBlvEeyKv52rycOycA" base_Interface="svcdefs/P_ESCInfoItem"/>
+ <robotics.services:ServiceDefinition xmi:id="_5Y--8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_ESCStatus"/>
+ <robotics.services:ServiceDefinition xmi:id="_5bti0BlvEeyKv52rycOycA" base_Interface="svcdefs/P_ESCStatusItem"/>
+ <robotics.services:ServiceDefinition xmi:id="_5eWAEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_EstimatorStatus"/>
+ <robotics.services:ServiceDefinition xmi:id="_5hDV0BlvEeyKv52rycOycA" base_Interface="svcdefs/P_ExtendedState"/>
+ <robotics.services:ServiceDefinition xmi:id="_5jrzEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_FileEntry"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mJ4QBlvEeyKv52rycOycA" description="No GPS connected" base_Property="_5mIqIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mLGYBlvEeyKv52rycOycA" description="No position information, GPS is connected" base_Property="_5mJ4QRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mMUgBlvEeyKv52rycOycA" description="2D position" base_Property="_5mLGYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mNioBlvEeyKv52rycOycA" description="3D position" base_Property="_5mMUgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mOwwBlvEeyKv52rycOycA" description="DGPS/SBAS aided 3D position" base_Property="_5mNioRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mP-4BlvEeyKv52rycOycA" description="TK float, 3D position" base_Property="_5mOwwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mRNABlvEeyKv52rycOycA" description="TK Fixed, 3D position" base_Property="_5mP-4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mTCMBlvEeyKv52rycOycA" description="Static fixed, typically used for base stations" base_Property="_5mR0EBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mUQUBlvEeyKv52rycOycA" description="PPP, 3D position" base_Property="_5mTCMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mVecBlvEeyKv52rycOycA" description="[GPS_FIX_TYPE] GPS fix type" base_Property="_5mUQURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mWskBlvEeyKv52rycOycA" description="[degE7] Latitude (WGS84, EGM96 ellipsoid)" base_Property="_5mVecRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mX6sBlvEeyKv52rycOycA" description="[degE7] Longitude (WGS84, EGM96 ellipsoid)" base_Property="_5mWskRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mZI0BlvEeyKv52rycOycA" description="[mm] Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude." base_Property="_5mX6sRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5maW8BlvEeyKv52rycOycA" description="GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX" base_Property="_5mZI0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mblEBlvEeyKv52rycOycA" description="GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX" base_Property="_5maW8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mczMBlvEeyKv52rycOycA" description="[cm/s] GPS ground speed. If unknown, set to: UINT16_MAX" base_Property="_5mblERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5meBUBlvEeyKv52rycOycA" description="[cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX" base_Property="_5mczMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mfPcBlvEeyKv52rycOycA" description="Number of satellites visible. If unknown, set to 255" base_Property="_5meBURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mgdkBlvEeyKv52rycOycA" description="[mm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up." base_Property="_5mfPcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mhrsBlvEeyKv52rycOycA" description="[mm] Position uncertainty. Positive for up." base_Property="_5mgdkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mi50BlvEeyKv52rycOycA" description="[mm] Altitude uncertainty. Positive for up." base_Property="_5mhrsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mkH8BlvEeyKv52rycOycA" description="[mm] Speed uncertainty. Positive for up." base_Property="_5mi50RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mlWEBlvEeyKv52rycOycA" description="[degE5] Heading / track uncertainty" base_Property="_5mkH8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mmkMBlvEeyKv52rycOycA" description="Number of DGPS satellites" base_Property="_5mlWERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5mnyUBlvEeyKv52rycOycA" description="[ms] Age of DGPS info" base_Property="_5mmkMRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5mpAcBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GPSRAW"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pGekBlvEeyKv52rycOycA" description="Identification of connected RTK receiver." base_Property="_5pECURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pI60BlvEeyKv52rycOycA" description="GPS Week Number of last baseline." base_Property="_5pGekRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pLXEBlvEeyKv52rycOycA" description="[ms] GPS Time of Week of last baseline." base_Property="_5pI60RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pMlMBlvEeyKv52rycOycA" description="GPS-specific health report for RTK data." base_Property="_5pLXERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pNzUBlvEeyKv52rycOycA" description="[Hz] Rate of baseline messages being received by GPS." base_Property="_5pMlMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pPBcBlvEeyKv52rycOycA" description="Current number of sats used for RTK calculation." base_Property="_5pNzURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pQPkBlvEeyKv52rycOycA" description="[mm] Current baseline in ECEF x or NED north component, depends on header.frame_id." base_Property="_5pPBcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pRdsBlvEeyKv52rycOycA" description="[mm] Current baseline in ECEF y or NED east component, depends on header.frame_id." base_Property="_5pQPkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pSr0BlvEeyKv52rycOycA" description="[mm] Current baseline in ECEF z or NED down component, depends on header.frame_id." base_Property="_5pRdsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pT58BlvEeyKv52rycOycA" description="Current estimate of baseline accuracy." base_Property="_5pSr0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5pVIEBlvEeyKv52rycOycA" description="Current number of integer ambiguity hypotheses." base_Property="_5pUhABlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5pW9QBlvEeyKv52rycOycA" base_Interface="svcdefs/P_GPSRTK"/>
+ <robotics.commobject:DataAttribute xmi:id="_5r2QkBlvEeyKv52rycOycA" description="Position ignore flags" base_Property="_5r1CeRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5r4FwBlvEeyKv52rycOycA" description="Velocity vector ignore flags" base_Property="_5r23oRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5r5T4BlvEeyKv52rycOycA" description="Acceleration/Force vector ignore flags" base_Property="_5r4FxRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5r6iABlvEeyKv52rycOycA" description="Force in af vector flag" base_Property="_5r568BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5r8XMBlvEeyKv52rycOycA" description="in meters, AMSL or above terrain" base_Property="_5r7JFhlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5sDr8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_GlobalPositionTarget"/>
+ <robotics.services:ServiceDefinition xmi:id="_5uulcBlvEeyKv52rycOycA" base_Interface="svcdefs/P_HilActuatorControls"/>
+ <robotics.services:ServiceDefinition xmi:id="_5xY34BlvEeyKv52rycOycA" base_Interface="svcdefs/P_HilControls"/>
+ <robotics.services:ServiceDefinition xmi:id="_50FmkBlvEeyKv52rycOycA" base_Interface="svcdefs/P_HilGPS"/>
+ <robotics.services:ServiceDefinition xmi:id="_52vR8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_HilSensor"/>
+ <robotics.services:ServiceDefinition xmi:id="_55ZkYBlvEeyKv52rycOycA" base_Interface="svcdefs/P_HilStateQuaternion"/>
+ <robotics.commobject:DataAttribute xmi:id="_572bcBlvEeyKv52rycOycA" description="geodetic coordinates in WGS-84 datum" base_Property="_571NUBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_573pkBlvEeyKv52rycOycA" description="local position" base_Property="_572bcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5743sBlvEeyKv52rycOycA" description="XXX: verify field name (q[4])" base_Property="_573pkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_576F0BlvEeyKv52rycOycA" description="position of the end of approach vector" base_Property="_5743sRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_58Ed4BlvEeyKv52rycOycA" base_Interface="svcdefs/P_HomePosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-uJQBlvEeyKv52rycOycA" description="Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)" base_Property="_5-sUERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-v-cBlvEeyKv52rycOycA" description="Local coordinate frame, Z-up (x: north, y: east, z: down)." base_Property="_5-uwUBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-xMkBlvEeyKv52rycOycA" description="NOT a coordinate frame, indicates a mission command." base_Property="_5-v-cRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-yasBlvEeyKv52rycOycA" description="Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location." base_Property="_5-xMkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-0P4BlvEeyKv52rycOycA" description="Local coordinate frame, Z-down (x: east, y: north, z: up)" base_Property="_5-zBwBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-1eABlvEeyKv52rycOycA" description="Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)" base_Property="_5-0P4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-2sIBlvEeyKv52rycOycA" description="Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location." base_Property="_5-1eARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-4hUBlvEeyKv52rycOycA" description="Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position." base_Property="_5-2sIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-5vcBlvEeyKv52rycOycA" description="Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right." base_Property="_5-4hURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-7koBlvEeyKv52rycOycA" description="Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east." base_Property="_5-6WgBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-8ywBlvEeyKv52rycOycA" description="Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model." base_Property="_5-7koRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5--n8BlvEeyKv52rycOycA" description="Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model." base_Property="_5-8ywRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5-_2EBlvEeyKv52rycOycA" description="Landing target signaled by light beacon (ex: IR-LOCK)" base_Property="_5--n8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5_BEMBlvEeyKv52rycOycA" description="Landing target signaled by radio beacon (ex: ILS, NDB)" base_Property="_5-_2ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5_C5YBlvEeyKv52rycOycA" description="Landing target represented by a fiducial marker (ex: ARTag)" base_Property="_5_BEMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_5_EHgBlvEeyKv52rycOycA" description="Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)" base_Property="_5_C5YRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_5_F8sBlvEeyKv52rycOycA" base_Interface="svcdefs/P_LandingTarget"/>
+ <robotics.services:ServiceDefinition xmi:id="_6Bz5gBlvEeyKv52rycOycA" base_Interface="svcdefs/P_LogData"/>
+ <robotics.services:ServiceDefinition xmi:id="_6EcWwBlvEeyKv52rycOycA" base_Interface="svcdefs/P_LogEntry"/>
+ <robotics.services:ServiceDefinition xmi:id="_6HKTkBlvEeyKv52rycOycA" base_Interface="svcdefs/P_ManualControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_6Jt4UBlvEeyKv52rycOycA" description="STX byte" base_Property="_6JsqOxlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6JvtgBlvEeyKv52rycOycA" description="24-bit message id" base_Property="_6JufYxlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6Jw7oBlvEeyKv52rycOycA" description="max size: (255+2+7)/8" base_Property="_6JvtghlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6JyJwBlvEeyKv52rycOycA" description="optional signature, max size: 13" base_Property="_6Jw7oRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_6J76wBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Mavlink"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MbOEBlvEeyKv52rycOycA" description="See enum MAV_MOUNT_MODE." base_Property="_6MZ_8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MdDQBlvEeyKv52rycOycA" description="roll degrees or degrees/second depending on mount mode." base_Property="_6Mb1KhlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MeRYBlvEeyKv52rycOycA" description="roll degrees or degrees/second depending on mount mode." base_Property="_6MdDQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MffgBlvEeyKv52rycOycA" description="roll degrees or degrees/second depending on mount mode." base_Property="_6MeRYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MgtoBlvEeyKv52rycOycA" description="altitude depending on mount mode." base_Property="_6MffgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6Mh7wBlvEeyKv52rycOycA" description="latitude in degrees * 1E7, set if appropriate mount mode." base_Property="_6MgtoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6MjJ4BlvEeyKv52rycOycA" description="longitude in degrees * 1E7, set if appropriate mount mode." base_Property="_6Mh7wRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_6MpQgBlvEeyKv52rycOycA" base_Interface="svcdefs/P_MountControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PGHkBlvEeyKv52rycOycA" description="See enum MAV_COMPONENT" base_Property="_6PE5cRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PHVsBlvEeyKv52rycOycA" description="[ms] Time since system boot" base_Property="_6PGHkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PIj0BlvEeyKv52rycOycA" description="Type of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers." base_Property="_6PHVsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PJx8BlvEeyKv52rycOycA" description="CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused." base_Property="_6PIj0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PLAEBlvEeyKv52rycOycA" description="Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused" base_Property="_6PJx8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PMOMBlvEeyKv52rycOycA" description="GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused" base_Property="_6PLAERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PNcUBlvEeyKv52rycOycA" description="Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused." base_Property="_6PMOMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6POqcBlvEeyKv52rycOycA" description="[degC] Temperature of the board. A value of INT8_MAX implies the field is unused." base_Property="_6PNcURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PP4kBlvEeyKv52rycOycA" description="[degC] Temperature of the CPU core. A value of INT8_MAX implies the field is unused." base_Property="_6POqcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PRGsBlvEeyKv52rycOycA" description="[rpm] Fan speeds. A value of INT16_MAX implies the field is unused." base_Property="_6PP4kRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PSU0BlvEeyKv52rycOycA" description="[MiB] Amount of used RAM on the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PRGsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PTi8BlvEeyKv52rycOycA" description="[MiB] Total amount of RAM on the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PSU0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PUxEBlvEeyKv52rycOycA" description="Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused." base_Property="_6PTi8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PV_MBlvEeyKv52rycOycA" description="[MiB] Amount of used storage space on the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PUxERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PXNUBlvEeyKv52rycOycA" description="[MiB] Total amount of storage space on the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PV_MRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PYbcBlvEeyKv52rycOycA" description="Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary." base_Property="_6PXNURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PZCgBlvEeyKv52rycOycA" description="[KiB/s] Network traffic from the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PYbcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PaQoBlvEeyKv52rycOycA" description="[KiB/s] Network traffic to the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PZpkBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6PbewBlvEeyKv52rycOycA" description="[KiB/s] Network capacity from the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6Pa3sBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6Pcs4BlvEeyKv52rycOycA" description="[KiB/s] Network capacity to the component system. A value of UINT32_MAX implies the field is unused." base_Property="_6PbewRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_6Pd7ABlvEeyKv52rycOycA" base_Interface="svcdefs/P_OnboardComputerStatus"/>
+ <robotics.services:ServiceDefinition xmi:id="_6SNF8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_OpticalFlowRad"/>
+ <robotics.services:ServiceDefinition xmi:id="_6U-GEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_OverrideRCIn"/>
+ <robotics.services:ServiceDefinition xmi:id="_6Xl8QBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Param"/>
+ <robotics.services:ServiceDefinition xmi:id="_6aQ1wBlvEeyKv52rycOycA" base_Interface="svcdefs/P_ParamEvent"/>
+ <robotics.services:ServiceDefinition xmi:id="_6c8WUBlvEeyKv52rycOycA" base_Interface="svcdefs/P_ParamValue"/>
+ <robotics.services:ServiceDefinition xmi:id="_6fmowBlvEeyKv52rycOycA" base_Interface="svcdefs/P_PlayTuneV2"/>
+ <robotics.commobject:DataAttribute xmi:id="_6iDf0BlvEeyKv52rycOycA" description="Position ignore flags" base_Property="_6iCRuhlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6iFVABlvEeyKv52rycOycA" description="Velocity vector ignore flags" base_Property="_6iEG5BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6iHKMBlvEeyKv52rycOycA" description="Acceleration/Force vector ignore flags" base_Property="_6iF8EBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6iIYUBlvEeyKv52rycOycA" description="Force in af vector flag" base_Property="_6iHKNRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_6iPtEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_PositionTarget"/>
+ <robotics.services:ServiceDefinition xmi:id="_6k4KUBlvEeyKv52rycOycA" base_Interface="svcdefs/P_RCIn"/>
+ <robotics.services:ServiceDefinition xmi:id="_6njq4BlvEeyKv52rycOycA" base_Interface="svcdefs/P_RCOut"/>
+ <robotics.services:ServiceDefinition xmi:id="_6qNWQBlvEeyKv52rycOycA" base_Interface="svcdefs/P_RTCM"/>
+ <robotics.commobject:DataAttribute xmi:id="_6ssCgBlvEeyKv52rycOycA" description="Earth-centered, earth-fixed" base_Property="_6spmQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6stQoBlvEeyKv52rycOycA" description="RTK basestation centered, north, east, down" base_Property="_6ssCgRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_6s6E8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_RTKBaseline"/>
+ <robotics.services:ServiceDefinition xmi:id="_6vmMkBlvEeyKv52rycOycA" base_Interface="svcdefs/P_RadioStatus"/>
+ <robotics.services:ServiceDefinition xmi:id="_6yQfABlvEeyKv52rycOycA" base_Interface="svcdefs/P_State"/>
+ <robotics.services:ServiceDefinition xmi:id="_61O6gBlvEeyKv52rycOycA" base_Interface="svcdefs/P_StatusText"/>
+ <robotics.services:ServiceDefinition xmi:id="_6350ABlvEeyKv52rycOycA" base_Interface="svcdefs/P_Thrust"/>
+ <robotics.commobject:DataAttribute xmi:id="_66UO0BlvEeyKv52rycOycA" description="remote system timestamp (nanoseconds)" base_Property="_66TAsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_66Vc8BlvEeyKv52rycOycA" description="raw time offset directly observed from this timesync packet (nanoseconds)" base_Property="_66UO0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_66WrEBlvEeyKv52rycOycA" description="smoothed time offset between companion system and Mavros (nanoseconds)" base_Property="_66Vc8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_66X5MBlvEeyKv52rycOycA" description="round trip time of this timesync packet (milliseconds)" base_Property="_66WrERlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_66hqMBlvEeyKv52rycOycA" base_Interface="svcdefs/P_TimesyncStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_69DZwBlvEeyKv52rycOycA" description="See enum MAV_TRAJECTORY_REPRESENTATION." base_Property="_69CLoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_69FO8BlvEeyKv52rycOycA" description="States if respective point is valid." base_Property="_69EA1RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_69GdEBlvEeyKv52rycOycA" description="MAV_CMD associated with each point. UINT16_MAX if unused." base_Property="_69FO8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_69HrMBlvEeyKv52rycOycA" description="if type MAV_TRAJECTORY_REPRESENTATION_BEZIER, it represents the time horizon for each point, otherwise set to NaN" base_Property="_69GdERlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_69QOEBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Trajectory"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_r3ABlvEeyKv52rycOycA" description="Bitmap shows what info is available" base_Property="_6_qo5RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_tFIBlvEeyKv52rycOycA" description="SYSTEM ID" base_Property="_6_r3ARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_vhYBlvEeyKv52rycOycA" description="COMPONENT ID" base_Property="_6_tFIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_wvgBlvEeyKv52rycOycA" description="MAV_AUTOPILOT" base_Property="_6_vhYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_yksBlvEeyKv52rycOycA" description="MAV_TYPE" base_Property="_6_xWkBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_zy0BlvEeyKv52rycOycA" description="MAV_STATE" base_Property="_6_yksRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_1oABlvEeyKv52rycOycA" description="MAV_MODE string" base_Property="_6_0Z4BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_22IBlvEeyKv52rycOycA" description="MAV_MODE number" base_Property="_6_1oARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_4EQBlvEeyKv52rycOycA" description="MAV_PROTOCOL_CAPABILITY" base_Property="_6_22IRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_5SYBlvEeyKv52rycOycA" description="Firmware version number" base_Property="_6_4EQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_6ggBlvEeyKv52rycOycA" description="Middleware version number" base_Property="_6_5SYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_7uoBlvEeyKv52rycOycA" description="Operating system version number" base_Property="_6_6ggRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_88wBlvEeyKv52rycOycA" description="HW / board version (last 8 bytes should be silicon ID, if any)" base_Property="_6_7uoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6_-K4BlvEeyKv52rycOycA" description="Custom version field, commonly from the first 8 bytes of the git hash" base_Property="_6_88wRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_6__ZABlvEeyKv52rycOycA" description="ID of the board vendor" base_Property="_6_-K4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7AAnIBlvEeyKv52rycOycA" description="ID of the product" base_Property="_6__ZARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7AB1QBlvEeyKv52rycOycA" description="UID if provided by hardware" base_Property="_7AAnIRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7ADDYBlvEeyKv52rycOycA" base_Interface="svcdefs/P_VehicleInfo"/>
+ <robotics.commobject:DataAttribute xmi:id="_7CghgBlvEeyKv52rycOycA" description="m/s" base_Property="_7CfTYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7CiWsBlvEeyKv52rycOycA" description="m/s" base_Property="_7CghgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7Ci9wBlvEeyKv52rycOycA" description="degrees 0..360" base_Property="_7CiWsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7CkL4BlvEeyKv52rycOycA" description="normalized to 0.0..1.0" base_Property="_7Cjk0BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ClaABlvEeyKv52rycOycA" description="MSL" base_Property="_7CkL4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7CmoIBlvEeyKv52rycOycA" description="current climb rate m/s" base_Property="_7ClaARlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7Cuj8BlvEeyKv52rycOycA" base_Interface="svcdefs/P_VfrHud"/>
+ <robotics.commobject:DataAttribute xmi:id="_7FKz8BlvEeyKv52rycOycA" description="3-axis vibration levels" base_Property="_7FJl0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7FMCEBlvEeyKv52rycOycA" description="Accelerometers clipping" base_Property="_7FKz8RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7FXoQBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Vibration"/>
+ <robotics.services:ServiceDefinition xmi:id="_7IAFgBlvEeyKv52rycOycA" base_Interface="svcdefs/P_Waypoint"/>
+ <robotics.services:ServiceDefinition xmi:id="_7Kq_ABlvEeyKv52rycOycA" base_Interface="svcdefs/P_WaypointList"/>
+ <robotics.services:ServiceDefinition xmi:id="_7NTcQBlvEeyKv52rycOycA" base_Interface="svcdefs/P_WaypointReached"/>
+ <robotics.services:ServiceDefinition xmi:id="_7P-80BlvEeyKv52rycOycA" base_Interface="svcdefs/P_WheelOdomStamped"/>
+ <robotics.services:ServiceDefinition xmi:id="_7tKoEBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandBool"/>
+ <robotics.services:ServiceDefinition xmi:id="_7v0TcBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandHome"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yNgIBlvEeyKv52rycOycA" description="send this command in broadcast mode" base_Property="_7yMSABlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yOuQBlvEeyKv52rycOycA" description="latitude in deg * 1E7 or local x * 1E4 m" base_Property="_7yOHMBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yP8YBlvEeyKv52rycOycA" description="longitude in deg * 1E7 or local y * 1E4 m" base_Property="_7yOuQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yRKgBlvEeyKv52rycOycA" description="altitude" base_Property="_7yQjcBlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7ya7gBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandInt"/>
+ <robotics.commobject:DataAttribute xmi:id="_704ZoBlvEeyKv52rycOycA" description="send this command in broadcast mode" base_Property="_703LgBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_705nwBlvEeyKv52rycOycA" description="x_lat" base_Property="_705AsBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_70614BlvEeyKv52rycOycA" description="y_lon" base_Property="_705nwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_708EABlvEeyKv52rycOycA" description="z_alt" base_Property="_70614RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_71FN8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandLong"/>
+ <robotics.commobject:DataAttribute xmi:id="_73fBsBlvEeyKv52rycOycA" description="used by takeoff" base_Property="_73dzkBlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_73sdEBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandTOL"/>
+ <robotics.commobject:DataAttribute xmi:id="_76LwYBlvEeyKv52rycOycA" description="Trigger enable/disable" base_Property="_76KiQBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_76M-gBlvEeyKv52rycOycA" description="Reset the trigger sequence" base_Property="_76LwYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_76OMoBlvEeyKv52rycOycA" description="Pause triggering, but without switching the camera off or retracting it." base_Property="_76M-gRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_76YksBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandTriggerControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_780NoBlvEeyKv52rycOycA" description="Trigger cycle_time (interval between to triggers) - set to 0 to ignore command" base_Property="_78y_gBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_781bwBlvEeyKv52rycOycA" description="Camera shutter integration_time - set to 0 to ignore command" base_Property="_780NoRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_79BB8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandTriggerInterval"/>
+ <robotics.commobject:DataAttribute xmi:id="_7_dR8BlvEeyKv52rycOycA" description="See enum MAV_VTOL_STATE." base_Property="_7_cD1BlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7_egEBlvEeyKv52rycOycA" description="Raw result returned by COMMAND_ACK" base_Property="_7_dR8hlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7_qGQBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_CommandVtolTransition"/>
+ <robotics.commobject:DataAttribute xmi:id="_8CG9UBlvEeyKv52rycOycA" description="mavconn URL or topic prefix for TYPE_UAS" base_Property="_8CFvNhlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8CILcBlvEeyKv52rycOycA" description="should be set to one of the TYPE_xxx" base_Property="_8CG9URlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8CJZkBlvEeyKv52rycOycA" description="true if endpoint added and opened" base_Property="_8CILcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8CKnsBlvEeyKv52rycOycA" description="returns error description if open fails" base_Property="_8CJZkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8CL10BlvEeyKv52rycOycA" description="ID of new endpoint, should be > 0 if endpoint created" base_Property="_8CKnsRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8CTxoBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_EndpointAdd"/>
+ <robotics.services:ServiceDefinition xmi:id="_8E9dABlvEeyKv52rycOycA" base_Interface="svcdefs/Q_EndpointDel"/>
+ <robotics.services:ServiceDefinition xmi:id="_8HqLsBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileChecksum"/>
+ <robotics.services:ServiceDefinition xmi:id="_8KWTUBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileClose"/>
+ <robotics.services:ServiceDefinition xmi:id="_8NFeQBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileList"/>
+ <robotics.services:ServiceDefinition xmi:id="_8Pt7gBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileMakeDir"/>
+ <robotics.commobject:DataAttribute xmi:id="_8SLZoBlvEeyKv52rycOycA" description="open for read" base_Property="_8SKykBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8SMnwBlvEeyKv52rycOycA" description="open for write" base_Property="_8SMAsBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8SN14BlvEeyKv52rycOycA" description="do creat()" base_Property="_8SNO0BlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8SYN8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileOpen"/>
+ <robotics.services:ServiceDefinition xmi:id="_8VAEIBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileRead"/>
+ <robotics.services:ServiceDefinition xmi:id="_8Xq9oBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileRemove"/>
+ <robotics.services:ServiceDefinition xmi:id="_8aXsUBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileRemoveDir"/>
+ <robotics.services:ServiceDefinition xmi:id="_8dBXsBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileRename"/>
+ <robotics.services:ServiceDefinition xmi:id="_8ftfUBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileTruncate"/>
+ <robotics.services:ServiceDefinition xmi:id="_8iZm8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_FileWrite"/>
+ <robotics.services:ServiceDefinition xmi:id="_8lFukBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_LogRequestData"/>
+ <robotics.services:ServiceDefinition xmi:id="_8nvZ8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_LogRequestEnd"/>
+ <robotics.services:ServiceDefinition xmi:id="_8qZsYBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_LogRequestList"/>
+ <robotics.services:ServiceDefinition xmi:id="_8tD-0BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_MessageInterval"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vj5MBlvEeyKv52rycOycA" description="See enum MAV_MOUNT_MODE." base_Property="_8virERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vlHUBlvEeyKv52rycOycA" description="stabilize roll? (1 = yes, 0 = no)" base_Property="_8vj5OxlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vmVcBlvEeyKv52rycOycA" description="stabilize pitch? (1 = yes, 0 = no)" base_Property="_8vlHURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vnjkBlvEeyKv52rycOycA" description="stabilize yaw? (1 = yes, 0 = no)" base_Property="_8vmVcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8voxsBlvEeyKv52rycOycA" description="roll input (See enum MOUNT_INPUT)" base_Property="_8vnjkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vp_0BlvEeyKv52rycOycA" description="pitch input (See enum MOUNT_INPUT)" base_Property="_8voxsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8vqm4BlvEeyKv52rycOycA" description="yaw input (See enum MOUNT_INPUT)" base_Property="_8vp_0RlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8vwtgBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_MountConfigure"/>
+ <robotics.services:ServiceDefinition xmi:id="_8ycOEBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_ParamGet"/>
+ <robotics.services:ServiceDefinition xmi:id="_81FSYBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_ParamPull"/>
+ <robotics.services:ServiceDefinition xmi:id="_83wy8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_ParamPush"/>
+ <robotics.services:ServiceDefinition xmi:id="_86bscBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_ParamSet"/>
+ <robotics.services:ServiceDefinition xmi:id="_89HNABlvEeyKv52rycOycA" base_Interface="svcdefs/Q_ParamSetV2"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_kEEBlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)." base_Property="_8_jdABlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_lSMBlvEeyKv52rycOycA" description="Local coordinate frame, Z-down (x: North, y: East, z: Down)." base_Property="_8_krIBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_nHYBlvEeyKv52rycOycA" description="NOT a coordinate frame, indicates a mission command." base_Property="_8_l5QBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_oVgBlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame + altitude relative to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location." base_Property="_8_nHYRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_o8kBlvEeyKv52rycOycA" description="Local coordinate frame, Z-up (x: East, y: North, z: Up)." base_Property="_8_oVgRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_qKsBlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)." base_Property="_8_pjoBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_rY0BlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location." base_Property="_8_qKsRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_sm8BlvEeyKv52rycOycA" description="Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position." base_Property="_8_rY0RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_t1EBlvEeyKv52rycOycA" description="Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right." base_Property="_8_sm8RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_vDMBlvEeyKv52rycOycA" description="Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east." base_Property="_8_t1ERlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_wRUBlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model." base_Property="_8_vDMRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_xfcBlvEeyKv52rycOycA" description="Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model." base_Property="_8_wRURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_ytkBlvEeyKv52rycOycA" description="Body fixed frame of reference, Z-down (x: Forward, y: Right, z: Down)." base_Property="_8_xfcRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_zUoBlvEeyKv52rycOycA" description="MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up)." base_Property="_8_ytkRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_0iwBlvEeyKv52rycOycA" description="MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down)." base_Property="_8_zUoRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_1w4BlvEeyKv52rycOycA" description="MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up)." base_Property="_8_0iwRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_2_ABlvEeyKv52rycOycA" description="MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down)." base_Property="_8_1w4RlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_4NIBlvEeyKv52rycOycA" description="MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up)." base_Property="_8_2_ARlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_5bQBlvEeyKv52rycOycA" description="MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down)." base_Property="_8_4NIRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_6CUBlvEeyKv52rycOycA" description="MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up)." base_Property="_8_5bQRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_7QcBlvEeyKv52rycOycA" description="Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame)." base_Property="_8_6CURlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_8ekBlvEeyKv52rycOycA" description="Forward, Left, Up coordinate frame. This is a local frame with Z-up and arbitrary F/L alignment (i.e. not aligned with ENU/earth frame)." base_Property="_8_7QcRlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8_9ssBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_SetMavFrame"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Ce1MBlvEeyKv52rycOycA" description="filled by MAV_MODE enum value or 0 if custom_mode != ''" base_Property="_9CdnIBlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9CgDUBlvEeyKv52rycOycA" description="string mode representation or integer" base_Property="_9Ce1MRlvEeyKv52rycOycA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ChRcBlvEeyKv52rycOycA" description="Mode known/parsed correctly and SET_MODE are sent" base_Property="_9CgDURlvEeyKv52rycOycA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9CrpgBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_SetMode"/>
+ <robotics.services:ServiceDefinition xmi:id="_9FYYMBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_StreamRate"/>
+ <robotics.services:ServiceDefinition xmi:id="_9IA1cBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_VehicleInfoGet"/>
+ <robotics.services:ServiceDefinition xmi:id="_9Kqg0BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_WaypointClear"/>
+ <robotics.services:ServiceDefinition xmi:id="_9NRv8BlvEeyKv52rycOycA" base_Interface="svcdefs/Q_WaypointPull"/>
+ <robotics.services:ServiceDefinition xmi:id="_9P7bUBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_WaypointPush"/>
+ <robotics.services:ServiceDefinition xmi:id="_9SltwBlvEeyKv52rycOycA" base_Interface="svcdefs/Q_WaypointSetCurrent"/>
+</xmi:XMI>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.di b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.di
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.di
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.notation b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.notation
new file mode 100644
index 0000000..bf9abab
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.notation
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI"/>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.uml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.uml
new file mode 100644
index 0000000..1d46021
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/models/services/px4_msgs.servicedef.uml
@@ -0,0 +1,16077 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.commobject="http://www.eclipse.org/papyrus/robotics/commobject/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:robotics.services="http://www.eclipse.org/papyrus/robotics/services/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/commobject/1 http://www.eclipse.org/papyrus/robotics/1#//commobject http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics http://www.eclipse.org/papyrus/robotics/services/1 http://www.eclipse.org/papyrus/robotics/1#//services">
+ <uml:Model xmi:id="ID" name="px4_msgs">
+ <packageImport xmi:id="_5pMhUdFGEeuFl4uGUGunyA">
+ <importedPackage xmi:type="uml:Model" href="pathmap://PapyrusC_Cpp_LIBRARIES/AnsiCLibrary.uml#_DV8nkBv8EduZN5aJJITI5w"/>
+ </packageImport>
+ <packagedElement xmi:type="uml:Package" xmi:id="_5pMhUtFGEeuFl4uGUGunyA" name="svcdefs">
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorArmed" name="P_ActuatorArmed">
+ <templateBinding xmi:id="_7ObZwdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7ObZwtFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorArmed">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls" name="P_ActuatorControls">
+ <templateBinding xmi:id="_7RJWkdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7RJWktFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls0" name="P_ActuatorControls0">
+ <templateBinding xmi:id="_7T1eMdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7T1eMtFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls0">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls1" name="P_ActuatorControls1">
+ <templateBinding xmi:id="_7WfwodFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7WfwotFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls1">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls2" name="P_ActuatorControls2">
+ <templateBinding xmi:id="_7ZTNAdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7ZTNAtFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls2">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls3" name="P_ActuatorControls3">
+ <templateBinding xmi:id="_7cAiwdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7cAiwtFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls3">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls4" name="P_ActuatorControls4">
+ <templateBinding xmi:id="_7ez_INFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7ez_IdFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls4">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControls5" name="P_ActuatorControls5">
+ <templateBinding xmi:id="_7hzowdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7h0P0NFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControls5">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
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+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControlsVirtualFw" name="P_ActuatorControlsVirtualFw">
+ <templateBinding xmi:id="_7kr9odFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7kr9otFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControlsVirtualFw">
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+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorControlsVirtualMc" name="P_ActuatorControlsVirtualMc">
+ <templateBinding xmi:id="_7nZ6cdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7nZ6ctFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorControlsVirtualMc">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_ActuatorOutputs" name="P_ActuatorOutputs">
+ <templateBinding xmi:id="_7qKTgdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7qKTgtFGEeuFl4uGUGunyA" actual="ID_msg_ActuatorOutputs">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_AdcReport" name="P_AdcReport">
+ <templateBinding xmi:id="_7s5ecdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7s5ectFGEeuFl4uGUGunyA" actual="ID_msg_AdcReport">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_Airspeed" name="P_Airspeed">
+ <templateBinding xmi:id="_7v2r0dFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7v2r0tFGEeuFl4uGUGunyA" actual="ID_msg_Airspeed">
+ <formal xmi:type="uml:ClassifierTemplateParameter" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_HAQwoPIzEeeJotakjzOasQ"/>
+ </parameterSubstitution>
+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
+ </templateBinding>
+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_AirspeedValidated" name="P_AirspeedValidated">
+ <templateBinding xmi:id="_7yyEAdFGEeuFl4uGUGunyA">
+ <parameterSubstitution xmi:id="_7yyEAtFGEeuFl4uGUGunyA" actual="ID_msg_AirspeedValidated">
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+ <signature xmi:type="uml:RedefinableTemplateSignature" href="pathmap://ROBOTICS_LIBRARIES/robotics.library.uml#_CagtgPIzEeeJotakjzOasQ"/>
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+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_AirspeedWind" name="P_AirspeedWind">
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+ </packagedElement>
+ <packagedElement xmi:type="uml:Interface" xmi:id="svcdefs/P_CameraCapture" name="P_CameraCapture">
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+ <robotics.commobject:CommunicationObject xmi:id="_5ubmoNFGEeuFl4uGUGunyA" base_DataType="ID_msg_MountOrientation"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5uep8NFGEeuFl4uGUGunyA" base_DataType="ID_msg_MultirotorMotorLimits"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5uhGMNFGEeuFl4uGUGunyA" base_DataType="ID_msg_NavigatorMissionItem"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5ujicNFGEeuFl4uGUGunyA" description="Obstacle distances in front of the sensor." base_DataType="ID_msg_ObstacleDistance"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5ul-sNFGEeuFl4uGUGunyA" description="Obstacle distances in front of the sensor." base_DataType="ID_msg_ObstacleDistanceFused"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5upCANFGEeuFl4uGUGunyA" description="Off-board control mode" base_DataType="ID_msg_OffboardControlMode"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5ureQNFGEeuFl4uGUGunyA" description="ONBOARD_COMPUTER_STATUS message data" base_DataType="ID_msg_OnboardComputerStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5ut6gNFGEeuFl4uGUGunyA" description="Optical flow in XYZ body frame in SI units. http://en.wikipedia.org/wiki/International_System_of_Units" base_DataType="ID_msg_OpticalFlow"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5uw90NFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbMultitest"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5u0BINFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTest"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5u2dYNFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestLarge"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5u5gsNFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestMedium"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5u788NFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestMediumMulti"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5u_AQNFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestMediumQueue"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vBcgNFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestMediumQueuePoll"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vD4wNFGEeuFl4uGUGunyA" base_DataType="ID_msg_OrbTestMediumWrapAround"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vGVANFGEeuFl4uGUGunyA" description="ORBIT_YAW_BEHAVIOUR" base_DataType="ID_msg_OrbitStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vIxQNFGEeuFl4uGUGunyA" description="This message is used to notify the system about one or more parameter changes" base_DataType="ID_msg_ParameterUpdate"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vLNgNFGEeuFl4uGUGunyA" base_DataType="ID_msg_Ping"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vNCsNFGEeuFl4uGUGunyA" base_DataType="ID_msg_PositionControllerLandingStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vO34NFGEeuFl4uGUGunyA" base_DataType="ID_msg_PositionControllerStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vRUINFGEeuFl4uGUGunyA" description="this file is only used in the position_setpoint triple as a dependency" base_DataType="ID_msg_PositionSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vSiQNFGEeuFl4uGUGunyA" description="Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one)." base_DataType="ID_msg_PositionSetpointTriplet"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vUXcNFGEeuFl4uGUGunyA" description="power button state notification message" base_DataType="ID_msg_PowerButtonState"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vWMoNFGEeuFl4uGUGunyA" description="power monitor message" base_DataType="ID_msg_PowerMonitor"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vXawNFGEeuFl4uGUGunyA" base_DataType="ID_msg_PwmInput"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vZP8NFGEeuFl4uGUGunyA" base_DataType="ID_msg_Px4IoStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vbFINFGEeuFl4uGUGunyA" base_DataType="ID_msg_QshellReq"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vc6UNFGEeuFl4uGUGunyA" base_DataType="ID_msg_QshellRetval"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vevgNFGEeuFl4uGUGunyA" base_DataType="ID_msg_RadioStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vf9oNFGEeuFl4uGUGunyA" base_DataType="ID_msg_RateCtrlStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vhy0NFGEeuFl4uGUGunyA" base_DataType="ID_msg_RcChannels"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vjoANFGEeuFl4uGUGunyA" base_DataType="ID_msg_RcParameterMap"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vldMNFGEeuFl4uGUGunyA" base_DataType="ID_msg_Rpm"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vnSYNFGEeuFl4uGUGunyA" base_DataType="ID_msg_RtlFlightTime"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vpHkNFGEeuFl4uGUGunyA" base_DataType="ID_msg_Safety"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vq8wNFGEeuFl4uGUGunyA" base_DataType="ID_msg_SatelliteInfo"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vsx8NFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorAccel"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vunINFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorAccelFifo"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vv1QNFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorBaro"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vxqcNFGEeuFl4uGUGunyA" description="Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not change with board revisions and sensor updates." base_DataType="ID_msg_SensorCombined"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5vzfoNFGEeuFl4uGUGunyA" description="Sensor corrections in SI-unit form for the voted sensor " base_DataType="ID_msg_SensorCorrection"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v1U0NFGEeuFl4uGUGunyA" description="GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)" base_DataType="ID_msg_SensorGps"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v3KANFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorGyro"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v4YINFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorGyroFft"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v6NUNFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorGyroFifo"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v7bcNFGEeuFl4uGUGunyA" base_DataType="ID_msg_SensorMag"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v9QoNFGEeuFl4uGUGunyA" description="Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed " base_DataType="ID_msg_SensorPreflightMag"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5v_F0NFGEeuFl4uGUGunyA" description="Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes " base_DataType="ID_msg_SensorSelection"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wAT8NFGEeuFl4uGUGunyA" description="Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. " base_DataType="ID_msg_SensorsStatusImu"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wCJINFGEeuFl4uGUGunyA" base_DataType="ID_msg_SystemPower"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wD-UNFGEeuFl4uGUGunyA" description="Status of the takeoff state machine currently just availble for multicopters" base_DataType="ID_msg_TakeoffStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wFMcNFGEeuFl4uGUGunyA" description="stack information for a single running process" base_DataType="ID_msg_TaskStackInfo"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wHBoNFGEeuFl4uGUGunyA" base_DataType="ID_msg_TecsStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wI20NFGEeuFl4uGUGunyA" base_DataType="ID_msg_TelemetryStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wKsANFGEeuFl4uGUGunyA" base_DataType="ID_msg_TestMotor"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wL6INFGEeuFl4uGUGunyA" base_DataType="ID_msg_Timesync"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wNvUNFGEeuFl4uGUGunyA" base_DataType="ID_msg_TimesyncStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wO9cNFGEeuFl4uGUGunyA" description="Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier" base_DataType="ID_msg_TrajectoryBezier"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wQyoNFGEeuFl4uGUGunyA" description="Local position setpoint in NED frame setting something to NaN means the state should not be controlled" base_DataType="ID_msg_TrajectorySetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wSAwNFGEeuFl4uGUGunyA" description="Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint" base_DataType="ID_msg_TrajectoryWaypoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wT18NFGEeuFl4uGUGunyA" base_DataType="ID_msg_TransponderReport"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wVrINFGEeuFl4uGUGunyA" description="This message is used to control the tunes, when the tune_id is set to CUSTOM then the frequency, duration are used otherwise those values are ignored." base_DataType="ID_msg_TuneControl"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wW5QNFGEeuFl4uGUGunyA" description="UAVCAN-MAVLink parameter bridge request type" base_DataType="ID_msg_UavcanParameterRequest"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wYucNFGEeuFl4uGUGunyA" description="UAVCAN-MAVLink parameter bridge response type" base_DataType="ID_msg_UavcanParameterValue"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wajoNFGEeuFl4uGUGunyA" description="Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA mavlink message" base_DataType="ID_msg_UlogStream"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wbxwNFGEeuFl4uGUGunyA" description="Ack a previously sent ulog_stream message that had the NEED_ACK flag set" base_DataType="ID_msg_UlogStreamAck"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wdm8NFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAcceleration"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5we1ENFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleActuatorSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wgqQNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAirData"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wh4YNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAngularAcceleration"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wjtkNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAngularAccelerationSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wliwNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAngularVelocity"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wmw4NFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAngularVelocityGroundtruth"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5womENFGEeuFl4uGUGunyA" description="This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use" base_DataType="ID_msg_VehicleAttitude"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wp0MNFGEeuFl4uGUGunyA" description="This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use" base_DataType="ID_msg_VehicleAttitudeGroundtruth"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wrpYNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleAttitudeSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5ws3gNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleCommand"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wussNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleCommandAck"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wv60NFGEeuFl4uGUGunyA" description="Local setpoint constraints in NED frame setting something to NaN means that no limit is provided" base_DataType="ID_msg_VehicleConstraints"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wxwANFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleControlMode"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5wy-INFGEeuFl4uGUGunyA" description="Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle_gps_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. " base_DataType="ID_msg_VehicleGlobalPosition"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w0zUNFGEeuFl4uGUGunyA" description="Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle_gps_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. " base_DataType="ID_msg_VehicleGlobalPositionGroundtruth"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w2BcNFGEeuFl4uGUGunyA" description="GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)" base_DataType="ID_msg_VehicleGpsPosition"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w32oNFGEeuFl4uGUGunyA" description="IMU readings in SI-unit form." base_DataType="ID_msg_VehicleImu"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w5r0NFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleImuStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w658NFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleLandDetected"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w8vINFGEeuFl4uGUGunyA" description="Fused local position in NED." base_DataType="ID_msg_VehicleLocalPosition"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w99QNFGEeuFl4uGUGunyA" description="Fused local position in NED." base_DataType="ID_msg_VehicleLocalPositionGroundtruth"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5w_ycNFGEeuFl4uGUGunyA" description="Local position setpoint in NED frame setting something to NaN means the state should not be controlled" base_DataType="ID_msg_VehicleLocalPositionSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xBAkNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleMagnetometer"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xC1wNFGEeuFl4uGUGunyA" description="Vehicle odometry data. Fits ROS REP 147 for aerial vehicles" base_DataType="ID_msg_VehicleMocapOdometry"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xED4NFGEeuFl4uGUGunyA" description="Vehicle odometry data. Fits ROS REP 147 for aerial vehicles" base_DataType="ID_msg_VehicleOdometry"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xF5ENFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleRatesSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xHuQNFGEeuFl4uGUGunyA" description="Vehicle Region Of Interest (ROI)" base_DataType="ID_msg_VehicleRoi"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xJjcNFGEeuFl4uGUGunyA" description="If you change the order, add or remove arming_state_t states make sure to update the arrays in state_machine_helper.cpp as well." base_DataType="ID_msg_VehicleStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xKxkNFGEeuFl4uGUGunyA" description="This is a struct used by the commander internally." base_DataType="ID_msg_VehicleStatusFlags"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xL_sNFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleThrustSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xN04NFGEeuFl4uGUGunyA" base_DataType="ID_msg_VehicleTorqueSetpoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xPDANFGEeuFl4uGUGunyA" description="Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_bezier is used to send a smooth flight path from the companion computer / avoidance module to the position controller." base_DataType="ID_msg_VehicleTrajectoryBezier"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xQ4MNFGEeuFl4uGUGunyA" description="Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller." base_DataType="ID_msg_VehicleTrajectoryWaypoint"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xSGUNFGEeuFl4uGUGunyA" description="Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller." base_DataType="ID_msg_VehicleTrajectoryWaypointDesired"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xT7gNFGEeuFl4uGUGunyA" description="This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use" base_DataType="ID_msg_VehicleVisionAttitude"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xVJoNFGEeuFl4uGUGunyA" description="Vehicle odometry data. Fits ROS REP 147 for aerial vehicles" base_DataType="ID_msg_VehicleVisualOdometry"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xWXwNFGEeuFl4uGUGunyA" description="VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE" base_DataType="ID_msg_VtolVehicleStatus"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xYM8NFGEeuFl4uGUGunyA" base_DataType="ID_msg_WheelEncoders"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xZbENFGEeuFl4uGUGunyA" base_DataType="ID_msg_Wind"/>
+ <robotics.commobject:CommunicationObject xmi:id="_5xapMNFGEeuFl4uGUGunyA" base_DataType="ID_msg_YawEstimatorStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OMJMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7OKUANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ONXUNFGEeuFl4uGUGunyA" description="Set to true if system is armed" base_Property="_7OMJMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OOlcNFGEeuFl4uGUGunyA" description="Set to true if the actuator safety is disabled but motors are not armed" base_Property="_7ONXUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OQaoNFGEeuFl4uGUGunyA" description="Set to true if system is ready to be armed" base_Property="_7OPMgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ORowNFGEeuFl4uGUGunyA" description="Set to true if actuators are forced to being disabled (due to emergency or HIL)" base_Property="_7OQaodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OTd8NFGEeuFl4uGUGunyA" description="Set to true if manual throttle kill switch is engaged" base_Property="_7ORowdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OUsENFGEeuFl4uGUGunyA" description="Set to true if the actuators are forced to the failsafe position" base_Property="_7OTd8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OV6MNFGEeuFl4uGUGunyA" description="IO/FMU should ignore messages from the actuator controls topics" base_Property="_7OUsEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7OXIUNFGEeuFl4uGUGunyA" description="Set to true if we need to ESCs to remove the idle constraint" base_Property="_7OV6MdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7Ocn4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorArmed"/>
+ <robotics.commobject:DataAttribute xmi:id="_7Q6GANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7Q434NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7Q-XcNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7Q8iSdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7RKksNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls"/>
+ <robotics.commobject:DataAttribute xmi:id="_7TnbwNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7TmNoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7TrGINFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7TpQ_NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7T2sUNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls0"/>
+ <robotics.commobject:DataAttribute xmi:id="_7WRuMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7WQgENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7WVYkNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7WUKc9FGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7Whl0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls1"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ZCHQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7ZASENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ZFxoNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7ZEjgNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7ZUbINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls2"/>
+ <robotics.commobject:DataAttribute xmi:id="_7bzucNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7bygUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7b2xwNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7b1jqNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7cCX8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls3"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ehrQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7ef2ENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7elVoNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7ekHhNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7e1NQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls4"/>
+ <robotics.commobject:DataAttribute xmi:id="_7hjKENFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7hhU4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7hmNYNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7hk_R9FGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7h1d8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControls5"/>
+ <robotics.commobject:DataAttribute xmi:id="_7kdUINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7kcGANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7kgXcNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7kfJVtFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7ktLwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControlsVirtualFw"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nL4ANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7nKC0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7nPiYNFGEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_7nNtPNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7nbIkNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorControlsVirtualMc"/>
+ <robotics.commobject:DataAttribute xmi:id="_7p-GQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7p84INFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7p_UYNFGEeuFl4uGUGunyA" description="for sanity checking" base_Property="_7p-GQ9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7qAigNFGEeuFl4uGUGunyA" description="valid outputs" base_Property="_7p_UYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7qBwoNFGEeuFl4uGUGunyA" description="output data, in natural output units" base_Property="_7qAigdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7qLhoNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ActuatorOutputs"/>
+ <robotics.commobject:DataAttribute xmi:id="_7spm0NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7snxoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7sq08NFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_7spm0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ssqINFGEeuFl4uGUGunyA" description="ADC channel IDs, negative for non-existent, TODO: should be kept same as array index" base_Property="_7sq08dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7st4QNFGEeuFl4uGUGunyA" description="ADC channel raw value, accept negative value, valid if channel ID is positive" base_Property="_7ssqIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7svtcNFGEeuFl4uGUGunyA" description="ADC channel resolution" base_Property="_7st4QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7sxioNFGEeuFl4uGUGunyA" description="ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)" base_Property="_7svtcdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7s7ToNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_AdcReport"/>
+ <robotics.commobject:DataAttribute xmi:id="_7vkX8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7vjJ0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7vmNINFGEeuFl4uGUGunyA" description="indicated airspeed in m/s" base_Property="_7vk_ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7vnbQNFGEeuFl4uGUGunyA" description="true filtered airspeed in m/s" base_Property="_7vmNIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7vopYNFGEeuFl4uGUGunyA" description="air temperature in degrees celsius, -1000 if unknown" base_Property="_7vnbQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7vrFoNFGEeuFl4uGUGunyA" description="confidence value from 0 to 1 for this sensor" base_Property="_7vopYdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7v358NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_Airspeed"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yfJENFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7yd68NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yg-QNFGEeuFl4uGUGunyA" description="indicated airspeed in m/s (IAS), set to NAN if invalid" base_Property="_7yfwINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yjagNFGEeuFl4uGUGunyA" description="calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid" base_Property="_7yg-QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ylPsNFGEeuFl4uGUGunyA" description="true filtered airspeed in m/s (TAS), set to NAN if invalid" base_Property="_7yjagdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7ymd0NFGEeuFl4uGUGunyA" description="CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid" base_Property="_7ylPsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yoTANFGEeuFl4uGUGunyA" description="TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid" base_Property="_7ynE4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yphINFGEeuFl4uGUGunyA" description="True if data from at least one airspeed sensor is declared valid." base_Property="_7yoTAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7yqvQNFGEeuFl4uGUGunyA" description="1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid" base_Property="_7yphIdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7yzSINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_AirspeedValidated"/>
+ <robotics.commobject:DataAttribute xmi:id="_71mugNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_71k5UNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71ojsNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_71mugdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71px0NFGEeuFl4uGUGunyA" description="Wind component in north / X direction (m/sec)" base_Property="_71ojsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71rnANFGEeuFl4uGUGunyA" description="Wind component in east / Y direction (m/sec)" base_Property="_71qY4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71tcMNFGEeuFl4uGUGunyA" description="Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_71rnAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71vRYNFGEeuFl4uGUGunyA" description="Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_71tcMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71xGkNFGEeuFl4uGUGunyA" description="True airspeed innovation" base_Property="_71vRYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71y7wNFGEeuFl4uGUGunyA" description="True airspeed innovation variance" base_Property="_71xGkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_710J4NFGEeuFl4uGUGunyA" description="Estimated true airspeed scale factor" base_Property="_71y7wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_711_ENFGEeuFl4uGUGunyA" description="Sideslip measurement innovation" base_Property="_710w8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7130QNFGEeuFl4uGUGunyA" description="Sideslip measurement innovation variance" base_Property="_711_EdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_715pcNFGEeuFl4uGUGunyA" description="source of wind estimate" base_Property="_7130QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7163kNFGEeuFl4uGUGunyA" description="wind estimate only based on synthetic sideslip fusion" base_Property="_715pcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_718swNFGEeuFl4uGUGunyA" description="combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)" base_Property="_717eoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_71_wENFGEeuFl4uGUGunyA" description="combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)" base_Property="_719T0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_72CzYNFGEeuFl4uGUGunyA" description="combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)" base_Property="_71_wEdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_72EokNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_AirspeedWind"/>
+ <robotics.commobject:DataAttribute xmi:id="_74m_MNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_74lxENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74oNUNFGEeuFl4uGUGunyA" description="Battery voltage in volts, 0 if unknown" base_Property="_74m_MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74qCgNFGEeuFl4uGUGunyA" description="Battery voltage in volts, filtered, 0 if unknown" base_Property="_74o0YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74rQoNFGEeuFl4uGUGunyA" description="Battery current in amperes, -1 if unknown" base_Property="_74qCgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74sewNFGEeuFl4uGUGunyA" description="Battery current in amperes, filtered, 0 if unknown" base_Property="_74rQodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74uT8NFGEeuFl4uGUGunyA" description="Battery current average in amperes, -1 if unknown" base_Property="_74tF0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74wJINFGEeuFl4uGUGunyA" description="Discharged amount in mAh, -1 if unknown" base_Property="_74u7ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74xXQNFGEeuFl4uGUGunyA" description="From 1 to 0, -1 if unknown" base_Property="_74wJIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74zMcNFGEeuFl4uGUGunyA" description="Power scaling factor, >= 1, or -1 if unknown" base_Property="_74x-UNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_741BoNFGEeuFl4uGUGunyA" description="temperature of the battery. NaN if unknown" base_Property="_74zMcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_742PwNFGEeuFl4uGUGunyA" description="Number of cells" base_Property="_741BodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_744E8NFGEeuFl4uGUGunyA" description="Whether or not a battery is connected, based on a voltage threshold" base_Property="_74220NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7456INFGEeuFl4uGUGunyA" description="Battery source" base_Property="_744sBtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_747vUNFGEeuFl4uGUGunyA" description="Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1" base_Property="_746hMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74-LkNFGEeuFl4uGUGunyA" description="actual capacity of the battery" base_Property="_748WYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_74_ZsNFGEeuFl4uGUGunyA" description="number of discharge cycles the battery has experienced" base_Property="_74-LkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75BO4NFGEeuFl4uGUGunyA" description="predicted remaining battery capacity based on the present rate of discharge in min" base_Property="_74_ZsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75CdANFGEeuFl4uGUGunyA" description="predicted remaining battery capacity based on the average rate of discharge in min" base_Property="_75BO4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75ESMNFGEeuFl4uGUGunyA" description="serial number of the battery pack" base_Property="_75CdAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75FgUNFGEeuFl4uGUGunyA" description="manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512" base_Property="_75ESMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75GucNFGEeuFl4uGUGunyA" description="state of health. FullChargeCapacity/DesignCapacity." base_Property="_75FgUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75IjoNFGEeuFl4uGUGunyA" description="max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%" base_Property="_75HVgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75JxwNFGEeuFl4uGUGunyA" description="ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed." base_Property="_75IjodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75K_4NFGEeuFl4uGUGunyA" description="interface error counter" base_Property="_75JxwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75MOANFGEeuFl4uGUGunyA" description="Battery individual cell voltages" base_Property="_75K_4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75ODMNFGEeuFl4uGUGunyA" description="Max difference between individual cell voltages" base_Property="_75MOAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75PRUNFGEeuFl4uGUGunyA" description="Power off event imminent indication, false if unknown" base_Property="_75ODMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75QfcNFGEeuFl4uGUGunyA" description="no battery low voltage warning active" base_Property="_75PRUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75RtkNFGEeuFl4uGUGunyA" description="warning of low voltage" base_Property="_75QfcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75S7sNFGEeuFl4uGUGunyA" description="critical voltage, return / abort immediately" base_Property="_75SUoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75Uw4NFGEeuFl4uGUGunyA" description="immediate landing required" base_Property="_75TiwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75V_ANFGEeuFl4uGUGunyA" description="the battery has failed completely" base_Property="_75Uw4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75XNINFGEeuFl4uGUGunyA" description="current battery warning" base_Property="_75V_AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75ZCUNFGEeuFl4uGUGunyA" description="The average power of the current discharge" base_Property="_75X0MtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75aQcNFGEeuFl4uGUGunyA" description="The predicted charge or energy remaining in the battery" base_Property="_75ZCUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75cFoNFGEeuFl4uGUGunyA" description="The compensated battery capacity remaining" base_Property="_75a3gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75dTwNFGEeuFl4uGUGunyA" description="The design capacity of the battery" base_Property="_75cFodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75eh4NFGEeuFl4uGUGunyA" description="The predicted remaining time until the battery reaches full charge, in minutes" base_Property="_75dTwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75fwANFGEeuFl4uGUGunyA" description="Number of battery overdischarge" base_Property="_75eh4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_75g-INFGEeuFl4uGUGunyA" description="Nominal voltage of the battery pack" base_Property="_75fwAdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_75iMQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_BatteryStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_78BfkNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_78ARcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78CtsNFGEeuFl4uGUGunyA" description="Capture time in UTC / GPS time" base_Property="_78BfkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78Ei4NFGEeuFl4uGUGunyA" description="Image sequence number" base_Property="_78DUwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78GYENFGEeuFl4uGUGunyA" description="Latitude in degrees (WGS84)" base_Property="_78Ei4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78INQNFGEeuFl4uGUGunyA" description="Longitude in degrees (WGS84)" base_Property="_78GYEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78KCcNFGEeuFl4uGUGunyA" description="Altitude (AMSL)" base_Property="_78INQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78LQkNFGEeuFl4uGUGunyA" description="Altitude above ground (meters)" base_Property="_78KCcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78MesNFGEeuFl4uGUGunyA" description="Attitude of the camera, zero rotation is facing towards front of vehicle" base_Property="_78LQkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_78OT4NFGEeuFl4uGUGunyA" description="1 for success, 0 for failure, -1 if camera does not provide feedback" base_Property="_78NFwNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_78VooNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CameraCapture"/>
+ <robotics.commobject:DataAttribute xmi:id="_7--s8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_7-9e0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7_AiINFGEeuFl4uGUGunyA" description="UTC timestamp" base_Property="_7-_UANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7_BwQNFGEeuFl4uGUGunyA" description="Image sequence number" base_Property="_7_AiIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_7_C-YNFGEeuFl4uGUGunyA" description="Trigger feedback from camera" base_Property="_7_BwQdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_7_PLoNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CameraTrigger"/>
+ <robotics.commobject:DataAttribute xmi:id="_8BrboNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8BqNgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8BspwNFGEeuFl4uGUGunyA" description="UTC timestamp" base_Property="_8BrbodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Bt34NFGEeuFl4uGUGunyA" description="Image sequence number" base_Property="_8BspwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8BvGANFGEeuFl4uGUGunyA" description="Trigger feedback from camera" base_Property="_8Bue8NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8B43ANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CameraTriggerSecondary"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Eb0sNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8EamkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Edp4NFGEeuFl4uGUGunyA" description="State unknown or not reportable" base_Property="_8EcbwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EffENFGEeuFl4uGUGunyA" description="velocity setpoint" base_Property="_8Edp4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EgtMNFGEeuFl4uGUGunyA" description="Modem is being initialized" base_Property="_8EffEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EiiYNFGEeuFl4uGUGunyA" description="Modem is locked" base_Property="_8EhUQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EkXkNFGEeuFl4uGUGunyA" description="Modem is not enabled and is powered down" base_Property="_8EjJcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EmMwNFGEeuFl4uGUGunyA" description="Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state" base_Property="_8Ek-oNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Ena4NFGEeuFl4uGUGunyA" description="Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state" base_Property="_8EmMwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EpQENFGEeuFl4uGUGunyA" description="Modem is enabled and powered on but not registered with a network provider and not available for data connections" base_Property="_8Ena4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ErFQNFGEeuFl4uGUGunyA" description="Modem is searching for a network provider to register" base_Property="_8Ep3INFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Es6cNFGEeuFl4uGUGunyA" description="Modem is registered with a network provider, and data connections and messaging may be available for use" base_Property="_8ErFQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EuvoNFGEeuFl4uGUGunyA" description="Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated" base_Property="_8Es6cdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Ewk0NFGEeuFl4uGUGunyA" description="Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered" base_Property="_8EuvodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EyaANFGEeuFl4uGUGunyA" description="One or more packet data bearers is active and connected" base_Property="_8Ewk0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8EzoINFGEeuFl4uGUGunyA" description="No error" base_Property="_8EyaAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E1dUNFGEeuFl4uGUGunyA" description="Error state is unknown" base_Property="_8EzoIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E2rcNFGEeuFl4uGUGunyA" description="SIM is required for the modem but missing" base_Property="_8E1dUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E4goNFGEeuFl4uGUGunyA" description="SIM is available, but not usuable for connection" base_Property="_8E3SgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E5uwNFGEeuFl4uGUGunyA" description="Status bitmap 1: Roaming is active" base_Property="_8E4godFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E684NFGEeuFl4uGUGunyA" description="Failure reason when status in in CELLUAR_STATUS_FAILED" base_Property="_8E5uwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E8LANFGEeuFl4uGUGunyA" description="Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte" base_Property="_8E684dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E-AMNFGEeuFl4uGUGunyA" description="Cellular network RSSI/RSRP in dBm, absolute value" base_Property="_8E8yENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8E_OUNFGEeuFl4uGUGunyA" description="Mobile country code. If unknown, set to: UINT16_MAX" base_Property="_8E-AMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8FBDgNFGEeuFl4uGUGunyA" description="Mobile network code. If unknown, set to: UINT16_MAX" base_Property="_8E_1YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8FCRoNFGEeuFl4uGUGunyA" description="Location area code. If unknown, set to: 0" base_Property="_8FBDgdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8FDfwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CellularStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_8HyDoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8Hw1gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8Hz40NFGEeuFl4uGUGunyA" description="velocities demanded" base_Property="_8HyDodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8H1G8NFGEeuFl4uGUGunyA" description="velocities allowed" base_Property="_8Hz40dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8IDwcNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CollisionConstraints"/>
+ <robotics.commobject:DataAttribute xmi:id="_8KqYgNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8KpKYNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8K3M0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CollisionReport"/>
+ <robotics.commobject:DataAttribute xmi:id="_8NaKgNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8NY8YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8NcmwNFGEeuFl4uGUGunyA" description="main state machine" base_Property="_8NbYrNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8Nm-0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_CommanderState"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QDO0NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8QCAsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QEc8NFGEeuFl4uGUGunyA" description="Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved." base_Property="_8QDO0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QGSINFGEeuFl4uGUGunyA" description="Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved." base_Property="_8QFEANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QHgQNFGEeuFl4uGUGunyA" description="Unallocated torque. Equal to 0 if the setpoint was achieved." base_Property="_8QGSIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QIuYNFGEeuFl4uGUGunyA" description="Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved." base_Property="_8QHgQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QKjkNFGEeuFl4uGUGunyA" description="Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved." base_Property="_8QJVcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QLxsNFGEeuFl4uGUGunyA" description="Unallocated thrust. Equal to 0 if the setpoint was achieved." base_Property="_8QKjkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QM_0NFGEeuFl4uGUGunyA" description="The actuator is not saturated" base_Property="_8QLxsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QON8NFGEeuFl4uGUGunyA" description="The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster" base_Property="_8QM_0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QQDINFGEeuFl4uGUGunyA" description="The actuator is saturated (with a value <= the desired value) because it has reached its maximum value" base_Property="_8QO1ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QRRQNFGEeuFl4uGUGunyA" description="The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster" base_Property="_8QQDIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QSfYNFGEeuFl4uGUGunyA" description="The actuator is saturated (with a value >= the desired value) because it has reached its minimum value" base_Property="_8QRRQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8QTtgNFGEeuFl4uGUGunyA" description="Indicates actuator saturation status." base_Property="_8QTGcNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8QVisNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ControlAllocatorStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_8TF7wNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8TEtoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8THJ4NFGEeuFl4uGUGunyA" description="processor load from 0 to 1" base_Property="_8TF7wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8TI_ENFGEeuFl4uGUGunyA" description="RAM usage from 0 to 1" base_Property="_8THJ4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8TYPoNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_Cpuload"/>
+ <robotics.commobject:DataAttribute xmi:id="_8WMTENFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8WLE8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8WNhMNFGEeuFl4uGUGunyA" description="unique ID of debug array, used to discriminate between arrays" base_Property="_8WMTEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8WOvUNFGEeuFl4uGUGunyA" description="name of the debug array (max. 10 characters)" base_Property="_8WNhMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8WQkgNFGEeuFl4uGUGunyA" description="data" base_Property="_8WPWYNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8Wem8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DebugArray"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ZAWgNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8Y_IYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ZCLsNFGEeuFl4uGUGunyA" description="max. 10 characters as key / name" base_Property="_8ZA9kNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ZDZ0NFGEeuFl4uGUGunyA" description="the value to send as debug output" base_Property="_8ZCLsdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8ZNK0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DebugKeyValue"/>
+ <robotics.commobject:DataAttribute xmi:id="_8bwIgNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8bu6YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8bx9sNFGEeuFl4uGUGunyA" description="index of debug variable" base_Property="_8bwvkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8bzL0NFGEeuFl4uGUGunyA" description="the value to send as debug output" base_Property="_8bx9sdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8cB1UNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DebugValue"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ei90NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8ehvsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ekzANFGEeuFl4uGUGunyA" description="max. 10 characters as key / name" base_Property="_8ejk4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8emBINFGEeuFl4uGUGunyA" description="x value" base_Property="_8ekzAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8enPQNFGEeuFl4uGUGunyA" description="y value" base_Property="_8emBIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8eodYNFGEeuFl4uGUGunyA" description="z value" base_Property="_8enPQdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8exAQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DebugVect"/>
+ <robotics.commobject:DataAttribute xmi:id="_8hWaMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8hVMENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8hXoUNFGEeuFl4uGUGunyA" description="Number of errors detected by driver" base_Property="_8hWaMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8hY2cNFGEeuFl4uGUGunyA" description="Raw differential pressure reading (may be negative)" base_Property="_8hXoUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8hbSsNFGEeuFl4uGUGunyA" description="Low pass filtered differential pressure reading" base_Property="_8hZdgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8hcg0NFGEeuFl4uGUGunyA" description="Temperature provided by sensor, -1000.0f if unknown" base_Property="_8hbSsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8heWANFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_8hcg0dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8hpVINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DifferentialPressure"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kKdoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8kIocNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kLrwNFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_8kKdodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kM54NFGEeuFl4uGUGunyA" description="Minimum distance the sensor can measure (in m)" base_Property="_8kLrwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kOIANFGEeuFl4uGUGunyA" description="Maximum distance the sensor can measure (in m)" base_Property="_8kM54dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kPWINFGEeuFl4uGUGunyA" description="Current distance reading (in m)" base_Property="_8kOIAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kQkQNFGEeuFl4uGUGunyA" description="Measurement variance (in m^2), 0 for unknown / invalid readings" base_Property="_8kPWIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kRyYNFGEeuFl4uGUGunyA" description="Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality." base_Property="_8kQkQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kTnkNFGEeuFl4uGUGunyA" description="Type from MAV_DISTANCE_SENSOR enum" base_Property="_8kSZcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kVcwNFGEeuFl4uGUGunyA" description="Sensor horizontal field of view (rad)" base_Property="_8kUOoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kWq4NFGEeuFl4uGUGunyA" description="Sensor vertical field of view (rad)" base_Property="_8kVcwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kX5ANFGEeuFl4uGUGunyA" description="Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM" base_Property="_8kWq4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kZHINFGEeuFl4uGUGunyA" description="Direction the sensor faces from MAV_SENSOR_ORIENTATION enum" base_Property="_8kX5AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kaVQNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_NONE" base_Property="_8kZHIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kbjYNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_45" base_Property="_8kaVQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kdYkNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_90" base_Property="_8kcKcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kemsNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_135" base_Property="_8kdYkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kf00NFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_180" base_Property="_8kemsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8khC8NFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_225" base_Property="_8kf00dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8khqANFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_270" base_Property="_8khC8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ki4INFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_315" base_Property="_8kiRENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kkGQNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_NONE" base_Property="_8kjfMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8klUYNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_90" base_Property="_8kkGQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kmigNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_180" base_Property="_8klUYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8knwoNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_YAW_270" base_Property="_8kmigdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ko-wNFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_PITCH_90" base_Property="_8koXsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8kqz8NFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_PITCH_270" base_Property="_8kpl0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8ksCENFGEeuFl4uGUGunyA" description="MAV_SENSOR_ROTATION_CUSTOM" base_Property="_8kqz8dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8ktQMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_DistanceSensor"/>
+ <robotics.commobject:DataAttribute xmi:id="_8nSqINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8nRcANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8nUfUNFGEeuFl4uGUGunyA" description="(0x7fff) If one of the relative timestamps" base_Property="_8nTRMNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8nllENFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_Ekf2Timestamps"/>
+ <robotics.commobject:DataAttribute xmi:id="_8qPQcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8qOCUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8qQekNFGEeuFl4uGUGunyA" description="Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)" base_Property="_8qPQcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8qRssNFGEeuFl4uGUGunyA" description="Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)" base_Property="_8qQekdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8qS60NFGEeuFl4uGUGunyA" description="Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)" base_Property="_8qRssdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8qUwANFGEeuFl4uGUGunyA" description="true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST" base_Property="_8qS60dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8qd58NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EkfGpsDrift"/>
+ <robotics.commobject:DataAttribute xmi:id="_8s_CcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8s9NQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tAQkNFGEeuFl4uGUGunyA" description="Number of reported errors by ESC - if supported" base_Property="_8s_CcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tCs0NFGEeuFl4uGUGunyA" description="Motor RPM, negative for reverse rotation [RPM] - if supported" base_Property="_8tA3oNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tD68NFGEeuFl4uGUGunyA" description="Voltage measured from current ESC [V] - if supported" base_Property="_8tCs0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tFJENFGEeuFl4uGUGunyA" description="Current measured from current ESC [A] - if supported" base_Property="_8tD68dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tG-QNFGEeuFl4uGUGunyA" description="Temperature measured from current ESC [degC] - if supported" base_Property="_8tFwINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tIMYNFGEeuFl4uGUGunyA" description="Address of current ESC (in most cases 1-8 / must be set by driver)" base_Property="_8tG-QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tKBkNFGEeuFl4uGUGunyA" description="State of ESC - depend on Vendor" base_Property="_8tIzcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tL2wNFGEeuFl4uGUGunyA" description="Bitmask to indicate the internal ESC faults" base_Property="_8tKBkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tNr8NFGEeuFl4uGUGunyA" description="(1 << 0)" base_Property="_8tL2w9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tPhINFGEeuFl4uGUGunyA" description="(1 << 1)" base_Property="_8tOTANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tRWUNFGEeuFl4uGUGunyA" description="(1 << 2)" base_Property="_8tPhIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tTLgNFGEeuFl4uGUGunyA" description="(1 << 3)" base_Property="_8tRWUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tUZoNFGEeuFl4uGUGunyA" description="(1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)" base_Property="_8tTLgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tWO0NFGEeuFl4uGUGunyA" description="(1 << 5)" base_Property="_8tUZodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8tXc8NFGEeuFl4uGUGunyA" description="(1 << 6)" base_Property="_8tWO0dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8tZSINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EscReport"/>
+ <robotics.commobject:DataAttribute xmi:id="_8v7BsNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8v5zkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8v8P0NFGEeuFl4uGUGunyA" description="The number of ESCs supported. Current (Q2/2013) we support 8 ESCs" base_Property="_8v7BsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8v9d8NFGEeuFl4uGUGunyA" description="Traditional PPM ESC" base_Property="_8v8P0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8v-sENFGEeuFl4uGUGunyA" description="Serial Bus connected ESC" base_Property="_8v9d8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wAhQNFGEeuFl4uGUGunyA" description="One Shot PPM" base_Property="_8v_TINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wBvYNFGEeuFl4uGUGunyA" description="I2C" base_Property="_8wAhQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wDkkNFGEeuFl4uGUGunyA" description="CAN-Bus" base_Property="_8wBvYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wEysNFGEeuFl4uGUGunyA" description="DShot" base_Property="_8wDkkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wGA0NFGEeuFl4uGUGunyA" description="incremented by the writing thread everytime new data is stored" base_Property="_8wEysdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wH2ANFGEeuFl4uGUGunyA" description="number of connected ESCs" base_Property="_8wGn4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wJEINFGEeuFl4uGUGunyA" description="how ESCs connected to the system" base_Property="_8wH2AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wKSQNFGEeuFl4uGUGunyA" description="Bitmask indicating which ESC is online/offline" base_Property="_8wJEIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8wLgYNFGEeuFl4uGUGunyA" description="Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set." base_Property="_8wKSQdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8wMugNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EscStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_8yzWkNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8yyIcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8y1LwNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_8yzWkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8y2Z4NFGEeuFl4uGUGunyA" description="Quaternion rotation from the FRD body frame to the NED earth frame" base_Property="_8y1LwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8y3oANFGEeuFl4uGUGunyA" description="Amount by which quaternion has changed during last reset" base_Property="_8y2Z4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8y42INFGEeuFl4uGUGunyA" description="Quaternion reset counter" base_Property="_8y3oAdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8zGRgNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorAttitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_81vV0NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_81tgoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_81xLANFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_81vV0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_81yZINFGEeuFl4uGUGunyA" description="number of information event changes" base_Property="_81xLAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_810OUNFGEeuFl4uGUGunyA" description="0 - true when gps quality checks are passing passed" base_Property="_81zAMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_811ccNFGEeuFl4uGUGunyA" description="1 - true when the velocity states are reset to the gps measurement" base_Property="_810OUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_812qkNFGEeuFl4uGUGunyA" description="2 - true when the velocity states are reset using the optical flow measurement" base_Property="_811ccdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_814fwNFGEeuFl4uGUGunyA" description="3 - true when the velocity states are reset to the vision system measurement" base_Property="_813RoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_815t4NFGEeuFl4uGUGunyA" description="4 - true when the velocity states are reset to zero" base_Property="_814fwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_818KINFGEeuFl4uGUGunyA" description="5 - true when the position states are reset to the last known position" base_Property="_815t4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_819_UNFGEeuFl4uGUGunyA" description="6 - true when the position states are reset to the gps measurement" base_Property="_818KIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_81_0gNFGEeuFl4uGUGunyA" description="7 - true when the position states are reset to the vision system measurement" base_Property="_81-mYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82BCoNFGEeuFl4uGUGunyA" description="8 - true when the filter starts using gps measurements to correct the state estimates" base_Property="_81_0gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82C30NFGEeuFl4uGUGunyA" description="9 - true when the filter starts using vision system position measurements to correct the state estimates" base_Property="_82BpsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82EF8NFGEeuFl4uGUGunyA" description="10 - true when the filter starts using vision system velocity measurements to correct the state estimates" base_Property="_82C30dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82F7INFGEeuFl4uGUGunyA" description="11 - true when the filter starts using vision system yaw measurements to correct the state estimates" base_Property="_82EF8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82HwUNFGEeuFl4uGUGunyA" description="12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data" base_Property="_82F7IdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82I-cNFGEeuFl4uGUGunyA" description="number of warning event changes" base_Property="_82HwUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82KMkNFGEeuFl4uGUGunyA" description="0 - true when the gps is failing quality checks" base_Property="_82I-cdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82LasNFGEeuFl4uGUGunyA" description="1 - true when the gps data has not been used to correct the state estimates for a significant time period" base_Property="_82KMkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82NP4NFGEeuFl4uGUGunyA" description="2 - true when the gps data has stopped for a significant time period" base_Property="_82MBwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82OeANFGEeuFl4uGUGunyA" description="3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation" base_Property="_82NP4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82QTMNFGEeuFl4uGUGunyA" description="4 - true when the height sensor has not been used to correct the state estimates for a significant time period" base_Property="_82OeAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82RhUNFGEeuFl4uGUGunyA" description="5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation" base_Property="_82QTMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82TWgNFGEeuFl4uGUGunyA" description="6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements" base_Property="_82SIYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82UkoNFGEeuFl4uGUGunyA" description="7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course" base_Property="_82TWgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82VywNFGEeuFl4uGUGunyA" description="8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data" base_Property="_82UkodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82XA4NFGEeuFl4uGUGunyA" description="9 - true when the vision system data has stopped for a significant time period" base_Property="_82VywdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_82Y2ENFGEeuFl4uGUGunyA" description="10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data" base_Property="_82Xn8NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_82arQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorEventFlags"/>
+ <robotics.commobject:DataAttribute xmi:id="_85HZ8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_85GL0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85JPINFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_85IBANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85KdQNFGEeuFl4uGUGunyA" description="Latitude, (degrees)" base_Property="_85JPIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85MScNFGEeuFl4uGUGunyA" description="Longitude, (degrees)" base_Property="_85LEUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85NgkNFGEeuFl4uGUGunyA" description="Altitude AMSL, (meters)" base_Property="_85MScdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85OusNFGEeuFl4uGUGunyA" description="Altitude above ellipsoid, (meters)" base_Property="_85OHoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85Qj4NFGEeuFl4uGUGunyA" description="Reset delta for altitude" base_Property="_85PVwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85RyANFGEeuFl4uGUGunyA" description="Counter for reset events on horizontal position coordinates" base_Property="_85Qj4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85UOQNFGEeuFl4uGUGunyA" description="Counter for reset events on altitude" base_Property="_85SZENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85VcYNFGEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_85UOQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85WqgNFGEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_85VcYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85YfsNFGEeuFl4uGUGunyA" description="Terrain altitude WGS84, (metres)" base_Property="_85WqgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85Zt0NFGEeuFl4uGUGunyA" description="Terrain altitude estimate is valid" base_Property="_85YfsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_85bjANFGEeuFl4uGUGunyA" description="True if this position is estimated through dead-reckoning" base_Property="_85Zt0dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_85cxINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorGlobalPosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_878EcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8762UNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_879SkNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_878EcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_87_HwNFGEeuFl4uGUGunyA" description="horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8795oNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88A88NFGEeuFl4uGUGunyA" description="vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_87_HwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88CLENFGEeuFl4uGUGunyA" description="horizontal GPS position innovation (m) and innovation variance (m**2)" base_Property="_88A88dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88DZMNFGEeuFl4uGUGunyA" description="vertical GPS position innovation (m) and innovation variance (m**2)" base_Property="_88CLEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88FOYNFGEeuFl4uGUGunyA" description="horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_88EAQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88GcgNFGEeuFl4uGUGunyA" description="vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_88FOYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88HqoNFGEeuFl4uGUGunyA" description="horizontal external vision position innovation (m) and innovation variance (m**2)" base_Property="_88GcgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88Jf0NFGEeuFl4uGUGunyA" description="vertical external vision position innovation (m) and innovation variance (m**2)" base_Property="_88IRsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88Kt8NFGEeuFl4uGUGunyA" description="range sensor height innovation (m) and innovation variance (m**2)" base_Property="_88Jf0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88L8ENFGEeuFl4uGUGunyA" description="barometer height innovation (m) and innovation variance (m**2)" base_Property="_88Kt8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88NKMNFGEeuFl4uGUGunyA" description="horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)" base_Property="_88L8EdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88OYUNFGEeuFl4uGUGunyA" description="vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)" base_Property="_88NKMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88PmcNFGEeuFl4uGUGunyA" description="flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)" base_Property="_88OYUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88Q0kNFGEeuFl4uGUGunyA" description="heading innovation (rad) and innovation variance (rad**2)" base_Property="_88PmcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88SCsNFGEeuFl4uGUGunyA" description="earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)" base_Property="_88Q0kdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88TQ0NFGEeuFl4uGUGunyA" description="drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)" base_Property="_88SCsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88VGANFGEeuFl4uGUGunyA" description="airspeed innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_88T34NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88WUINFGEeuFl4uGUGunyA" description="synthetic sideslip innovation (rad) and innovation variance (rad**2)" base_Property="_88VGAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_88XiQNFGEeuFl4uGUGunyA" description="height of ground innovation (m) and innovation variance (m**2)" base_Property="_88WUIdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_88YwYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorInnovationTestRatios"/>
+ <robotics.commobject:DataAttribute xmi:id="_8-9jQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_8-8VINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8-_YcNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_8--KUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_AmkNFGEeuFl4uGUGunyA" description="horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8-_YcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_B0sNFGEeuFl4uGUGunyA" description="vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_AmkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_DC0NFGEeuFl4uGUGunyA" description="horizontal GPS position innovation (m) and innovation variance (m**2)" base_Property="_8_B0sdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_EQ8NFGEeuFl4uGUGunyA" description="vertical GPS position innovation (m) and innovation variance (m**2)" base_Property="_8_Dp4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_GGINFGEeuFl4uGUGunyA" description="horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_E4ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_HUQNFGEeuFl4uGUGunyA" description="vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_GGIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_IiYNFGEeuFl4uGUGunyA" description="horizontal external vision position innovation (m) and innovation variance (m**2)" base_Property="_8_HUQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_JwgNFGEeuFl4uGUGunyA" description="vertical external vision position innovation (m) and innovation variance (m**2)" base_Property="_8_IiYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_LlsNFGEeuFl4uGUGunyA" description="range sensor height innovation (m) and innovation variance (m**2)" base_Property="_8_KXkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_Mz0NFGEeuFl4uGUGunyA" description="barometer height innovation (m) and innovation variance (m**2)" base_Property="_8_LlsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_OB8NFGEeuFl4uGUGunyA" description="horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_Mz0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_PQENFGEeuFl4uGUGunyA" description="vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_OB8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_QeMNFGEeuFl4uGUGunyA" description="flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)" base_Property="_8_PQEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_RsUNFGEeuFl4uGUGunyA" description="heading innovation (rad) and innovation variance (rad**2)" base_Property="_8_QeMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_S6cNFGEeuFl4uGUGunyA" description="earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)" base_Property="_8_RsUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_UIkNFGEeuFl4uGUGunyA" description="drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)" base_Property="_8_S6cdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_V9wNFGEeuFl4uGUGunyA" description="airspeed innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_8_UvoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_XL4NFGEeuFl4uGUGunyA" description="synthetic sideslip innovation (rad) and innovation variance (rad**2)" base_Property="_8_V9wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_8_YaANFGEeuFl4uGUGunyA" description="height of ground innovation (m) and innovation variance (m**2)" base_Property="_8_XL4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_8_ZoINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorInnovationVariances"/>
+ <robotics.commobject:DataAttribute xmi:id="_9B4UYNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9B3GQNFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9B7XsNFGEeuFl4uGUGunyA" description="horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_9B6JkdFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9CBeUNFGEeuFl4uGUGunyA" description="horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_9CAQMNFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9CJaINFGEeuFl4uGUGunyA" description="barometer height innovation (m) and innovation variance (m**2)" base_Property="_9CHk8dFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9CO5sNFGEeuFl4uGUGunyA" description="heading innovation (rad) and innovation variance (rad**2)" base_Property="_9CNrkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9CQH0NFGEeuFl4uGUGunyA" description="earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)" base_Property="_9CO5sdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9CR9ANFGEeuFl4uGUGunyA" description="drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)" base_Property="_9CQu4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9CTLINFGEeuFl4uGUGunyA" description="airspeed innovation (m/sec) and innovation variance ((m/sec)**2)" base_Property="_9CR9AdFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9FFZYNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9FELQdFGEeuFl4uGUGunyA"/>
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+ <robotics.commobject:DataAttribute xmi:id="_9FIcsNFGEeuFl4uGUGunyA" description="true if z is valid" base_Property="_9FHOkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FJq0NFGEeuFl4uGUGunyA" description="true if vy and vy are valid" base_Property="_9FIcsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FK48NFGEeuFl4uGUGunyA" description="true if vz is valid" base_Property="_9FJq0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FMuINFGEeuFl4uGUGunyA" description="North position in NED earth-fixed frame, (metres)" base_Property="_9FLgANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FN8QNFGEeuFl4uGUGunyA" description="East position in NED earth-fixed frame, (metres)" base_Property="_9FMuIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FPxcNFGEeuFl4uGUGunyA" description="Down position (negative altitude) in NED earth-fixed frame, (metres)" base_Property="_9FOjUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FRmoNFGEeuFl4uGUGunyA" description="North velocity in NED earth-fixed frame, (metres/sec)" base_Property="_9FQYgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FS0wNFGEeuFl4uGUGunyA" description="East velocity in NED earth-fixed frame, (metres/sec)" base_Property="_9FRmodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FUC4NFGEeuFl4uGUGunyA" description="Down velocity in NED earth-fixed frame, (metres/sec)" base_Property="_9FS0wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FVRANFGEeuFl4uGUGunyA" description="Down position time derivative in NED earth-fixed frame, (metres/sec)" base_Property="_9FUC4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FXGMNFGEeuFl4uGUGunyA" description="North velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_9FV4FtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FY7YNFGEeuFl4uGUGunyA" description="East velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_9FXtQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FaJgNFGEeuFl4uGUGunyA" description="Down velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_9FY7YdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fb-sNFGEeuFl4uGUGunyA" description="Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)" base_Property="_9FawkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fdz4NFGEeuFl4uGUGunyA" description="true if position (x, y) has a valid global reference (ref_lat, ref_lon)" base_Property="_9Fb-s9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FfCANFGEeuFl4uGUGunyA" description="true if z has a valid global reference (ref_alt)" base_Property="_9Fdz4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FgQINFGEeuFl4uGUGunyA" description="Time when reference position was set since system start, (microseconds)" base_Property="_9FfCAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FheQNFGEeuFl4uGUGunyA" description="Reference point latitude, (degrees)" base_Property="_9FgQIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FjTcNFGEeuFl4uGUGunyA" description="Reference point longitude, (degrees)" base_Property="_9FiFUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FkhkNFGEeuFl4uGUGunyA" description="Reference altitude AMSL, (metres)" base_Property="_9FjTcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FlvsNFGEeuFl4uGUGunyA" description="Distance from from bottom surface to ground, (metres)" base_Property="_9FlIoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fnk4NFGEeuFl4uGUGunyA" description="true if distance to bottom surface is valid" base_Property="_9FmWwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FozANFGEeuFl4uGUGunyA" description="bitfield indicating what type of sensor is used to estimate dist_bottom" base_Property="_9Fnk4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FqBINFGEeuFl4uGUGunyA" description="(1 << 0) a range sensor is used to estimate dist_bottom field" base_Property="_9FozA9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fr2UNFGEeuFl4uGUGunyA" description="(1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)" base_Property="_9FqoMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FtrgNFGEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_9FsdYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FvgsNFGEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_9FuSkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fwu0NFGEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_9FvgsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Fx88NFGEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_9Fwu0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9FzLENFGEeuFl4uGUGunyA" description="maximum horizontal speed - set to 0 when limiting not required (meters/sec)" base_Property="_9Fx88dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9F1AQNFGEeuFl4uGUGunyA" description="maximum vertical speed - set to 0 when limiting not required (meters/sec)" base_Property="_9FzLEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9F2OYNFGEeuFl4uGUGunyA" description="minimum height above ground level - set to 0 when limiting not required (meters)" base_Property="_9F1AQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9F3cgNFGEeuFl4uGUGunyA" description="maximum height above ground level - set to 0 when limiting not required (meters)" base_Property="_9F21cNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9F5RsNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorLocalPosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_9IiWANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9IfSsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9IlZUNFGEeuFl4uGUGunyA" description="NED earth-fixed frame" base_Property="_9IkLMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ImncNFGEeuFl4uGUGunyA" description="FRD earth-fixed frame, arbitrary heading reference" base_Property="_9IlZUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9In1kNFGEeuFl4uGUGunyA" description="Not aligned with the std frames of reference" base_Property="_9ImncdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9IpqwNFGEeuFl4uGUGunyA" description="FRD body-fixed frame" base_Property="_9IocoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Irf8NFGEeuFl4uGUGunyA" description="North position" base_Property="_9IpqwtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9IsuENFGEeuFl4uGUGunyA" description="East position" base_Property="_9Irf8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9It8MNFGEeuFl4uGUGunyA" description="Down position" base_Property="_9IsuEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9IvxYNFGEeuFl4uGUGunyA" description="Quaternion rotation from FRD body frame to refernce frame" base_Property="_9IujQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Iw_gNFGEeuFl4uGUGunyA" description="Quaternion rotation from odometry reference frame to navigation frame" base_Property="_9IvxYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Iy0sNFGEeuFl4uGUGunyA" description="North velocity" base_Property="_9Ixmk9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9I0C0NFGEeuFl4uGUGunyA" description="East velocity" base_Property="_9Iy0sdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9I14ANFGEeuFl4uGUGunyA" description="Down velocity" base_Property="_9I0p4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9I3GINFGEeuFl4uGUGunyA" description="Angular velocity about X body axis" base_Property="_9I14AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9I4UQNFGEeuFl4uGUGunyA" description="Angular velocity about Y body axis" base_Property="_9I3GIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9I5iYNFGEeuFl4uGUGunyA" description="Angular velocity about Z body axis" base_Property="_9I4UQdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9I7XkNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorOdometry"/>
+ <robotics.commobject:DataAttribute xmi:id="_9LdHINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9Lb5ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Le8UNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9LduMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9LgKcNFGEeuFl4uGUGunyA" description="velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)" base_Property="_9Le8UdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9LhYkNFGEeuFl4uGUGunyA" description="same as vel_body but in local frame (m/s)" base_Property="_9LgKcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9LjNwNFGEeuFl4uGUGunyA" description="integrated optical flow measurement (rad)" base_Property="_9Lh_oNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Lkb4NFGEeuFl4uGUGunyA" description="integrated optical flow measurement compensated for angular motion (rad)" base_Property="_9LjNwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9LlqANFGEeuFl4uGUGunyA" description="gyro measurement integrated to flow rate and synchronized with flow measurements (rad)" base_Property="_9Lkb4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9LrwoNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorOpticalFlowVel"/>
+ <robotics.commobject:DataAttribute xmi:id="_9OU08NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9OTm0NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9Oo-ANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorSelectorStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RMiwNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9RLUoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RNw4NFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9RMiwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RO_ANFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_9ROX8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RQ0MNFGEeuFl4uGUGunyA" description="gyroscope in-run bias in body frame (rad/s)" base_Property="_9RPmENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RSCUNFGEeuFl4uGUGunyA" description="magnitude of maximum gyroscope in-run bias in body frame (rad/s)" base_Property="_9RQ0MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RTQcNFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_9RSpYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RVFoNFGEeuFl4uGUGunyA" description="accelerometer in-run bias in body frame (m/s^2)" base_Property="_9RT3gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RWTwNFGEeuFl4uGUGunyA" description="magnitude of maximum accelerometer in-run bias in body frame (m/s^2)" base_Property="_9RVFodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RXh4NFGEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_9RWTxdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RYwANFGEeuFl4uGUGunyA" description="magnetometer in-run bias in body frame (Gauss)" base_Property="_9RXh4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9RalMNFGEeuFl4uGUGunyA" description="magnitude of maximum magnetometer in-run bias in body frame (Gauss)" base_Property="_9RZXENFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9RcaYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorSensorBias"/>
+ <robotics.commobject:DataAttribute xmi:id="_9UCbYNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9UBNQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9UDpgNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9UCbYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9UE3oNFGEeuFl4uGUGunyA" description="Internal filter states" base_Property="_9UDpgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9UGs0NFGEeuFl4uGUGunyA" description="Number of states effectively used" base_Property="_9UFesNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9UIiANFGEeuFl4uGUGunyA" description="Diagonal Elements of Covariance Matrix" base_Property="_9UGs0dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9UV9YNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorStates"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XEhQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9XDTINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XFvYNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9XEhQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XG9gNFGEeuFl4uGUGunyA" description="IMU vibration metrics in the following array locations" base_Property="_9XFvYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XIysNFGEeuFl4uGUGunyA" description="return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)" base_Property="_9XHkkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XKn4NFGEeuFl4uGUGunyA" description="Bitmask to indicate status of GPS checks - see definition below" base_Property="_9XJZwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XMdENFGEeuFl4uGUGunyA" description="0 : insufficient fix type (no 3D solution)" base_Property="_9XLO8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XNrMNFGEeuFl4uGUGunyA" description="1 : minimum required sat count fail" base_Property="_9XMdEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XO5UNFGEeuFl4uGUGunyA" description="2 : maximum allowed PDOP fail" base_Property="_9XNrMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XQugNFGEeuFl4uGUGunyA" description="3 : maximum allowed horizontal position error fail" base_Property="_9XPgYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XR8oNFGEeuFl4uGUGunyA" description="4 : maximum allowed vertical position error fail" base_Property="_9XQugdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XTx0NFGEeuFl4uGUGunyA" description="5 : maximum allowed speed error fail" base_Property="_9XR8odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XVnANFGEeuFl4uGUGunyA" description="6 : maximum allowed horizontal position drift fail - requires stationary vehicle" base_Property="_9XUY4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XXcMNFGEeuFl4uGUGunyA" description="7 : maximum allowed vertical position drift fail - requires stationary vehicle" base_Property="_9XWOENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XYqUNFGEeuFl4uGUGunyA" description="8 : maximum allowed horizontal speed fail - requires stationary vehicle" base_Property="_9XXcMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XafgNFGEeuFl4uGUGunyA" description="9 : maximum allowed vertical velocity discrepancy fail" base_Property="_9XZRYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XbtoNFGEeuFl4uGUGunyA" description="Bitmask to indicate EKF logic state" base_Property="_9XafgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Xc7wNFGEeuFl4uGUGunyA" description="0 - true if the filter tilt alignment is complete" base_Property="_9XbtodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Xew8NFGEeuFl4uGUGunyA" description="1 - true if the filter yaw alignment is complete" base_Property="_9Xc7wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Xf_ENFGEeuFl4uGUGunyA" description="2 - true if GPS measurements are being fused" base_Property="_9Xew8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9Xh0QNFGEeuFl4uGUGunyA" description="3 - true if optical flow measurements are being fused" base_Property="_9Xf_EdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XjCYNFGEeuFl4uGUGunyA" description="4 - true if a simple magnetic yaw heading is being fused" base_Property="_9Xh0QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XkQgNFGEeuFl4uGUGunyA" description="5 - true if 3-axis magnetometer measurement are being fused" base_Property="_9XjCYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XleoNFGEeuFl4uGUGunyA" description="6 - true if synthetic magnetic declination measurements are being fused" base_Property="_9XkQgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XnT0NFGEeuFl4uGUGunyA" description="7 - true when thought to be airborne" base_Property="_9XmFsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XpJANFGEeuFl4uGUGunyA" description="8 - true when wind velocity is being estimated" base_Property="_9XnT0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XqXINFGEeuFl4uGUGunyA" description="9 - true when baro height is being fused as a primary height reference" base_Property="_9XpJAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XsMUNFGEeuFl4uGUGunyA" description="10 - true when range finder height is being fused as a primary height reference" base_Property="_9Xq-MNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XtacNFGEeuFl4uGUGunyA" description="11 - true when GPS height is being fused as a primary height reference" base_Property="_9XsMUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XvPoNFGEeuFl4uGUGunyA" description="12 - true when local position data from external vision is being fused" base_Property="_9XuBgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XwdwNFGEeuFl4uGUGunyA" description="13 - true when yaw data from external vision measurements is being fused" base_Property="_9XvPodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XyS8NFGEeuFl4uGUGunyA" description="14 - true when height data from external vision measurements is being fused" base_Property="_9XwdwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9XzhENFGEeuFl4uGUGunyA" description="15 - true when synthetic sideslip measurements are being fused" base_Property="_9XyS8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X1WQNFGEeuFl4uGUGunyA" description="16 - true when only the magnetic field states are updated by the magnetometer" base_Property="_9X0IINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X2kYNFGEeuFl4uGUGunyA" description="17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip" base_Property="_9X1WQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X3ygNFGEeuFl4uGUGunyA" description="18 - true when the magnetomer has been declared faulty and is no longer being used" base_Property="_9X3LcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X5nsNFGEeuFl4uGUGunyA" description="19 - true when airspeed measurements are being fused" base_Property="_9X4ZkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X610NFGEeuFl4uGUGunyA" description="20 - true when when protection from ground effect induced static pressure rise is active" base_Property="_9X5nsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X8D8NFGEeuFl4uGUGunyA" description="21 - true when a stuck range finder sensor has been detected" base_Property="_9X610dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X95INFGEeuFl4uGUGunyA" description="22 - true when yaw (not ground course) data from a GPS receiver is being fused" base_Property="_9X8rANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9X_HQNFGEeuFl4uGUGunyA" description="23 - true when the in-flight mag field alignment has been completed" base_Property="_9X95IdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YA8cNFGEeuFl4uGUGunyA" description="Bitmask to indicate EKF internal faults" base_Property="_9X_uUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YCKkNFGEeuFl4uGUGunyA" description="1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)" base_Property="_9YA8cdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YD_wNFGEeuFl4uGUGunyA" description="1-Sigma estimated vertical position accuracy relative to the estimators origin (m)" base_Property="_9YCxoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YFN4NFGEeuFl4uGUGunyA" description="Bitmask to indicate pass/fail status of innovation consistency checks" base_Property="_9YD_wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YGcANFGEeuFl4uGUGunyA" description="ratio of the largest magnetometer innovation component to the innovation test limit" base_Property="_9YFN4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YIRMNFGEeuFl4uGUGunyA" description="ratio of the largest velocity innovation component to the innovation test limit" base_Property="_9YHDENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YJfUNFGEeuFl4uGUGunyA" description="ratio of the largest horizontal position innovation component to the innovation test limit" base_Property="_9YIRMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YKtcNFGEeuFl4uGUGunyA" description="ratio of the vertical position innovation to the innovation test limit" base_Property="_9YJfUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YMioNFGEeuFl4uGUGunyA" description="ratio of the true airspeed innovation to the innovation test limit" base_Property="_9YLUgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YNwwNFGEeuFl4uGUGunyA" description="ratio of the height above ground innovation to the innovation test limit" base_Property="_9YMiodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YO-4NFGEeuFl4uGUGunyA" description="ratio of the synthetic sideslip innovation to the innovation test limit" base_Property="_9YNwwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YQNANFGEeuFl4uGUGunyA" description="Bitmask indicating which filter kinematic state outputs are valid for flight control use." base_Property="_9YO-4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YRbINFGEeuFl4uGUGunyA" description="number of horizontal position reset events (allow to wrap if count exceeds 255)" base_Property="_9YQNAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YTQUNFGEeuFl4uGUGunyA" description="number of vertical velocity reset events (allow to wrap if count exceeds 255)" base_Property="_9YSCMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YUecNFGEeuFl4uGUGunyA" description="number of horizontal position reset events (allow to wrap if count exceeds 255)" base_Property="_9YTQUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YWToNFGEeuFl4uGUGunyA" description="number of vertical position reset events (allow to wrap if count exceeds 255)" base_Property="_9YVFgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YXhwNFGEeuFl4uGUGunyA" description="number of quaternion reset events (allow to wrap if count exceeds 255)" base_Property="_9YWTodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YYv4NFGEeuFl4uGUGunyA" description="cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time" base_Property="_9YXhwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YalENFGEeuFl4uGUGunyA" description="Bitmask to indicate sensor health states (vel, pos, hgt)" base_Property="_9YZW9NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9YbzMNFGEeuFl4uGUGunyA" description="Bitmask to indicate timeout flags (vel, pos, hgt)" base_Property="_9YalEdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9YdBUNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_9a5RUNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9a4DMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9a7GgNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9a54YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9a8UoNFGEeuFl4uGUGunyA" description="number of filter control status (cs) changes" base_Property="_9a7GgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9a9iwNFGEeuFl4uGUGunyA" description="0 - true if the filter tilt alignment is complete" base_Property="_9a8UodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9a-w4NFGEeuFl4uGUGunyA" description="1 - true if the filter yaw alignment is complete" base_Property="_9a9iwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bAmENFGEeuFl4uGUGunyA" description="2 - true if GPS measurement fusion is intended" base_Property="_9a-w4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bB0MNFGEeuFl4uGUGunyA" description="3 - true if optical flow measurements fusion is intended" base_Property="_9bAmEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bDCUNFGEeuFl4uGUGunyA" description="4 - true if a simple magnetic yaw heading fusion is intended" base_Property="_9bB0MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bEQcNFGEeuFl4uGUGunyA" description="5 - true if 3-axis magnetometer measurement fusion is inteded" base_Property="_9bDCUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bFekNFGEeuFl4uGUGunyA" description="6 - true if synthetic magnetic declination measurements fusion is intended" base_Property="_9bEQcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bHTwNFGEeuFl4uGUGunyA" description="7 - true when the vehicle is airborne" base_Property="_9bFekdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bIh4NFGEeuFl4uGUGunyA" description="8 - true when wind velocity is being estimated" base_Property="_9bHTwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bJwANFGEeuFl4uGUGunyA" description="9 - true when baro height is being fused as a primary height reference" base_Property="_9bIh4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bK-INFGEeuFl4uGUGunyA" description="10 - true when range finder height is being fused as a primary height reference" base_Property="_9bJwAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bMMQNFGEeuFl4uGUGunyA" description="11 - true when GPS height is being fused as a primary height reference" base_Property="_9bK-IdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bNaYNFGEeuFl4uGUGunyA" description="12 - true when local position data fusion from external vision is intended" base_Property="_9bMMQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bOogNFGEeuFl4uGUGunyA" description="13 - true when yaw data from external vision measurements fusion is intended" base_Property="_9bNaYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bP2oNFGEeuFl4uGUGunyA" description="14 - true when height data from external vision measurements is being fused" base_Property="_9bOogdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bREwNFGEeuFl4uGUGunyA" description="15 - true when synthetic sideslip measurements are being fused" base_Property="_9bP2odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bSS4NFGEeuFl4uGUGunyA" description="16 - true when the mag field does not match the expected strength" base_Property="_9bREwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bThANFGEeuFl4uGUGunyA" description="17 - true when the vehicle is operating as a fixed wing vehicle" base_Property="_9bSS4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bUvINFGEeuFl4uGUGunyA" description="18 - true when the magnetometer has been declared faulty and is no longer being used" base_Property="_9bThAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bV9QNFGEeuFl4uGUGunyA" description="19 - true when airspeed measurements are being fused" base_Property="_9bUvIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bXLYNFGEeuFl4uGUGunyA" description="20 - true when protection from ground effect induced static pressure rise is active" base_Property="_9bV9QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bYZgNFGEeuFl4uGUGunyA" description="21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough" base_Property="_9bXLYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bZnoNFGEeuFl4uGUGunyA" description="22 - true when yaw (not ground course) data fusion from a GPS receiver is intended" base_Property="_9bYZgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ba1wNFGEeuFl4uGUGunyA" description="23 - true when the in-flight mag field alignment has been completed" base_Property="_9bZnodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bcD4NFGEeuFl4uGUGunyA" description="24 - true when local frame velocity data fusion from external vision measurements is intended" base_Property="_9ba1wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bdSANFGEeuFl4uGUGunyA" description="25 - true when we are using a synthesized measurement for the magnetometer Z component" base_Property="_9bcD4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9begINFGEeuFl4uGUGunyA" description="26 - true when the vehicle is at rest" base_Property="_9bdSAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bgVUNFGEeuFl4uGUGunyA" description="number of filter fault status (fs) changes" base_Property="_9bfHMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bg8YNFGEeuFl4uGUGunyA" description="0 - true if the fusion of the magnetometer X-axis has encountered a numerical error" base_Property="_9bgVUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9biKgNFGEeuFl4uGUGunyA" description="1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error" base_Property="_9bhjcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bjYoNFGEeuFl4uGUGunyA" description="2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error" base_Property="_9biKgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bkmwNFGEeuFl4uGUGunyA" description="3 - true if the fusion of the heading angle has encountered a numerical error" base_Property="_9bjYodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bl04NFGEeuFl4uGUGunyA" description="4 - true if the fusion of the magnetic declination has encountered a numerical error" base_Property="_9bkmwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bnDANFGEeuFl4uGUGunyA" description="5 - true if fusion of the airspeed has encountered a numerical error" base_Property="_9bl04dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9boRINFGEeuFl4uGUGunyA" description="6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error" base_Property="_9bnDAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bpfQNFGEeuFl4uGUGunyA" description="7 - true if fusion of the optical flow X axis has encountered a numerical error" base_Property="_9boRIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bqtYNFGEeuFl4uGUGunyA" description="8 - true if fusion of the optical flow Y axis has encountered a numerical error" base_Property="_9bpfQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9br7gNFGEeuFl4uGUGunyA" description="9 - true if fusion of the North velocity has encountered a numerical error" base_Property="_9bqtYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9btJoNFGEeuFl4uGUGunyA" description="10 - true if fusion of the East velocity has encountered a numerical error" base_Property="_9br7gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9buXwNFGEeuFl4uGUGunyA" description="11 - true if fusion of the Down velocity has encountered a numerical error" base_Property="_9btJodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bwM8NFGEeuFl4uGUGunyA" description="12 - true if fusion of the North position has encountered a numerical error" base_Property="_9buXwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bxbENFGEeuFl4uGUGunyA" description="13 - true if fusion of the East position has encountered a numerical error" base_Property="_9bwM8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bypMNFGEeuFl4uGUGunyA" description="14 - true if fusion of the Down position has encountered a numerical error" base_Property="_9bxbEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9bz3UNFGEeuFl4uGUGunyA" description="15 - true if bad delta velocity bias estimates have been detected" base_Property="_9bypMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cGyQNFGEeuFl4uGUGunyA" description="16 - true if bad vertical accelerometer data has been detected" base_Property="_9bz3UdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cIncNFGEeuFl4uGUGunyA" description="17 - true if delta velocity data contains clipping (asymmetric railing)" base_Property="_9cGyQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cLDsNFGEeuFl4uGUGunyA" description="number of innovation fault status (reject) changes" base_Property="_9cJOgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cMR0NFGEeuFl4uGUGunyA" description="0 - true if horizontal velocity observations have been rejected" base_Property="_9cLDsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cNf8NFGEeuFl4uGUGunyA" description="1 - true if vertical velocity observations have been rejected" base_Property="_9cMR0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cOuENFGEeuFl4uGUGunyA" description="2 - true if horizontal position observations have been rejected" base_Property="_9cNf8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cP8MNFGEeuFl4uGUGunyA" description="3 - true if vertical position observations have been rejected" base_Property="_9cOuEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cRKUNFGEeuFl4uGUGunyA" description="4 - true if the X magnetometer observation has been rejected" base_Property="_9cP8MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cSYcNFGEeuFl4uGUGunyA" description="5 - true if the Y magnetometer observation has been rejected" base_Property="_9cRKUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cS_gNFGEeuFl4uGUGunyA" description="6 - true if the Z magnetometer observation has been rejected" base_Property="_9cSYcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cUNoNFGEeuFl4uGUGunyA" description="7 - true if the yaw observation has been rejected" base_Property="_9cS_gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cVbwNFGEeuFl4uGUGunyA" description="8 - true if the airspeed observation has been rejected" base_Property="_9cUNodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cWp4NFGEeuFl4uGUGunyA" description="9 - true if the synthetic sideslip observation has been rejected" base_Property="_9cVbwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cX4ANFGEeuFl4uGUGunyA" description="10 - true if the height above ground observation has been rejected" base_Property="_9cWp4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9cZGINFGEeuFl4uGUGunyA" description="11 - true if the X optical flow observation has been rejected" base_Property="_9cX4AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9caUQNFGEeuFl4uGUGunyA" description="12 - true if the Y optical flow observation has been rejected" base_Property="_9cZGIdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9cbiYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorStatusFlags"/>
+ <robotics.commobject:DataAttribute xmi:id="_9e61sNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9e5nkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9e9R8NFGEeuFl4uGUGunyA" description="NED earth-fixed frame" base_Property="_9e8D1NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9e-gENFGEeuFl4uGUGunyA" description="FRD earth-fixed frame, arbitrary heading reference" base_Property="_9e9R8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9e_uMNFGEeuFl4uGUGunyA" description="Not aligned with the std frames of reference" base_Property="_9e-gEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fA8UNFGEeuFl4uGUGunyA" description="FRD body-fixed frame" base_Property="_9e_uMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fCKcNFGEeuFl4uGUGunyA" description="North position" base_Property="_9fA8UtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fDYkNFGEeuFl4uGUGunyA" description="East position" base_Property="_9fCKcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fEmsNFGEeuFl4uGUGunyA" description="Down position" base_Property="_9fDYkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fGb4NFGEeuFl4uGUGunyA" description="Quaternion rotation from FRD body frame to refernce frame" base_Property="_9fFNwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fHqANFGEeuFl4uGUGunyA" description="Quaternion rotation from odometry reference frame to navigation frame" base_Property="_9fGb4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fI4INFGEeuFl4uGUGunyA" description="North velocity" base_Property="_9fHqBdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fKGQNFGEeuFl4uGUGunyA" description="East velocity" base_Property="_9fI4IdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fLUYNFGEeuFl4uGUGunyA" description="Down velocity" base_Property="_9fKGQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fMigNFGEeuFl4uGUGunyA" description="Angular velocity about X body axis" base_Property="_9fLUYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fNwoNFGEeuFl4uGUGunyA" description="Angular velocity about Y body axis" base_Property="_9fMigdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9fO-wNFGEeuFl4uGUGunyA" description="Angular velocity about Z body axis" base_Property="_9fNwodFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9fQM4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorVisualOdometryAligned"/>
+ <robotics.commobject:DataAttribute xmi:id="_9hvgMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9huSENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9hxVYNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_9hwHQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9hyjgNFGEeuFl4uGUGunyA" description="Wind component in north / X direction (m/sec)" base_Property="_9hxVYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9hzxoNFGEeuFl4uGUGunyA" description="Wind component in east / Y direction (m/sec)" base_Property="_9hyjgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h1m0NFGEeuFl4uGUGunyA" description="Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_9hzxodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h208NFGEeuFl4uGUGunyA" description="Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_9h1m0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h4DENFGEeuFl4uGUGunyA" description="True airspeed innovation" base_Property="_9h208dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h5RMNFGEeuFl4uGUGunyA" description="True airspeed innovation variance" base_Property="_9h4DEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h6fUNFGEeuFl4uGUGunyA" description="Sideslip measurement innovation" base_Property="_9h5RMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9h7tcNFGEeuFl4uGUGunyA" description="Sideslip measurement innovation variance" base_Property="_9h7GYNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9iBNANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_EstimatorWind"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kkxwNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9kkKsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kmm8NFGEeuFl4uGUGunyA" description="target position (deg * 1e7)" base_Property="_9klY0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9knOANFGEeuFl4uGUGunyA" description="target position (deg * 1e7)" base_Property="_9kmm8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kocINFGEeuFl4uGUGunyA" description="target position" base_Property="_9kn1ENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kqRUNFGEeuFl4uGUGunyA" description="target vel in y" base_Property="_9kpDMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9krfcNFGEeuFl4uGUGunyA" description="target vel in x" base_Property="_9kqRUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kstkNFGEeuFl4uGUGunyA" description="target vel in z" base_Property="_9krfcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9kt7sNFGEeuFl4uGUGunyA" description="target reporting capabilities" base_Property="_9kstkdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9ky0MNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_FollowTarget"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nOdINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9nNPANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nPrQNFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_9nOdIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nQ5YNFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_9nPrQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nSHgNFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_9nRgcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nTVoNFGEeuFl4uGUGunyA" description="rad/s (commanded by user)" base_Property="_9nSukNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nUjwNFGEeuFl4uGUGunyA" description="Desired quaternion for quaternion control" base_Property="_9nT8sNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nVx4NFGEeuFl4uGUGunyA" description="Normalized thrust command in body NED frame [-1,1]" base_Property="_9nVK0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nXnENFGEeuFl4uGUGunyA" description="Reset roll integral part (navigation logic change)" base_Property="_9nWY8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nY1MNFGEeuFl4uGUGunyA" description="Reset pitch integral part (navigation logic change)" base_Property="_9nXnEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9naDUNFGEeuFl4uGUGunyA" description="Reset yaw integral part (navigation logic change)" base_Property="_9nY1MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nbRcNFGEeuFl4uGUGunyA" description="control heading with rudder (used for auto takeoff on runway)" base_Property="_9naDUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ncfkNFGEeuFl4uGUGunyA" description="flap config specifier" base_Property="_9nbRcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9neUwNFGEeuFl4uGUGunyA" description="no flaps" base_Property="_9ndGoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9nfi4NFGEeuFl4uGUGunyA" description="landing config flaps" base_Property="_9neUwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ngxANFGEeuFl4uGUGunyA" description="take-off config flaps" base_Property="_9nfi4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9nimMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_FwVirtualAttitudeSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qP78NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9qOGwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qRKENFGEeuFl4uGUGunyA" description="Generator is off." base_Property="_9qP78dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qSYMNFGEeuFl4uGUGunyA" description="Generator is ready to start generating power." base_Property="_9qRKEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qTmUNFGEeuFl4uGUGunyA" description="Generator is generating power." base_Property="_9qSYMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qU0cNFGEeuFl4uGUGunyA" description="Generator is charging the batteries (generating enough power to charge and provide the load)." base_Property="_9qTmUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qWpoNFGEeuFl4uGUGunyA" description="Generator is operating at a reduced maximum power." base_Property="_9qVbgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qX3wNFGEeuFl4uGUGunyA" description="Generator is providing the maximum output." base_Property="_9qWpodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qZs8NFGEeuFl4uGUGunyA" description="Generator is near the maximum operating temperature, cooling is insufficient." base_Property="_9qX3wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qa7ENFGEeuFl4uGUGunyA" description="Generator hit the maximum operating temperature and shutdown." base_Property="_9qZs8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qcJMNFGEeuFl4uGUGunyA" description="Power electronics are near the maximum operating temperature, cooling is insufficient." base_Property="_9qa7EdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qdXUNFGEeuFl4uGUGunyA" description="Power electronics hit the maximum operating temperature and shutdown." base_Property="_9qcJMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qelcNFGEeuFl4uGUGunyA" description="Power electronics experienced a fault and shutdown." base_Property="_9qd-YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qgaoNFGEeuFl4uGUGunyA" description="The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening." base_Property="_9qfMgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qhowNFGEeuFl4uGUGunyA" description="Generator controller having communication problems." base_Property="_9qgaodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qjd8NFGEeuFl4uGUGunyA" description="Power electronic or generator cooling system error." base_Property="_9qhowdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qlTINFGEeuFl4uGUGunyA" description="Generator controller power rail experienced a fault." base_Property="_9qjd8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qmhQNFGEeuFl4uGUGunyA" description="Generator controller exceeded the overcurrent threshold and shutdown to prevent damage." base_Property="_9qlTIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qnvYNFGEeuFl4uGUGunyA" description="Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |" base_Property="_9qmhQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qo9gNFGEeuFl4uGUGunyA" description="Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating." base_Property="_9qnvYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qqLoNFGEeuFl4uGUGunyA" description="Batteries are under voltage (generator will not start)." base_Property="_9qo9gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qrZwNFGEeuFl4uGUGunyA" description="Generator start is inhibited by e.g. a safety switch." base_Property="_9qqLodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qsn4NFGEeuFl4uGUGunyA" description="Generator requires maintenance." base_Property="_9qrZwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qt2ANFGEeuFl4uGUGunyA" description="Generator is not ready to generate yet." base_Property="_9qsn4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qvEINFGEeuFl4uGUGunyA" description="Generator is idle." base_Property="_9qudENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qwSQNFGEeuFl4uGUGunyA" description="Status flags" base_Property="_9qvrMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qxgYNFGEeuFl4uGUGunyA" description="[A] Current into/out of battery. Positive for out. Negative for in. NaN: field not provided." base_Property="_9qw5UNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9qzVkNFGEeuFl4uGUGunyA" description="[A] Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided" base_Property="_9qyHcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q0jsNFGEeuFl4uGUGunyA" description="[W] The power being generated. NaN: field not provided" base_Property="_9qzVkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q1x0NFGEeuFl4uGUGunyA" description="[V] Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus." base_Property="_9q0jsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q2_8NFGEeuFl4uGUGunyA" description="[A] The target battery current. Positive for out. Negative for in. NaN: field not provided" base_Property="_9q1x0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q4OENFGEeuFl4uGUGunyA" description="[s] Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided." base_Property="_9q2_8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q5cMNFGEeuFl4uGUGunyA" description="[s] Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided." base_Property="_9q4OEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q6qUNFGEeuFl4uGUGunyA" description="[rpm] Speed of electrical generator or alternator. UINT16_MAX: field not provided." base_Property="_9q5cMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q8fgNFGEeuFl4uGUGunyA" description="[degC] The temperature of the rectifier or power converter. INT16_MAX: field not provided." base_Property="_9q7RYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9q9toNFGEeuFl4uGUGunyA" description="[degC] The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided." base_Property="_9q8fgdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9q-7wNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GeneratorStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_9tmx8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9tk8wNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9toAENFGEeuFl4uGUGunyA" description="no action on geofence violation" base_Property="_9tmx8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9tpOMNFGEeuFl4uGUGunyA" description="critical mavlink message" base_Property="_9toAEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9tqcUNFGEeuFl4uGUGunyA" description="switch to AUTO|LOITER" base_Property="_9tpOMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9trqcNFGEeuFl4uGUGunyA" description="switch to AUTO|RTL" base_Property="_9trDYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ttfoNFGEeuFl4uGUGunyA" description="flight termination" base_Property="_9tsRgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9tutwNFGEeuFl4uGUGunyA" description="switch to AUTO|LAND" base_Property="_9ttfodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9twi8NFGEeuFl4uGUGunyA" description="true if the geofence is violated" base_Property="_9tutwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9txxENFGEeuFl4uGUGunyA" description="action to take when geofence is violated" base_Property="_9twi8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9ty_MNFGEeuFl4uGUGunyA" description="true if the geofence requires a valid home position" base_Property="_9txxEdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9t00YNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GeofenceResult"/>
+ <robotics.commobject:DataAttribute xmi:id="_9wVV0NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9wUHsNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9wmbkNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalDeviceAttitudeStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zG9ANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9zFu4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zKAUNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zIyMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zLOcNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zKAUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zMckNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zLOcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zNqsNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zMckdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zO40NFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zNqsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9zQG8NFGEeuFl4uGUGunyA" description="[rad]" base_Property="_9zO40dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9zUYYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalDeviceInformation"/>
+ <robotics.commobject:DataAttribute xmi:id="_9139INFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_912vANFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_92KRANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalDeviceSetAttitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_944N0NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_942_sNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_947RINFGEeuFl4uGUGunyA" description="[rad]" base_Property="_946DAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_948fQNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_947RIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_94-UcNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_948fQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_95AJoNFGEeuFl4uGUGunyA" description="[rad]" base_Property="_94-7gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_95B-0NFGEeuFl4uGUGunyA" description="[rad]" base_Property="_95AJodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_95DM8NFGEeuFl4uGUGunyA" description="[rad]" base_Property="_95B-0dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_95MW4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalManagerInformation"/>
+ <robotics.commobject:DataAttribute xmi:id="_97_MMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_979-ENFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_98OcwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalManagerSetAttitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_9-wzYNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_9-vlQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9-zPoNFGEeuFl4uGUGunyA" description="unitless -1..1, can be NAN" base_Property="_9-yBgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9-0dwNFGEeuFl4uGUGunyA" description="unitless -1..1, can be NAN" base_Property="_9-zPodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9-1r4NFGEeuFl4uGUGunyA" description="unitless -1..1, can be NAN" base_Property="_9-0dwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_9-26ANFGEeuFl4uGUGunyA" description="unitless -1..1, can be NAN" base_Property="_9-1r4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_9-_c4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalManagerSetManualControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_-Bld4NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-BkPwNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-B0ucNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GimbalManagerStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_-EWeANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-EUo0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-EXsINFGEeuFl4uGUGunyA" description="Instance of GNSS reciever" base_Property="_-EWeAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-EY6QNFGEeuFl4uGUGunyA" description="length of data, MSB bit set = message to the gps device," base_Property="_-EXsIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-EaIYNFGEeuFl4uGUGunyA" description="data to write to the log" base_Property="_-EY6QdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-EkgcNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GpsDump"/>
+ <robotics.commobject:DataAttribute xmi:id="_-HWHoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-HU5gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-HXVwNFGEeuFl4uGUGunyA" description="length of data" base_Property="_-HWHodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-HYj4NFGEeuFl4uGUGunyA" description="LSB: 1=fragmented" base_Property="_-HXVwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-HZyANFGEeuFl4uGUGunyA" description="data to write to GPS device (RTCM message)" base_Property="_-HYj4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-HpCkNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_GpsInjectData"/>
+ <robotics.commobject:DataAttribute xmi:id="_-KXmcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-KWYUNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-KqhYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_HeaterStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NWB8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-NUMwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NXQENFGEeuFl4uGUGunyA" description="Latitude in degrees" base_Property="_-NWB8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NYeMNFGEeuFl4uGUGunyA" description="Longitude in degrees" base_Property="_-NXQEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NZsUNFGEeuFl4uGUGunyA" description="Altitude in meters (AMSL)" base_Property="_-NZFQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-Na6cNFGEeuFl4uGUGunyA" description="X coordinate in meters" base_Property="_-NaTYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NcvoNFGEeuFl4uGUGunyA" description="Y coordinate in meters" base_Property="_-NbhgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-Nd9wNFGEeuFl4uGUGunyA" description="Z coordinate in meters" base_Property="_-NcvodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NfL4NFGEeuFl4uGUGunyA" description="Yaw angle in radians" base_Property="_-Nd9wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NgaANFGEeuFl4uGUGunyA" description="true when the altitude has been set" base_Property="_-NfL4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NiPMNFGEeuFl4uGUGunyA" description="true when the latitude and longitude have been set" base_Property="_-NgaAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NjdUNFGEeuFl4uGUGunyA" description="true when the local position (xyz) has been set" base_Property="_-NiPMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-NkrcNFGEeuFl4uGUGunyA" description="true when home position was set manually" base_Property="_-NjdUdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-No84NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_HomePosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QI3QNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-QHpINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QKFYNFGEeuFl4uGUGunyA" description="time of corresponding sensor data last used for this estimate" base_Property="_-QI3QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QLTgNFGEeuFl4uGUGunyA" description="estimated hover thrust [0.1, 0.9]" base_Property="_-QKFYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QMhoNFGEeuFl4uGUGunyA" description="estimated hover thrust variance" base_Property="_-QLTgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QNvwNFGEeuFl4uGUGunyA" description="innovation of the last acceleration fusion" base_Property="_-QNIsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QPk8NFGEeuFl4uGUGunyA" description="innovation variance of the last acceleration fusion" base_Property="_-QOW0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QQzENFGEeuFl4uGUGunyA" description="normalized innovation squared test ratio" base_Property="_-QPk8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-QSBMNFGEeuFl4uGUGunyA" description="vertical acceleration noise variance estimated form innovation residual" base_Property="_-QQzEdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-QYH0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_HoverThrustEstimate"/>
+ <robotics.commobject:DataAttribute xmi:id="_-S8ToNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-S7FgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-S-v4NFGEeuFl4uGUGunyA" description="Maximum number of R/C input channels in the system. S.Bus has up to 18 channels." base_Property="_-S9hxNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-S_-ANFGEeuFl4uGUGunyA" description="last valid reception time" base_Property="_-S-v4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TBMINFGEeuFl4uGUGunyA" description="number of channels actually being seen" base_Property="_-S_-AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TCaQNFGEeuFl4uGUGunyA" description="receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception" base_Property="_-TBMIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TDoYNFGEeuFl4uGUGunyA" description="explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly." base_Property="_-TCaQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TE2gNFGEeuFl4uGUGunyA" description="RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss." base_Property="_-TDoYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TGEoNFGEeuFl4uGUGunyA" description="Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality." base_Property="_-TE2gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-THSwNFGEeuFl4uGUGunyA" description="Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality." base_Property="_-TGEodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TIg4NFGEeuFl4uGUGunyA" description="Length of a single PPM frame. Zero for non-PPM systems" base_Property="_-THSwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TJvANFGEeuFl4uGUGunyA" description="Input source" base_Property="_-TIg4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-TK9INFGEeuFl4uGUGunyA" description="measured pulse widths for each of the supported channels" base_Property="_-TJvAdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-TMLQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_InputRc"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VqQcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-VpCUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VrekNFGEeuFl4uGUGunyA" description="timestamp of the last successful sbd session" base_Property="_-Vq3gNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VsssNFGEeuFl4uGUGunyA" description="current size of the tx buffer" base_Property="_-VsFoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-Vt60NFGEeuFl4uGUGunyA" description="the rx buffer is parsed up to that index" base_Property="_-VtTwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VvI8NFGEeuFl4uGUGunyA" description="current size of the rx buffer" base_Property="_-Vuh4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VwXENFGEeuFl4uGUGunyA" description="number of failed sbd sessions" base_Property="_-VvwANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VyMQNFGEeuFl4uGUGunyA" description="number of successfull sbd sessions" base_Property="_-Vw-INFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-VzaYNFGEeuFl4uGUGunyA" description="number of times the tx buffer was reset" base_Property="_-VyMQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V0ogNFGEeuFl4uGUGunyA" description="current signal quality, 0 is no signal, 5 the best" base_Property="_-VzaYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V12oNFGEeuFl4uGUGunyA" description="current state of the driver, see the satcom_state of IridiumSBD.h for the definition" base_Property="_-V0ogdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V3EwNFGEeuFl4uGUGunyA" description="indicates if a ring call is pending" base_Property="_-V12odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V4S4NFGEeuFl4uGUGunyA" description="indicates if a tx buffer write is pending" base_Property="_-V3EwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V5hANFGEeuFl4uGUGunyA" description="indicates if a tx session is pending" base_Property="_-V4S4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V7WMNFGEeuFl4uGUGunyA" description="indicates if a rx read is pending" base_Property="_-V5hAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-V8kUNFGEeuFl4uGUGunyA" description="indicates if a rx session is pending" base_Property="_-V7WMdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-V-ZgNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_IridiumsbdStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_-YjzcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-YilUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-YlBkNFGEeuFl4uGUGunyA" description="tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis" base_Property="_-YkagdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-YmPsNFGEeuFl4uGUGunyA" description="tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis" base_Property="_-YlooNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-YoE4NFGEeuFl4uGUGunyA" description="/** size of target along camera x-axis in units of tan(theta) **/" base_Property="_-Ym2wNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-YpTANFGEeuFl4uGUGunyA" description="/** size of target along camera y-axis in units of tan(theta) **/" base_Property="_-YoE4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-Y0SINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_IrlockReport"/>
+ <robotics.commobject:DataAttribute xmi:id="_-ba6MNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-bZsENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-bcIUNFGEeuFl4uGUGunyA" description="landing gear up" base_Property="_-ba6MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-bdWcNFGEeuFl4uGUGunyA" description="landing gear down" base_Property="_-bcIUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-bfLoNFGEeuFl4uGUGunyA" description="keep the current state" base_Property="_-bd9gNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-bqKwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LandingGear"/>
+ <robotics.commobject:DataAttribute xmi:id="_-eGawNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-eFMoNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-eT2INFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LandingTargetInnovations"/>
+ <robotics.commobject:DataAttribute xmi:id="_-gyiYNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-gxUQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-gzwgNFGEeuFl4uGUGunyA" description="Flag indicating whether the landing target is static or moving with respect to the ground" base_Property="_-gyiYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g0-oNFGEeuFl4uGUGunyA" description="Flag showing whether relative position is valid" base_Property="_-gzwgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g2MwNFGEeuFl4uGUGunyA" description="Flag showing whether relative velocity is valid" base_Property="_-g0-odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g3a4NFGEeuFl4uGUGunyA" description="X/north position of target, relative to vehicle (navigation frame) [meters]" base_Property="_-g2MwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g5QENFGEeuFl4uGUGunyA" description="Y/east position of target, relative to vehicle (navigation frame) [meters]" base_Property="_-g4B8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g6eMNFGEeuFl4uGUGunyA" description="Z/down position of target, relative to vehicle (navigation frame) [meters]" base_Property="_-g5QEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g8TYNFGEeuFl4uGUGunyA" description="X/north velocity of target, relative to vehicle (navigation frame) [meters/second]" base_Property="_-g7FQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g9hgNFGEeuFl4uGUGunyA" description="Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]" base_Property="_-g8TYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g-voNFGEeuFl4uGUGunyA" description="X/north position variance [meters^2]" base_Property="_-g9hgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-g_9wNFGEeuFl4uGUGunyA" description="Y/east position variance [meters^2]" base_Property="_-g-vodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hBy8NFGEeuFl4uGUGunyA" description="X/north velocity variance [(meters/second)^2]" base_Property="_-hAk0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hDoINFGEeuFl4uGUGunyA" description="Y/east velocity variance [(meters/second)^2]" base_Property="_-hBy8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hE2QNFGEeuFl4uGUGunyA" description="Flag showing whether absolute position is valid" base_Property="_-hDoIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hGEYNFGEeuFl4uGUGunyA" description="X/north position of target, relative to origin (navigation frame) [meters]" base_Property="_-hE2QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hHSgNFGEeuFl4uGUGunyA" description="Y/east position of target, relative to origin (navigation frame) [meters]" base_Property="_-hGEYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-hJHsNFGEeuFl4uGUGunyA" description="Z/down position of target, relative to origin (navigation frame) [meters]" base_Property="_-hHSgdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-hKV0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LandingTargetPose"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j3EgNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-j12YNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j4SoNFGEeuFl4uGUGunyA" description="this is only used in the drivers" base_Property="_-j3rkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j6u4NFGEeuFl4uGUGunyA" description="turn LED off" base_Property="_-j5gw9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j79ANFGEeuFl4uGUGunyA" description="turn LED on" base_Property="_-j6u4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j9LINFGEeuFl4uGUGunyA" description="disable this priority (switch to lower priority setting)" base_Property="_-j79AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-j-ZQNFGEeuFl4uGUGunyA" description="continuously increase & decrease brightness (solid color if driver does not support it)" base_Property="_-j9yMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kAOcNFGEeuFl4uGUGunyA" description="two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while" base_Property="_-j_AUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kBckNFGEeuFl4uGUGunyA" description="maxium priority (minimum is 0)" base_Property="_-kAOcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kCqsNFGEeuFl4uGUGunyA" description="bitmask which LED(s) to control, set to 0xff for all" base_Property="_-kBckdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kD40NFGEeuFl4uGUGunyA" description="see COLOR_*" base_Property="_-kCqsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kFG8NFGEeuFl4uGUGunyA" description="see MODE_*" base_Property="_-kD40dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kGVENFGEeuFl4uGUGunyA" description="how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*) . Set to 0 for infinite" base_Property="_-kFG8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kHjMNFGEeuFl4uGUGunyA" description="priority: higher priority events will override current lower priority events (see MAX_PRIORITY)" base_Property="_-kGVEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-kIxUNFGEeuFl4uGUGunyA" description="needs to match BOARD_MAX_LEDS" base_Property="_-kHjMdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-kJ_cNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LedControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_-mwAcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-muyUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-mxOkNFGEeuFl4uGUGunyA" description="log level (same as in the linux kernel, starting with 0)" base_Property="_-mwAcdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-m-p8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LogMessage"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pnHMNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-pl5ENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-po8YNFGEeuFl4uGUGunyA" description="Normal, full size log" base_Property="_-pnuQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pqKgNFGEeuFl4uGUGunyA" description="reduced mission log (e.g. for geotagging)" base_Property="_-po8YdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pr_sNFGEeuFl4uGUGunyA" description="total written to log in kiloBytes" base_Property="_-pqxk9FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-ptN0NFGEeuFl4uGUGunyA" description="write rate in kiloBytes/s" base_Property="_-pr_sdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pt04NFGEeuFl4uGUGunyA" description="number of failed buffer writes due to buffer overflow" base_Property="_-ptN0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pvDANFGEeuFl4uGUGunyA" description="messages misssed" base_Property="_-pub8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pwRINFGEeuFl4uGUGunyA" description="current buffer fill in Bytes" base_Property="_-pvqENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-pxfQNFGEeuFl4uGUGunyA" description="total buffer size in Bytes" base_Property="_-pwRIdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-p1wsNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_LoggerStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_-sRZoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-sQLgNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-seN8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_MagWorkerData"/>
+ <robotics.commobject:DataAttribute xmi:id="_-u_9gNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-u-vYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vBLoNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_-vAkkNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vDA0NFGEeuFl4uGUGunyA" description="radio control" base_Property="_-vBysNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vEO8NFGEeuFl4uGUGunyA" description="mavlink instance 0" base_Property="_-vDA0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vFdENFGEeuFl4uGUGunyA" description="mavlink instance 1" base_Property="_-vEO8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vGrMNFGEeuFl4uGUGunyA" description="mavlink instance 2" base_Property="_-vFdEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vH5UNFGEeuFl4uGUGunyA" description="mavlink instance 4" base_Property="_-vGrMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vJHcNFGEeuFl4uGUGunyA" description="where this input is coming from" base_Property="_-vH5UdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vKVkNFGEeuFl4uGUGunyA" description="stick position in x direction -1..1" base_Property="_-vJHcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vLjsNFGEeuFl4uGUGunyA" description="stick position in y direction -1..1" base_Property="_-vKVkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vMx0NFGEeuFl4uGUGunyA" description="throttle stick position 0..1" base_Property="_-vLjsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vN_8NFGEeuFl4uGUGunyA" description="yaw stick/twist position, -1..1" base_Property="_-vNY4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vPOENFGEeuFl4uGUGunyA" description="flap position" base_Property="_-vOnANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vQcMNFGEeuFl4uGUGunyA" description="default function: camera yaw / azimuth" base_Property="_-vP1INFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vRqUNFGEeuFl4uGUGunyA" description="default function: camera pitch / tilt" base_Property="_-vRDQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vS4cNFGEeuFl4uGUGunyA" description="default function: camera trigger" base_Property="_-vSRYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vUGkNFGEeuFl4uGUGunyA" description="default function: camera roll" base_Property="_-vTfgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-vVUsNFGEeuFl4uGUGunyA" description="default function: payload drop" base_Property="_-vUtoNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-vWi0NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ManualControlSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x12INFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-x0oANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x3EQNFGEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_-x12IdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x4SYNFGEeuFl4uGUGunyA" description="switch is not mapped" base_Property="_-x3EQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x6HkNFGEeuFl4uGUGunyA" description="switch activated (value = 1)" base_Property="_-x4SYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x7VsNFGEeuFl4uGUGunyA" description="middle position (value = 0)" base_Property="_-x6HkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x8j0NFGEeuFl4uGUGunyA" description="switch not activated (value = -1)" base_Property="_-x7VsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x-ZANFGEeuFl4uGUGunyA" description="no mode slot assigned" base_Property="_-x9K4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-x_nINFGEeuFl4uGUGunyA" description="mode slot 1 selected" base_Property="_-x-ZAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yA1QNFGEeuFl4uGUGunyA" description="mode slot 2 selected" base_Property="_-x_nIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yCDYNFGEeuFl4uGUGunyA" description="mode slot 3 selected" base_Property="_-yA1QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yD4kNFGEeuFl4uGUGunyA" description="mode slot 4 selected" base_Property="_-yCqcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yFGsNFGEeuFl4uGUGunyA" description="mode slot 5 selected" base_Property="_-yD4kdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yGU0NFGEeuFl4uGUGunyA" description="mode slot 6 selected" base_Property="_-yFGsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yHi8NFGEeuFl4uGUGunyA" description="number of slots" base_Property="_-yGU0dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yIxENFGEeuFl4uGUGunyA" description="the slot a specific model selector is in" base_Property="_-yHi8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yJ_MNFGEeuFl4uGUGunyA" description="arm/disarm switch: _DISARMED_, ARMED" base_Property="_-yIxEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yKmQNFGEeuFl4uGUGunyA" description="return to launch 2 position switch (mandatory): _NORMAL_, RTL" base_Property="_-yJ_MdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yL0YNFGEeuFl4uGUGunyA" description="loiter 2 position switch (optional): _MISSION_, LOITER" base_Property="_-yKmQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yNCgNFGEeuFl4uGUGunyA" description="offboard 2 position switch (optional): _NORMAL_, OFFBOARD" base_Property="_-yL0YdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yOQoNFGEeuFl4uGUGunyA" description="throttle kill: _NORMAL_, KILL" base_Property="_-yNCgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yPewNFGEeuFl4uGUGunyA" description="landing gear switch: _DOWN_, UP" base_Property="_-yO3sNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yQs4NFGEeuFl4uGUGunyA" description="VTOL transition switch: _HOVER, FORWARD_FLIGHT" base_Property="_-yPewdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yR7ANFGEeuFl4uGUGunyA" description="main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO" base_Property="_-yRT8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yTJINFGEeuFl4uGUGunyA" description="manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL" base_Property="_-yR7AdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yUXQNFGEeuFl4uGUGunyA" description="acro 2 position switch (optional): _MANUAL_, ACRO" base_Property="_-yTJIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yVlYNFGEeuFl4uGUGunyA" description="stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED" base_Property="_-yUXQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yWzgNFGEeuFl4uGUGunyA" description="position control 2 position switch (optional): _ALTCTL_, POSCTL" base_Property="_-yVlYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-yYBoNFGEeuFl4uGUGunyA" description="number of switch changes" base_Property="_-yWzgdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-yZPwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ManualControlSwitches"/>
+ <robotics.commobject:DataAttribute xmi:id="_-09bkNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-08NcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-0_QwNFGEeuFl4uGUGunyA" description="log level (same as in the linux kernel, starting with 0)" base_Property="_-0-CotFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-1NTMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_MavlinkLog"/>
+ <robotics.commobject:DataAttribute xmi:id="_-3xfANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-3wQ4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-3ytINFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_-3xfAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-30iUNFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_-3zUMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-31wcNFGEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_-30iUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-33loNFGEeuFl4uGUGunyA" description="rad/s (commanded by user)" base_Property="_-32XgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-34zwNFGEeuFl4uGUGunyA" description="Desired quaternion for quaternion control" base_Property="_-33lodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-36B4NFGEeuFl4uGUGunyA" description="Normalized thrust command in body NED frame [-1,1]" base_Property="_-34zwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-37QANFGEeuFl4uGUGunyA" description="Reset roll integral part (navigation logic change)" base_Property="_-36o8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-39FMNFGEeuFl4uGUGunyA" description="Reset pitch integral part (navigation logic change)" base_Property="_-373ENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-3_hcNFGEeuFl4uGUGunyA" description="Reset yaw integral part (navigation logic change)" base_Property="_-39FMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-4BWoNFGEeuFl4uGUGunyA" description="control heading with rudder (used for auto takeoff on runway)" base_Property="_-3_hcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-4Dy4NFGEeuFl4uGUGunyA" description="flap config specifier" base_Property="_-4B9sNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-4FBANFGEeuFl4uGUGunyA" description="no flaps" base_Property="_-4Dy4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-4GPINFGEeuFl4uGUGunyA" description="landing config flaps" base_Property="_-4FBAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-4HdQNFGEeuFl4uGUGunyA" description="take-off config flaps" base_Property="_-4GPIdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-4IrYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_McVirtualAttitudeSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_-65EcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-632UNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-665oNFGEeuFl4uGUGunyA" description="default 0, there are two offboard storage places in the dataman: 0 or 1" base_Property="_-65rgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-68HwNFGEeuFl4uGUGunyA" description="count of the missions stored in the dataman" base_Property="_-665odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-69V4NFGEeuFl4uGUGunyA" description="default -1, start at the one changed latest" base_Property="_-68HwdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_-7KKMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_Mission"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9qEkNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_-9o2cNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9r5wNFGEeuFl4uGUGunyA" description="Execute the mission according to the planned items" base_Property="_-9qroNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9tH4NFGEeuFl4uGUGunyA" description="Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones" base_Property="_-9r5wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9uWANFGEeuFl4uGUGunyA" description="Execute the mission as fast as possible, for example converting loiter waypoints to normal ones" base_Property="_-9tH4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9vkINFGEeuFl4uGUGunyA" description="Instance count of this mission. Increments monotonically whenever the mission is modified" base_Property="_-9uWAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9wyQNFGEeuFl4uGUGunyA" description="Sequence of the mission item which has been reached, default -1" base_Property="_-9vkIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9yncNFGEeuFl4uGUGunyA" description="Sequence of the current mission item" base_Property="_-9xZUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9z1kNFGEeuFl4uGUGunyA" description="Total number of mission items" base_Property="_-9yncdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-91DsNFGEeuFl4uGUGunyA" description="true if mission is valid" base_Property="_-9z1kdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-92R0NFGEeuFl4uGUGunyA" description="true if mission is valid, but has potentially problematic items leading to safety warnings" base_Property="_-91qwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-94HANFGEeuFl4uGUGunyA" description="true if mission has been completed" base_Property="_-9244NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-95VINFGEeuFl4uGUGunyA" description="true if the mission cannot continue or be completed for some reason" base_Property="_-94HAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-96jQNFGEeuFl4uGUGunyA" description="true if the commander should not switch out of the failsafe mode" base_Property="_-95VIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-97xYNFGEeuFl4uGUGunyA" description="true if the navigator demands a flight termination from the commander app" base_Property="_-96jQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-98_gNFGEeuFl4uGUGunyA" description="true if the number of do jumps remaining has changed" base_Property="_-97xYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9-NoNFGEeuFl4uGUGunyA" description="indicate which item has changed" base_Property="_-98_gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_-9_bwNFGEeuFl4uGUGunyA" description="set to the number of do jumps remaining for that item" base_Property="_-9-NodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_--Ap4NFGEeuFl4uGUGunyA" description="indicates the mode in which the mission is executed" base_Property="_-9_bwdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_--B4ANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_MissionResult"/>
+ <robotics.commobject:DataAttribute xmi:id="__Af9MNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__AevENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__AhLUNFGEeuFl4uGUGunyA" description="Attitude/direction of the mount as euler angles in rad" base_Property="__Af9MdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__At_oNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_MountOrientation"/>
+ <robotics.commobject:DataAttribute xmi:id="__DJokNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__DIacNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__DK2sNFGEeuFl4uGUGunyA" description="Integer bit mask indicating which axes in the control mixer are saturated" base_Property="__DJokdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__DY5INFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_MultirotorMotorLimits"/>
+ <robotics.commobject:DataAttribute xmi:id="__F0iENFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__FzT8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F1wMNFGEeuFl4uGUGunyA" description="Instance count of this mission. Increments monotonically whenever the mission is modified" base_Property="__F0iEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F2-UNFGEeuFl4uGUGunyA" description="Sequence of the current mission item" base_Property="__F1wMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F4McNFGEeuFl4uGUGunyA" description="time that the MAV should stay inside the radius before advancing in seconds" base_Property="__F2-VNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F5akNFGEeuFl4uGUGunyA" description="default radius in which the mission is accepted as reached in meters" base_Property="__F4McdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F6osNFGEeuFl4uGUGunyA" description="loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise" base_Property="__F5akdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F720NFGEeuFl4uGUGunyA" description="in radians NED -PI..+PI, NAN means don't change yaw" base_Property="__F6osdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F9E8NFGEeuFl4uGUGunyA" description="altitude in meters (AMSL)" base_Property="__F720dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F-TENFGEeuFl4uGUGunyA" description="mission frame" base_Property="__F9E8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__F_hMNFGEeuFl4uGUGunyA" description="mission item origin (onboard or mavlink)" base_Property="__F-6INFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__GAvUNFGEeuFl4uGUGunyA" description="exit xtrack location: 0 for center of loiter wp, 1 for exit location" base_Property="__GAIQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__GB9cNFGEeuFl4uGUGunyA" description="heading needs to be reached" base_Property="__GBWYNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__GDLkNFGEeuFl4uGUGunyA" description="true if altitude is relative from start point" base_Property="__GCkgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__GEZsNFGEeuFl4uGUGunyA" description="true if next waypoint should follow after this one" base_Property="__GDyoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__GFn0NFGEeuFl4uGUGunyA" description="part of the vtol back transition sequence" base_Property="__GEZsdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__GG18NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_NavigatorMissionItem"/>
+ <robotics.commobject:DataAttribute xmi:id="__IhQwNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__IgCoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Iie4NFGEeuFl4uGUGunyA" description="Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned." base_Property="__IhQwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__IjtANFGEeuFl4uGUGunyA" description="Type from MAV_DISTANCE_SENSOR enum." base_Property="__IjF89FGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__IliMNFGEeuFl4uGUGunyA" description="Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm." base_Property="__IkUGNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__ImwUNFGEeuFl4uGUGunyA" description="Angular width in degrees of each array element." base_Property="__IliMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__In-cNFGEeuFl4uGUGunyA" description="Minimum distance the sensor can measure in centimeters." base_Property="__ImwUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__IpMkNFGEeuFl4uGUGunyA" description="Maximum distance the sensor can measure in centimeters." base_Property="__In-cdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__IqasNFGEeuFl4uGUGunyA" description="Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive values are offsets to the right." base_Property="__IpMkdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__IvTMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ObstacleDistance"/>
+ <robotics.commobject:DataAttribute xmi:id="__LJG8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__LH40NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LLjMNFGEeuFl4uGUGunyA" description="Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned." base_Property="__LJG8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LN_cNFGEeuFl4uGUGunyA" description="Type from MAV_DISTANCE_SENSOR enum." base_Property="__LMKQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LQbsNFGEeuFl4uGUGunyA" description="Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm." base_Property="__LOmgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LSQ4NFGEeuFl4uGUGunyA" description="Angular width in degrees of each array element." base_Property="__LQbsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LUtINFGEeuFl4uGUGunyA" description="Minimum distance the sensor can measure in centimeters." base_Property="__LSQ4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LWiUNFGEeuFl4uGUGunyA" description="Maximum distance the sensor can measure in centimeters." base_Property="__LUtIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__LY-kNFGEeuFl4uGUGunyA" description="Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive values are offsets to the right." base_Property="__LXJYNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__LazwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ObstacleDistanceFused"/>
+ <robotics.commobject:DataAttribute xmi:id="__N9xcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__N7VMNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__ONpENFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OffboardControlMode"/>
+ <robotics.commobject:DataAttribute xmi:id="__QvYoNFGEeuFl4uGUGunyA" description="[us] time since system start (microseconds)" base_Property="__QuKgNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__QwmwNFGEeuFl4uGUGunyA" description="[ms] time since system boot of the companion (milliseconds)" base_Property="__QvYodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Qx04NFGEeuFl4uGUGunyA" description="type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers." base_Property="__QwmwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__QzDANFGEeuFl4uGUGunyA" description="CPU usage on the component in percent" base_Property="__Qx04dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q0RINFGEeuFl4uGUGunyA" description="Combined CPU usage as the last 10 slices of 100 MS" base_Property="__QzDAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q1fQNFGEeuFl4uGUGunyA" description="GPU usage on the component in percent" base_Property="__Q0RIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q2tYNFGEeuFl4uGUGunyA" description="Combined GPU usage as the last 10 slices of 100 MS" base_Property="__Q1fQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q37gNFGEeuFl4uGUGunyA" description="[degC] Temperature of the board" base_Property="__Q2tYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q5JoNFGEeuFl4uGUGunyA" description="[degC] Temperature of the CPU core" base_Property="__Q37gdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q6XwNFGEeuFl4uGUGunyA" description="[rpm] Fan speeds" base_Property="__Q5JodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q7l4NFGEeuFl4uGUGunyA" description="[MB] Amount of used RAM on the component system" base_Property="__Q6XwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q80ANFGEeuFl4uGUGunyA" description="[MB] Total amount of RAM on the component system" base_Property="__Q8M8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q-pMNFGEeuFl4uGUGunyA" description="Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable)" base_Property="__Q9bENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Q_3UNFGEeuFl4uGUGunyA" description="[MB] Amount of used storage space on the component system" base_Property="__Q-pMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__RBFcNFGEeuFl4uGUGunyA" description="[MB] Total amount of storage space on the component system" base_Property="__Q_3UdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__RCTkNFGEeuFl4uGUGunyA" description="[Kb/s] Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary" base_Property="__RBFcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__RC6oNFGEeuFl4uGUGunyA" description="[Kb/s] Network traffic from the component system" base_Property="__RCTkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__REIwNFGEeuFl4uGUGunyA" description="[Kb/s] Network traffic to the component system" base_Property="__RDhsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__RFW4NFGEeuFl4uGUGunyA" description="[Kb/s] Network capacity from the component system" base_Property="__REIwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__RGlANFGEeuFl4uGUGunyA" description="[Kb/s] Network capacity to the component system" base_Property="__RFW4dFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__RHzINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OnboardComputerStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="__TlRQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__TkDINFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TmfYNFGEeuFl4uGUGunyA" description="id of the sensor emitting the flow value" base_Property="__TlRQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TntgNFGEeuFl4uGUGunyA" description="accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis" base_Property="__TmfYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__To7oNFGEeuFl4uGUGunyA" description="accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis" base_Property="__TntgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TqJwNFGEeuFl4uGUGunyA" description="accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis. Set to NaN if flow sensor does not have 3-axis gyro data." base_Property="__To7odFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TrX4NFGEeuFl4uGUGunyA" description="accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis. Set to NaN if flow sensor does not have 3-axis gyro data." base_Property="__TqJwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TsmANFGEeuFl4uGUGunyA" description="accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis. Set to NaN if flow sensor does not have 3-axis gyro data." base_Property="__Tr-8NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Tt0INFGEeuFl4uGUGunyA" description="Altitude / distance to ground in meters" base_Property="__TtNENFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TvCQNFGEeuFl4uGUGunyA" description="accumulation timespan in microseconds" base_Property="__TubMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TwQYNFGEeuFl4uGUGunyA" description="time since last sonar update in microseconds" base_Property="__TvCQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TyFkNFGEeuFl4uGUGunyA" description="number of accumulated frames in timespan" base_Property="__Tw3cNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__TzTsNFGEeuFl4uGUGunyA" description="Temperature * 100 in centi-degrees Celsius" base_Property="__TyFkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__Tz6wNFGEeuFl4uGUGunyA" description="Average of quality of accumulated frames, 0: bad quality, 255: maximum quality" base_Property="__TzTsdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__T1I4NFGEeuFl4uGUGunyA" description="Magnitude of maximum angular which the optical flow sensor can measure reliably" base_Property="__T0h0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__T2XANFGEeuFl4uGUGunyA" description="Minimum distance from ground at which the optical flow sensor operates reliably" base_Property="__T1I4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__T3lINFGEeuFl4uGUGunyA" description="Maximum distance from ground at which the optical flow sensor operates reliably" base_Property="__T2XAdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__T4zQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OpticalFlow"/>
+ <robotics.commobject:DataAttribute xmi:id="__WT1INFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__WSnANFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__WieoNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbMultitest"/>
+ <robotics.commobject:DataAttribute xmi:id="__Y-uoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__Y9ggNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__ZNYINFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTest"/>
+ <robotics.commobject:DataAttribute xmi:id="__bpoINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__boaANFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__b3qkNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestLarge"/>
+ <robotics.commobject:DataAttribute xmi:id="__eUhoNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__eTTgNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__eh9ANFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestMedium"/>
+ <robotics.commobject:DataAttribute xmi:id="__g9l8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__g8X0NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__hLoYNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestMediumMulti"/>
+ <robotics.commobject:DataAttribute xmi:id="__jmqQNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__jlcINFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__j1TwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestMediumQueue"/>
+ <robotics.commobject:DataAttribute xmi:id="__mXDUNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__mV1MNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__mmT4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestMediumQueuePoll"/>
+ <robotics.commobject:DataAttribute xmi:id="__pXUANFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__pWF4NFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__plWcNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbTestMediumWrapAround"/>
+ <robotics.commobject:DataAttribute xmi:id="__sBmcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__sAYVtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__sC0kNFGEeuFl4uGUGunyA" description="Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]" base_Property="__sBmcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__sECsNFGEeuFl4uGUGunyA" description="The coordinate system of the fields: x, y, z." base_Property="__sC0kdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__sGe8NFGEeuFl4uGUGunyA" description="X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7." base_Property="__sEpwNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__sHtENFGEeuFl4uGUGunyA" description="Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7." base_Property="__sGe8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__sI7MNFGEeuFl4uGUGunyA" description="Altitude of center point. Coordinate system depends on frame field." base_Property="__sHtEdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__sSsMNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_OrbitStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="__u7JcNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__u5UQNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__u8XkNFGEeuFl4uGUGunyA" description="Instance count - constantly incrementing" base_Property="__u7JcdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__vJy8NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_ParameterUpdate"/>
+ <robotics.commobject:DataAttribute xmi:id="__xptUNFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__xofMNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xq7cNFGEeuFl4uGUGunyA" description="Timestamp of the ping packet" base_Property="__xptUdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xsJkNFGEeuFl4uGUGunyA" description="Sequence number of the ping packet" base_Property="__xrigNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xtXsNFGEeuFl4uGUGunyA" description="Number of dropped ping packets" base_Property="__xswoNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xvM4NFGEeuFl4uGUGunyA" description="Round trip time (in ms)" base_Property="__xt-wNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xwbANFGEeuFl4uGUGunyA" description="System ID of the remote system" base_Property="__xvM4dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__xxpINFGEeuFl4uGUGunyA" description="Component ID of the remote system" base_Property="__xwbAdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__x494NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_Ping"/>
+ <robotics.commobject:DataAttribute xmi:id="__0XDENFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__0VN4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__0Y4QNFGEeuFl4uGUGunyA" description="true if landing should be aborted" base_Property="__0XqItFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__0lFgNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_PositionControllerLandingStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="__3Fm8NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__3EY0NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3HcINFGEeuFl4uGUGunyA" description="set to NAN if not valid" base_Property="__3GOAtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3IqQNFGEeuFl4uGUGunyA" description="set to NAN if not valid" base_Property="__3HcIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3J4YNFGEeuFl4uGUGunyA" description="set to NAN if not valid" base_Property="__3IqQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3LGgNFGEeuFl4uGUGunyA" description="the optimal distance to a waypoint to switch to the next" base_Property="__3J4YtFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3MUoNFGEeuFl4uGUGunyA" description="NaN if not set" base_Property="__3LGgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__3OJ0NFGEeuFl4uGUGunyA" description="the optimal vertical distance to a waypoint to switch to the next" base_Property="__3M7sNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__3Yh4NFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_PositionControllerStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="__5970NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__58tsNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__5_J8NFGEeuFl4uGUGunyA" description="position setpoint" base_Property="__5970dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6AYENFGEeuFl4uGUGunyA" description="velocity setpoint" base_Property="__5_J8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6BmMNFGEeuFl4uGUGunyA" description="loiter setpoint" base_Property="__6AYEdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6C0UNFGEeuFl4uGUGunyA" description="takeoff setpoint" base_Property="__6BmMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6ECcNFGEeuFl4uGUGunyA" description="land setpoint, altitude must be ignored, descend until landing" base_Property="__6C0UdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6FQkNFGEeuFl4uGUGunyA" description="do nothing, switch off motors or keep at idle speed (MC)" base_Property="__6ECcdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6GesNFGEeuFl4uGUGunyA" description="setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target" base_Property="__6FQkdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6Hs0NFGEeuFl4uGUGunyA" description="MAV_FRAME_LOCAL_NED" base_Property="__6GesdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6JiANFGEeuFl4uGUGunyA" description="MAV_FRAME_BODY_NED" base_Property="__6IT4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6KwINFGEeuFl4uGUGunyA" description="true if setpoint is valid" base_Property="__6JiAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6L-QNFGEeuFl4uGUGunyA" description="setpoint type to adjust behavior of position controller" base_Property="__6KwIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6NMYNFGEeuFl4uGUGunyA" description="local velocity setpoint in m/s in NED" base_Property="__6L-QdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6OagNFGEeuFl4uGUGunyA" description="local velocity setpoint in m/s in NED" base_Property="__6NMYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6PooNFGEeuFl4uGUGunyA" description="local velocity setpoint in m/s in NED" base_Property="__6OagdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6Q2wNFGEeuFl4uGUGunyA" description="true if local velocity setpoint valid" base_Property="__6PoodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6Rd0NFGEeuFl4uGUGunyA" description="to set velocity setpoints in NED or body" base_Property="__6Q2wdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6Sr8NFGEeuFl4uGUGunyA" description="do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control." base_Property="__6SE4NFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6T6ENFGEeuFl4uGUGunyA" description="latitude, in deg" base_Property="__6Sr8dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6VIMNFGEeuFl4uGUGunyA" description="longitude, in deg" base_Property="__6T6EdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6VvQNFGEeuFl4uGUGunyA" description="altitude AMSL, in m" base_Property="__6VIMdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6W9YNFGEeuFl4uGUGunyA" description="yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw" base_Property="__6WWUNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6YLgNFGEeuFl4uGUGunyA" description="true if yaw setpoint valid" base_Property="__6XkcNFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6ZZoNFGEeuFl4uGUGunyA" description="yawspeed (only for multirotors, in rad/s)" base_Property="__6YLgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6anwNFGEeuFl4uGUGunyA" description="true if yawspeed setpoint valid" base_Property="__6ZZodFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6b14NFGEeuFl4uGUGunyA" description="landing gear: see definition of the states in landing_gear.msg" base_Property="__6anwdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6dEANFGEeuFl4uGUGunyA" description="loiter radius (only for fixed wing), in m" base_Property="__6b14dFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6eSINFGEeuFl4uGUGunyA" description="loiter direction: 1 = CW, -1 = CCW" base_Property="__6dEAdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6fgQNFGEeuFl4uGUGunyA" description="navigation acceptance_radius if we're doing waypoint navigation" base_Property="__6eSIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6guYNFGEeuFl4uGUGunyA" description="the generally desired cruising speed (not a hard constraint)" base_Property="__6fgQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6h8gNFGEeuFl4uGUGunyA" description="the generally desired cruising throttle (not a hard constraint)" base_Property="__6guYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="__6jKoNFGEeuFl4uGUGunyA" description="VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind" base_Property="__6h8gdFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__6kYwNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_PositionSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="__9B24NFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="__9AowNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="__9PSQNFGEeuFl4uGUGunyA" base_Interface="svcdefs/P_PositionSetpointTriplet"/>
+ <robotics.commobject:DataAttribute xmi:id="___0FINFGEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="___y3ANFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="___1TQNFGEeuFl4uGUGunyA" description="Button went up without meeting shutdown button down time (delete event)" base_Property="___0FIdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="___2hYNFGEeuFl4uGUGunyA" description="Button went Down" base_Property="___1TQdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="___3vgNFGEeuFl4uGUGunyA" description="Button went Up" base_Property="___2hYdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="___49oNFGEeuFl4uGUGunyA" description="Button went Up after meeting shutdown button down time" base_Property="___3vgdFGEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="___6y0NFGEeuFl4uGUGunyA" description="one of PWR_BUTTON_STATE_*" base_Property="___5ksNFGEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AAGZANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_PowerButtonState"/>
+ <robotics.commobject:DataAttribute xmi:id="_ACm6cNFHEeuFl4uGUGunyA" description="Time since system start (microseconds)" base_Property="_AClsUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ACoIkNFHEeuFl4uGUGunyA" description="Voltage in volts, 0 if unknown" base_Property="_ACnhgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ACp9wNFHEeuFl4uGUGunyA" description="Current in amperes, -1 if unknown" base_Property="_ACovoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ACrL4NFHEeuFl4uGUGunyA" description="power in watts, -1 if unknown" base_Property="_ACp9wdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AC2yENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_PowerMonitor"/>
+ <robotics.commobject:DataAttribute xmi:id="_AFUQMNFHEeuFl4uGUGunyA" description="Time since system start (microseconds)" base_Property="_AFTpINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AFWFYNFHEeuFl4uGUGunyA" description="Timer overcapture error flag (AUX5 or MAIN5)" base_Property="_AFU3QNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AFXTgNFHEeuFl4uGUGunyA" description="Pulse width, timer counts" base_Property="_AFWFYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AFYhoNFHEeuFl4uGUGunyA" description="Period, timer counts" base_Property="_AFXTgdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AFjgwNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_PwmInput"/>
+ <robotics.commobject:DataAttribute xmi:id="_AIFQUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AIECMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AIGecNFHEeuFl4uGUGunyA" description="Servo rail voltage in volts" base_Property="_AIF3YNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AIIToNFHEeuFl4uGUGunyA" description="RSSI pin voltage in volts" base_Property="_AIHFgNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AIVH8NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_Px4IoStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_ALB2oNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_ALAogNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_ALRuQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_QshellReq"/>
+ <robotics.commobject:DataAttribute xmi:id="_ANulUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_ANtXMNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AN_EANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_QshellRetval"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQe-YNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AQdwQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQgzkNFHEeuFl4uGUGunyA" description="local signal strength" base_Property="_AQflcNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQiBsNFHEeuFl4uGUGunyA" description="remote signal strength" base_Property="_AQgzkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQjP0NFHEeuFl4uGUGunyA" description="how full the tx buffer is as a percentage" base_Property="_AQiBsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQkd8NFHEeuFl4uGUGunyA" description="background noise level" base_Property="_AQjP0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQlsENFHEeuFl4uGUGunyA" description="remote background noise level" base_Property="_AQkd8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQm6MNFHEeuFl4uGUGunyA" description="receive errors" base_Property="_AQlsEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AQoIUNFHEeuFl4uGUGunyA" description="count of error corrected packets" base_Property="_AQm6MdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AQtn4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_RadioStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_ATWFINFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_ATUP8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ATXTQNFHEeuFl4uGUGunyA" description="FW: wheel rate integrator (optional)" base_Property="_ATWFJNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_ATkHkNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_RateCtrlStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWA-oNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AV_wgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWEB8NFHEeuFl4uGUGunyA" description="Timestamp of last valid RC signal" base_Property="_AWCz1tFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWFQENFHEeuFl4uGUGunyA" description="Scaled to -1..1 (throttle: 0..1)" base_Property="_AWEB8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWGeMNFHEeuFl4uGUGunyA" description="Number of valid channels" base_Property="_AWFQEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWHsUNFHEeuFl4uGUGunyA" description="Functions mapping" base_Property="_AWGeMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWI6cNFHEeuFl4uGUGunyA" description="Receive signal strength index" base_Property="_AWHsUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWKIkNFHEeuFl4uGUGunyA" description="Control signal lost, should be checked together with topic timeout" base_Property="_AWI6cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AWLWsNFHEeuFl4uGUGunyA" description="Number of dropped frames" base_Property="_AWKIkdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AWQPMNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_RcChannels"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYsfMNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AYr4INFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYuUYNFHEeuFl4uGUGunyA" description="This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h" base_Property="_AYtGQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYvigNFHEeuFl4uGUGunyA" description="corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN" base_Property="_AYuUYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYwwoNFHEeuFl4uGUGunyA" description="true for RC-Param channels which are mapped to a param" base_Property="_AYwJkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYyl0NFHEeuFl4uGUGunyA" description="corresponding param index, this field is ignored if set to -1, in this case param_id will be used" base_Property="_AYxXsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AYzz8NFHEeuFl4uGUGunyA" description="MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated" base_Property="_AYyl0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AY1CENFHEeuFl4uGUGunyA" description="scale to map the RC input [-1, 1] to a parameter value" base_Property="_AYzz8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AY2QMNFHEeuFl4uGUGunyA" description="initial value around which the parameter value is changed" base_Property="_AY1CEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AY4FYNFHEeuFl4uGUGunyA" description="minimal parameter value" base_Property="_AY23QNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AY5TgNFHEeuFl4uGUGunyA" description="minimal parameter value" base_Property="_AY4FYdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AY_aINFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_RcParameterMap"/>
+ <robotics.commobject:DataAttribute xmi:id="_AbqToNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AbpFgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AbrhwNFHEeuFl4uGUGunyA" description="indicated rotor Frequency in Revolution per minute" base_Property="_AbqTodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Absv4NFHEeuFl4uGUGunyA" description="estimated accurancy in Revolution per minute" base_Property="_AbrhwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Ab6yUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_Rpm"/>
+ <robotics.commobject:DataAttribute xmi:id="_AeassNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AeZekNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aeb60NFHEeuFl4uGUGunyA" description="how long in seconds will the RTL take" base_Property="_AeassdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AedI8NFHEeuFl4uGUGunyA" description="what fraction of the allowable RTL time would be taken" base_Property="_Aeb60dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AeovINFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_RtlFlightTime"/>
+ <robotics.commobject:DataAttribute xmi:id="_AhFmMNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AhEYENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AhG0UNFHEeuFl4uGUGunyA" description="Set to true if a safety switch is connected" base_Property="_AhFmMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AhICcNFHEeuFl4uGUGunyA" description="Set to true if safety is off" base_Property="_AhG0UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AhJQkNFHEeuFl4uGUGunyA" description="Set to true if external override system is connected" base_Property="_AhICcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AhKesNFHEeuFl4uGUGunyA" description="Set to true if override is engaged" base_Property="_AhJQkdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AhSagNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_Safety"/>
+ <robotics.commobject:DataAttribute xmi:id="_AjxGwNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Ajv4oNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AjzjANFHEeuFl4uGUGunyA" description="Number of satellites visible to the receiver" base_Property="_Ajxt0tFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj1YMNFHEeuFl4uGUGunyA" description="Space vehicle ID [1..255], see scheme below" base_Property="_AjzjAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj2mUNFHEeuFl4uGUGunyA" description="0: Satellite not used, 1: used for navigation" base_Property="_Aj1YMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj4bgNFHEeuFl4uGUGunyA" description="Elevation (0: right on top of receiver, 90: on the horizon) of satellite" base_Property="_Aj2mUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj5poNFHEeuFl4uGUGunyA" description="Direction of satellite, 0: 0 deg, 255: 360 deg." base_Property="_Aj4bgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj63wNFHEeuFl4uGUGunyA" description="dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite." base_Property="_Aj5podFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Aj8F4NFHEeuFl4uGUGunyA" description="Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144)" base_Property="_Aj63wdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AkBlcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SatelliteInfo"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmnmcNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AmlxQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmqCsNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_AmoNgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Amr34NFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame X-axis in m/s^2" base_Property="_AmqCsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmtGANFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame Y-axis in m/s^2" base_Property="_Amr34dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Amu7MNFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame Z-axis in m/s^2" base_Property="_AmtGAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmwwYNFHEeuFl4uGUGunyA" description="temperature in degrees Celsius" base_Property="_Amu7MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmylkNFHEeuFl4uGUGunyA" description="clip count per axis in the sample period" base_Property="_AmwwYtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AmzzsNFHEeuFl4uGUGunyA" description="number of raw samples that went into this message" base_Property="_AmylkdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Am7IcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorAccel"/>
+ <robotics.commobject:DataAttribute xmi:id="_Apf7UNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_ApetMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AphJcNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_Apf7UtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ApiXkNFHEeuFl4uGUGunyA" description="delta time between samples (microseconds)" base_Property="_AphwgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ApjlsNFHEeuFl4uGUGunyA" description="number of valid samples" base_Property="_Api-odFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Apla4NFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame X-axis in m/s^2" base_Property="_ApkMwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ApmpANFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame Y-axis in m/s^2" base_Property="_Apla4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Apn3INFHEeuFl4uGUGunyA" description="acceleration in the FRD board frame Z-axis in m/s^2" base_Property="_ApmpAdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Apuk0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorAccelFifo"/>
+ <robotics.commobject:DataAttribute xmi:id="_AsVM4NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AsT-wNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AsXCENFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_AsVz8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AsYQMNFHEeuFl4uGUGunyA" description="static pressure measurement in millibar" base_Property="_AsXCEtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AsZeUNFHEeuFl4uGUGunyA" description="static temperature measurement in deg Celsius" base_Property="_AsYQMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AslEgNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorBaro"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvFl8NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_AvDwwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvG0ENFHEeuFl4uGUGunyA" description="(0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid" base_Property="_AvFl8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvIpQNFHEeuFl4uGUGunyA" description="average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period" base_Property="_AvG0EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvJ3YNFHEeuFl4uGUGunyA" description="gyro measurement sampling period in microseconds" base_Property="_AvIpQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvLskNFHEeuFl4uGUGunyA" description="timestamp + accelerometer_timestamp_relative = Accelerometer timestamp" base_Property="_AvJ3YdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvM6sNFHEeuFl4uGUGunyA" description="average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period" base_Property="_AvLskdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvOv4NFHEeuFl4uGUGunyA" description="accelerometer measurement sampling period in microseconds" base_Property="_AvNhwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AvP-ANFHEeuFl4uGUGunyA" description="bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period" base_Property="_AvOv59FHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AvXSwNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorCombined"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ax_I8NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Ax9TwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyAXENFHEeuFl4uGUGunyA" description="gyro 0 XYZ offsets in the sensor frame in rad/s" base_Property="_Ax_I9NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyCMQNFHEeuFl4uGUGunyA" description="gyro 1 XYZ offsets in the sensor frame in rad/s" base_Property="_AyA-INFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyEBcNFHEeuFl4uGUGunyA" description="gyro 2 XYZ offsets in the sensor frame in rad/s" base_Property="_AyCMQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyFPkNFHEeuFl4uGUGunyA" description="gyro 3 XYZ offsets in the sensor frame in rad/s" base_Property="_AyEBcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyGdsNFHEeuFl4uGUGunyA" description="accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s" base_Property="_AyFPlNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyIS4NFHEeuFl4uGUGunyA" description="accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s" base_Property="_AyGdsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyJhANFHEeuFl4uGUGunyA" description="accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s" base_Property="_AyIS4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyKvINFHEeuFl4uGUGunyA" description="accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s" base_Property="_AyJhAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyMkUNFHEeuFl4uGUGunyA" description="barometric pressure 0 offsets in the sensor frame in Pascals" base_Property="_AyLWM9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyOZgNFHEeuFl4uGUGunyA" description="barometric pressure 1 offsets in the sensor frame in Pascals" base_Property="_AyNLYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyPnoNFHEeuFl4uGUGunyA" description="barometric pressure 2 offsets in the sensor frame in Pascals" base_Property="_AyOZgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_AyQ1wNFHEeuFl4uGUGunyA" description="barometric pressure 3 offsets in the sensor frame in Pascals" base_Property="_AyPnodFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_AySD4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorCorrection"/>
+ <robotics.commobject:DataAttribute xmi:id="_A0x-QNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_A0wwINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A0zMYNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_A0x-QdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A00agNFHEeuFl4uGUGunyA" description="Latitude in 1E-7 degrees" base_Property="_A0zMYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A01ooNFHEeuFl4uGUGunyA" description="Longitude in 1E-7 degrees" base_Property="_A00agdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A022wNFHEeuFl4uGUGunyA" description="Altitude in 1E-3 meters above MSL, (millimetres)" base_Property="_A01oodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A04r8NFHEeuFl4uGUGunyA" description="Altitude in 1E-3 meters bove Ellipsoid, (millimetres)" base_Property="_A022wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A056ENFHEeuFl4uGUGunyA" description="GPS speed accuracy estimate, (metres/sec)" base_Property="_A04r8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A07IMNFHEeuFl4uGUGunyA" description="GPS course accuracy estimate, (radians)" base_Property="_A056EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A08WUNFHEeuFl4uGUGunyA" description="0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix." base_Property="_A07IMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A0-LgNFHEeuFl4uGUGunyA" description="GPS horizontal position accuracy (metres)" base_Property="_A089YNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A0_ZoNFHEeuFl4uGUGunyA" description="GPS vertical position accuracy (metres)" base_Property="_A0-LgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1AnwNFHEeuFl4uGUGunyA" description="Horizontal dilution of precision" base_Property="_A0_ZodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1Cc8NFHEeuFl4uGUGunyA" description="Vertical dilution of precision" base_Property="_A1BO0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1DrENFHEeuFl4uGUGunyA" description="GPS noise per millisecond" base_Property="_A1Cc8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1E5MNFHEeuFl4uGUGunyA" description="Automatic gain control monitor" base_Property="_A1DrEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1GHUNFHEeuFl4uGUGunyA" description="indicates jamming is occurring" base_Property="_A1E5MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1HVcNFHEeuFl4uGUGunyA" description="indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical" base_Property="_A1GHUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1IjkNFHEeuFl4uGUGunyA" description="GPS ground speed, (metres/sec)" base_Property="_A1HVcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1JxsNFHEeuFl4uGUGunyA" description="GPS North velocity, (metres/sec)" base_Property="_A1IjkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1K_0NFHEeuFl4uGUGunyA" description="GPS East velocity, (metres/sec)" base_Property="_A1JxsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1MN8NFHEeuFl4uGUGunyA" description="GPS Down velocity, (metres/sec)" base_Property="_A1K_0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1NcENFHEeuFl4uGUGunyA" description="Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)" base_Property="_A1MN8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1OqMNFHEeuFl4uGUGunyA" description="True if NED velocity is valid" base_Property="_A1NcEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1QfYNFHEeuFl4uGUGunyA" description="timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)" base_Property="_A1PRQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1RtgNFHEeuFl4uGUGunyA" description="Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0" base_Property="_A1QfYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1S7oNFHEeuFl4uGUGunyA" description="Number of satellites used" base_Property="_A1RtgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1UJwNFHEeuFl4uGUGunyA" description="heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])" base_Property="_A1S7odFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A1VX4NFHEeuFl4uGUGunyA" description="heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])" base_Property="_A1UJwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_A1WmANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorGps"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4TzYNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_A4R-MNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4VBgNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_A4TzYtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4WPoNFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame X-axis in rad/s" base_Property="_A4VBgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4YE0NFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame Y-axis in rad/s" base_Property="_A4W2sNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4ZS8NFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame Z-axis in rad/s" base_Property="_A4YE0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4ahENFHEeuFl4uGUGunyA" description="temperature in degrees Celsius" base_Property="_A4ZS8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A4bvMNFHEeuFl4uGUGunyA" description="number of raw samples that went into this message" base_Property="_A4ahEtFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_A4lgMNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorGyro"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7RAwNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_A7PyoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7SO4NFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_A7RAwtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7TdANFHEeuFl4uGUGunyA" description="x axis peak frequencies" base_Property="_A7S18dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7VSMNFHEeuFl4uGUGunyA" description="y axis peak frequencies" base_Property="_A7UEENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7WgUNFHEeuFl4uGUGunyA" description="z axis peak frequencies" base_Property="_A7VSMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7XucNFHEeuFl4uGUGunyA" description="x axis peak frequencies magnitude" base_Property="_A7WgUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7ZjoNFHEeuFl4uGUGunyA" description="y axis peak frequencies magnitude" base_Property="_A7XucdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A7axwNFHEeuFl4uGUGunyA" description="z axis peak frequencies magnitude" base_Property="_A7ZjodFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_A7jUoNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorGyroFft"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-OOINFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_A-NAANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-QDUNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_A-O1MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-RRcNFHEeuFl4uGUGunyA" description="delta time between samples (microseconds)" base_Property="_A-QDUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-TGoNFHEeuFl4uGUGunyA" description="number of valid samples" base_Property="_A-R4gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-UUwNFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame X-axis in rad/s" base_Property="_A-TGodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-Vi4NFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame Y-axis in rad/s" base_Property="_A-UUwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_A-XYENFHEeuFl4uGUGunyA" description="angular velocity in the FRD board frame Z-axis in rad/s" base_Property="_A-Vi4dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_A-hJENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorGyroFifo"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBKNYNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BBIYMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBLbgNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_BBKNYtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBMpoNFHEeuFl4uGUGunyA" description="magnetic field in the FRD board frame X-axis in Gauss" base_Property="_BBLbgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBN3wNFHEeuFl4uGUGunyA" description="magnetic field in the FRD board frame Y-axis in Gauss" base_Property="_BBMpodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBPF4NFHEeuFl4uGUGunyA" description="magnetic field in the FRD board frame Z-axis in Gauss" base_Property="_BBN3wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBQUANFHEeuFl4uGUGunyA" description="temperature in degrees Celsius" base_Property="_BBPF4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BBSJMNFHEeuFl4uGUGunyA" description="if true the mag is external (i.e. not built into the board)" base_Property="_BBQUAtFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BBasENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorMag"/>
+ <robotics.commobject:DataAttribute xmi:id="_BEIB0NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BEGzsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BEJP8NFHEeuFl4uGUGunyA" description="maximum angle between magnetometer instance field vectors in radians." base_Property="_BEIB0dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BEX5cNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorPreflightMag"/>
+ <robotics.commobject:DataAttribute xmi:id="_BG2lsNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BG1XkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BG4a4NFHEeuFl4uGUGunyA" description="unique device ID for the selected accelerometers" base_Property="_BG2lsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BG5pANFHEeuFl4uGUGunyA" description="unique device ID for the selected rate gyros" base_Property="_BG4a4dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BHFPMNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorSelection"/>
+ <robotics.commobject:DataAttribute xmi:id="_BJiGQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BJg4INFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BJj7cNFHEeuFl4uGUGunyA" description="current primary accel device id for reference" base_Property="_BJitUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BJlJkNFHEeuFl4uGUGunyA" description="magnitude of acceleration difference between IMU instance and mean in m/s^2." base_Property="_BJj7dNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BJmXsNFHEeuFl4uGUGunyA" description="current primary gyro device id for reference" base_Property="_BJlJlNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BJnl0NFHEeuFl4uGUGunyA" description="magnitude of angular rate difference between IMU instance and mean in (rad/s)." base_Property="_BJm-wNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BJxW0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SensorsStatusImu"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMM_wNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BMLxoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMON4NFHEeuFl4uGUGunyA" description="peripheral 5V rail voltage" base_Property="_BMM_wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMQDENFHEeuFl4uGUGunyA" description="Sensors 3V3 rail voltage" base_Property="_BMON4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMRRMNFHEeuFl4uGUGunyA" description="Sensors 3V3 rail voltage was read (bitfield)." base_Property="_BMQDEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMTGYNFHEeuFl4uGUGunyA" description="USB is connected when 1" base_Property="_BMRRMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMUUgNFHEeuFl4uGUGunyA" description="brick bits power is good when bit 1" base_Property="_BMTGYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMVioNFHEeuFl4uGUGunyA" description="USB is valid when 1" base_Property="_BMUUgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMWwwNFHEeuFl4uGUGunyA" description="servo power is good when 1" base_Property="_BMViodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMX-4NFHEeuFl4uGUGunyA" description="peripheral overcurrent when 1" base_Property="_BMWwwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMZ0ENFHEeuFl4uGUGunyA" description="high power peripheral overcurrent when 1" base_Property="_BMYl8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMbCMNFHEeuFl4uGUGunyA" description="5V to companion valid" base_Property="_BMZ0EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BMcQUNFHEeuFl4uGUGunyA" description="5V for CAN1/GPS1 valid" base_Property="_BMbCMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BMeskNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_SystemPower"/>
+ <robotics.commobject:DataAttribute xmi:id="_BPBDMNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BO_1ENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BPC4YNFHEeuFl4uGUGunyA" description="limited tilt feasability during takeoff, contains maximum tilt otherwise" base_Property="_BPBqTNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BPPssNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TakeoffStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_BRtK0NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BRr8sNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BR7NQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TaskStackInfo"/>
+ <robotics.commobject:DataAttribute xmi:id="_BUZ5gNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BUYrYNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BUrmUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TecsStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXJrgNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BXIdatFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXK5oNFHEeuFl4uGUGunyA" description="type of the radio hardware (LINK_TYPE_*)" base_Property="_BXKSkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXMu0NFHEeuFl4uGUGunyA" description="configured maximum data rate (Bytes/s)" base_Property="_BXLgttFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXN88NFHEeuFl4uGUGunyA" description="transmit rate average (Bytes/s)" base_Property="_BXNV4NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXPLENFHEeuFl4uGUGunyA" description="transmit error rate average (Bytes/s)" base_Property="_BXOkANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXQZMNFHEeuFl4uGUGunyA" description="total message sent count" base_Property="_BXPyINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXRnUNFHEeuFl4uGUGunyA" description="number of TX buffer overruns" base_Property="_BXRAQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXS1cNFHEeuFl4uGUGunyA" description="transmit rate average (Bytes/s)" base_Property="_BXSOYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXUDkNFHEeuFl4uGUGunyA" description="count of total messages received" base_Property="_BXS1cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXVRsNFHEeuFl4uGUGunyA" description="number of RX buffer overruns" base_Property="_BXUDktFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXWf0NFHEeuFl4uGUGunyA" description="number of parse errors" base_Property="_BXVRsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXXt8NFHEeuFl4uGUGunyA" description="number of packet drops" base_Property="_BXXG4NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXY8ENFHEeuFl4uGUGunyA" description="Heartbeat timeout 1.5 seconds" base_Property="_BXYVAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXaKMNFHEeuFl4uGUGunyA" description="MAV_TYPE_ANTENNA_TRACKER" base_Property="_BXZjINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXbYUNFHEeuFl4uGUGunyA" description="MAV_TYPE_GCS" base_Property="_BXaKMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXcmcNFHEeuFl4uGUGunyA" description="MAV_TYPE_ONBOARD_CONTROLLER" base_Property="_BXbYUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXd0kNFHEeuFl4uGUGunyA" description="MAV_TYPE_GIMBAL" base_Property="_BXcmcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXeboNFHEeuFl4uGUGunyA" description="MAV_TYPE_ADSB" base_Property="_BXd0kdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXfpwNFHEeuFl4uGUGunyA" description="MAV_TYPE_CAMERA" base_Property="_BXfCsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXg34NFHEeuFl4uGUGunyA" description="MAV_COMP_ID_TELEMETRY_RADIO" base_Property="_BXfpwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXiGANFHEeuFl4uGUGunyA" description="MAV_COMP_ID_LOG" base_Property="_BXhe8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXjUINFHEeuFl4uGUGunyA" description="MAV_COMP_ID_OSD" base_Property="_BXitENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXlJUNFHEeuFl4uGUGunyA" description="MAV_COMP_ID_OBSTACLE_AVOIDANCE" base_Property="_BXj7MNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXmXcNFHEeuFl4uGUGunyA" description="MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY" base_Property="_BXlJUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXm-gNFHEeuFl4uGUGunyA" description="MAV_COMP_ID_PAIRING_MANAGER" base_Property="_BXmXcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXoMoNFHEeuFl4uGUGunyA" description="MAV_COMP_ID_UDP_BRIDGE" base_Property="_BXnlkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BXpawNFHEeuFl4uGUGunyA" description="MAV_COMP_ID_UART_BRIDGE" base_Property="_BXozsNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BXqo4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TelemetryStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaKjQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BaJVINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaLxYNFHEeuFl4uGUGunyA" description="stop all motors (disable motor test mode)" base_Property="_BaLKUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaNmkNFHEeuFl4uGUGunyA" description="run motor(s) (enable motor test mode)" base_Property="_BaMYcNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaO0sNFHEeuFl4uGUGunyA" description="one of ACTION_* (applies to all motors)" base_Property="_BaNmkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaQp4NFHEeuFl4uGUGunyA" description="number of motor to spin [0..N-1]" base_Property="_BaO0sdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaR4ANFHEeuFl4uGUGunyA" description="output power, range [0..1], -1 to stop individual motor" base_Property="_BaQp4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaTGINFHEeuFl4uGUGunyA" description="timeout in ms after which to exit test mode (if 0, do not time out)" base_Property="_BaR4AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BaUUQNFHEeuFl4uGUGunyA" description="select output driver (for boards with multiple outputs, like IO+FMU)" base_Property="_BaTGIdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BabpANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TestMotor"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bc4gENFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Bc3R8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bc5uMNFHEeuFl4uGUGunyA" description="id of the origin system" base_Property="_Bc4gEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bc68UNFHEeuFl4uGUGunyA" description="timesync msg sequence" base_Property="_Bc5uMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bc8KcNFHEeuFl4uGUGunyA" description="time sync timestamp 1" base_Property="_Bc68UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bc9YkNFHEeuFl4uGUGunyA" description="time sync timestamp 2" base_Property="_Bc8KcdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BdF7cNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_Timesync"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bfl10NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BfknsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BfnrANFHEeuFl4uGUGunyA" description="remote system timestamp (microseconds)" base_Property="_Bfl10dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bfo5INFHEeuFl4uGUGunyA" description="raw time offset directly observed from this timesync packet (microseconds)" base_Property="_BfnrAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BfqHQNFHEeuFl4uGUGunyA" description="smoothed time offset between companion system and PX4 (microseconds)" base_Property="_Bfo5IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BfrVYNFHEeuFl4uGUGunyA" description="round trip time of this timesync packet (microseconds)" base_Property="_BfqHQdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Bf0fUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TimesyncStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_BiQIQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BiO6INFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BiRWYNFHEeuFl4uGUGunyA" description="local position x,y,z (metres)" base_Property="_BiQIQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BiSkgNFHEeuFl4uGUGunyA" description="yaw angle (rad)" base_Property="_BiR9cNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BiTyoNFHEeuFl4uGUGunyA" description="time it should take to get to this waypoint, if this is the final waypoint (seconds)" base_Property="_BiSkgdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BidjoNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TrajectoryBezier"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bk6asNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Bk5MkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bk7o0NFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_Bk6asdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bk9eANFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_Bk7o0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bk-sINFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_Bk9eAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bk_6QNFHEeuFl4uGUGunyA" description="in radians NED -PI..+PI" base_Property="_Bk-sIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlBIYNFHEeuFl4uGUGunyA" description="in radians/sec" base_Property="_Bk_6QdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlCWgNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_BlBIYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlDkoNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_BlCWgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlEywNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_BlDkodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlGA4NFHEeuFl4uGUGunyA" description="in meters/sec^2" base_Property="_BlEywdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlHPANFHEeuFl4uGUGunyA" description="in meters/sec^3" base_Property="_BlGA4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BlJEMNFHEeuFl4uGUGunyA" description="normalized thrust vector in NED" base_Property="_BlH2ENFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BlLgcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TrajectorySetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_BnmiUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BnlUMNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Bn1L0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TrajectoryWaypoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqYJgNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BqW7YNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqZXoNFHEeuFl4uGUGunyA" description="ICAO address" base_Property="_BqYJgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqalwNFHEeuFl4uGUGunyA" description="Latitude, expressed as degrees" base_Property="_BqZXodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bqbz4NFHEeuFl4uGUGunyA" description="Longitude, expressed as degrees" base_Property="_BqalwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqdCANFHEeuFl4uGUGunyA" description="Type from ADSB_ALTITUDE_TYPE enum" base_Property="_Bqbz4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqeQINFHEeuFl4uGUGunyA" description="Altitude(ASL) in meters" base_Property="_BqdCAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqfeQNFHEeuFl4uGUGunyA" description="Course over ground in radians, -pi to +pi, 0 is north" base_Property="_BqeQIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqgsYNFHEeuFl4uGUGunyA" description="The horizontal velocity in m/s" base_Property="_BqfeQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bqh6gNFHEeuFl4uGUGunyA" description="The vertical velocity in m/s, positive is up" base_Property="_BqgsYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqjIoNFHEeuFl4uGUGunyA" description="The callsign, 8+null" base_Property="_Bqh6gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqkWwNFHEeuFl4uGUGunyA" description="Type from ADSB_EMITTER_TYPE enum" base_Property="_BqjIodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bqlk4NFHEeuFl4uGUGunyA" description="Time since last communication in seconds" base_Property="_BqkWwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqmzANFHEeuFl4uGUGunyA" description="Flags to indicate various statuses including valid data fields" base_Property="_Bqlk4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqoBINFHEeuFl4uGUGunyA" description="Squawk code" base_Property="_BqmzAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BqpPQNFHEeuFl4uGUGunyA" description="Unique UAS ID" base_Property="_BqoBIdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BqsSkNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TransponderReport"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtNbENFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_BtMM8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtP3UNFHEeuFl4uGUGunyA" description="tune_id corresponding to TuneID::* from the tune_defaults.h in the tunes library" base_Property="_BtOpOtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtRFcNFHEeuFl4uGUGunyA" description="if true the tune which is playing will be stopped and the new started" base_Property="_BtP3UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtSTkNFHEeuFl4uGUGunyA" description="in Hz" base_Property="_BtRFcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtUIwNFHEeuFl4uGUGunyA" description="in us" base_Property="_BtS6oNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtVW4NFHEeuFl4uGUGunyA" description="in us" base_Property="_BtUIwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BtWlANFHEeuFl4uGUGunyA" description="value between 0-100 if supported by backend" base_Property="_BtVW4dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BtcroNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_TuneControl"/>
+ <robotics.commobject:DataAttribute xmi:id="_Bv_pUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Bv-bMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwA3cNFHEeuFl4uGUGunyA" description="MAVLINK_MSG_ID_PARAM_REQUEST_READ" base_Property="_Bv_pUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwCFkNFHEeuFl4uGUGunyA" description="MAVLINK_MSG_ID_PARAM_REQUEST_LIST" base_Property="_BwA3cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwDTsNFHEeuFl4uGUGunyA" description="MAVLINK_MSG_ID_PARAM_SET" base_Property="_BwCsoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwFI4NFHEeuFl4uGUGunyA" description="MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET" base_Property="_BwD6wNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwGXANFHEeuFl4uGUGunyA" description="MAV_COMP_ID_ALL" base_Property="_BwFI4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwHlINFHEeuFl4uGUGunyA" description="UAVCAN node ID mapped from MAVLink component ID" base_Property="_BwGXAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwIzQNFHEeuFl4uGUGunyA" description="MAVLink/UAVCAN parameter name" base_Property="_BwHlIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwKBYNFHEeuFl4uGUGunyA" description="-1 if the param_id field should be used as identifier" base_Property="_BwIzQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwLPgNFHEeuFl4uGUGunyA" description="MAV_PARAM_TYPE_UINT8" base_Property="_BwKocNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwMdoNFHEeuFl4uGUGunyA" description="MAV_PARAM_TYPE_INT64" base_Property="_BwL2kNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwOS0NFHEeuFl4uGUGunyA" description="MAV_PARAM_TYPE_REAL32" base_Property="_BwNEsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwPg8NFHEeuFl4uGUGunyA" description="MAVLink parameter type" base_Property="_BwOS0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwQvENFHEeuFl4uGUGunyA" description="current value if param_type is int-like" base_Property="_BwPg8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BwR9MNFHEeuFl4uGUGunyA" description="current value if param_type is float-like" base_Property="_BwQvEdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BwTLUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_UavcanParameterRequest"/>
+ <robotics.commobject:DataAttribute xmi:id="_By6acNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_By5MUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_By7okNFHEeuFl4uGUGunyA" description="UAVCAN node ID mapped from MAVLink component ID" base_Property="_By7BgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_By9dwNFHEeuFl4uGUGunyA" description="MAVLink/UAVCAN parameter name" base_Property="_By8PoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_By-r4NFHEeuFl4uGUGunyA" description="parameter index, if known" base_Property="_By9dwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_By_6ANFHEeuFl4uGUGunyA" description="number of parameters exposed by the node" base_Property="_By-r4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BzBIINFHEeuFl4uGUGunyA" description="MAVLink parameter type" base_Property="_By_6AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BzCWQNFHEeuFl4uGUGunyA" description="current value if param_type is int-like" base_Property="_BzBIIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_BzDkYNFHEeuFl4uGUGunyA" description="current value if param_type is float-like" base_Property="_BzCWQdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_BzJD8NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_UavcanParameterValue"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1oXQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_B1nwMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1plYNFHEeuFl4uGUGunyA" description="if set, this message requires to be acked." base_Property="_B1o-UNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1qzgNFHEeuFl4uGUGunyA" description="length of data" base_Property="_B1qMcNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1sBoNFHEeuFl4uGUGunyA" description="offset into data where first message starts. This" base_Property="_B1rakNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1tPwNFHEeuFl4uGUGunyA" description="allows determine drops" base_Property="_B1sosNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1vE8NFHEeuFl4uGUGunyA" description="see FLAGS_*" base_Property="_B1t20NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1vsANFHEeuFl4uGUGunyA" description="ulog data" base_Property="_B1vE8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B1w6INFHEeuFl4uGUGunyA" description="TODO: we might be able to reduce this if mavlink polled on the topic" base_Property="_B1wTENFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_B12ZsNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_UlogStream"/>
+ <robotics.commobject:DataAttribute xmi:id="_B4W7INFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_B4VF8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B4YJQNFHEeuFl4uGUGunyA" description="timeout waiting for an ack until we retry to send the message [ms]" base_Property="_B4W7IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B4ZXYNFHEeuFl4uGUGunyA" description="maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms" base_Property="_B4YJQdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_B4mLsNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_UlogStreamAck"/>
+ <robotics.commobject:DataAttribute xmi:id="_B7IiUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_B7HUMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B7JwcNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_B7IiUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B7K-kNFHEeuFl4uGUGunyA" description="Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2" base_Property="_B7JwcdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_B7XL0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAcceleration"/>
+ <robotics.commobject:DataAttribute xmi:id="_B90p8NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_B9zb0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_B92fINFHEeuFl4uGUGunyA" description="the timestamp the data this control response is based on was sampled" base_Property="_B91RANFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_B-EhkNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleActuatorSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAoGUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CAm4MNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAp7gNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_CAotYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CArwsNFHEeuFl4uGUGunyA" description="unique device ID for the selected barometer" base_Property="_CAp7gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAs-0NFHEeuFl4uGUGunyA" description="Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH." base_Property="_CArwsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAuM8NFHEeuFl4uGUGunyA" description="Temperature in degrees Celsius" base_Property="_CAs-0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAvbENFHEeuFl4uGUGunyA" description="Absolute pressure in Pascals" base_Property="_CAuM8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CAwpMNFHEeuFl4uGUGunyA" description="air density" base_Property="_CAvbEdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CA2v0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAirData"/>
+ <robotics.commobject:DataAttribute xmi:id="_CDTm4NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CDS_0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CDU1ANFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_CDUN8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CDWDINFHEeuFl4uGUGunyA" description="angular acceleration about the FRD body frame XYZ-axis in rad/s^2" base_Property="_CDVcENFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CDhCQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAngularAcceleration"/>
+ <robotics.commobject:DataAttribute xmi:id="_CGA8oNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CF_ugNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CGCKwNFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_CGA8odFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CGDY4NFHEeuFl4uGUGunyA" description="angular acceleration about X, Y, Z body axis in rad/s^2" base_Property="_CGCKwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CGOYANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAngularAccelerationSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_CIpZ4NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CInksNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CIqoANFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_CIpZ4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CIr2INFHEeuFl4uGUGunyA" description="Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s" base_Property="_CIqoAdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CI2OMNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAngularVelocity"/>
+ <robotics.commobject:DataAttribute xmi:id="_CLRQENFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CLQB8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CLSeMNFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_CLRQEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CLTsUNFHEeuFl4uGUGunyA" description="Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s" base_Property="_CLSeMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CLercNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAngularVelocityGroundtruth"/>
+ <robotics.commobject:DataAttribute xmi:id="_CN5tUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CN4fMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CN67cNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_CN5tUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CN8JkNFHEeuFl4uGUGunyA" description="Quaternion rotation from the FRD body frame to the NED earth frame" base_Property="_CN67cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CN9XsNFHEeuFl4uGUGunyA" description="Amount by which quaternion has changed during last reset" base_Property="_CN8JkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CN-l0NFHEeuFl4uGUGunyA" description="Quaternion reset counter" base_Property="_CN9XsdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_COKMANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAttitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_CQr7kNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CQqtcNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CQtJsNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_CQr7kdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CQuX0NFHEeuFl4uGUGunyA" description="Quaternion rotation from the FRD body frame to the NED earth frame" base_Property="_CQtJsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CQvl8NFHEeuFl4uGUGunyA" description="Amount by which quaternion has changed during last reset" base_Property="_CQuX0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CQw0ENFHEeuFl4uGUGunyA" description="Quaternion reset counter" base_Property="_CQvl8dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CQ6lENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAttitudeGroundtruth"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTYqQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CTWOANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTafcNFHEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_CTYqQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTcUoNFHEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_CTafcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTdiwNFHEeuFl4uGUGunyA" description="body angle in NED frame (can be NaN for FW)" base_Property="_CTcUodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTew4NFHEeuFl4uGUGunyA" description="rad/s (commanded by user)" base_Property="_CTdiwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTf_ANFHEeuFl4uGUGunyA" description="Desired quaternion for quaternion control" base_Property="_CTew4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CThNINFHEeuFl4uGUGunyA" description="Normalized thrust command in body NED frame [-1,1]" base_Property="_CTf_AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTibQNFHEeuFl4uGUGunyA" description="Reset roll integral part (navigation logic change)" base_Property="_CThNIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTjpYNFHEeuFl4uGUGunyA" description="Reset pitch integral part (navigation logic change)" base_Property="_CTibQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTk3gNFHEeuFl4uGUGunyA" description="Reset yaw integral part (navigation logic change)" base_Property="_CTjpYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTmFoNFHEeuFl4uGUGunyA" description="control heading with rudder (used for auto takeoff on runway)" base_Property="_CTk3gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTnTwNFHEeuFl4uGUGunyA" description="flap config specifier" base_Property="_CTmFodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CToh4NFHEeuFl4uGUGunyA" description="no flaps" base_Property="_CTnTwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTpwANFHEeuFl4uGUGunyA" description="landing config flaps" base_Property="_CToh4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CTq-INFHEeuFl4uGUGunyA" description="take-off config flaps" base_Property="_CTpwAdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CTsMQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleAttitudeSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWJqYNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CWIcQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWK4gNFHEeuFl4uGUGunyA" description="test command" base_Property="_CWJqYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWMGoNFHEeuFl4uGUGunyA" description="test command" base_Property="_CWK4gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWNUwNFHEeuFl4uGUGunyA" description="test command" base_Property="_CWMtsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWOi4NFHEeuFl4uGUGunyA" description="Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|" base_Property="_CWNUwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWPxANFHEeuFl4uGUGunyA" description="Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|" base_Property="_CWOi4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWQ_INFHEeuFl4uGUGunyA" description="Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|" base_Property="_CWPxAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWSNQNFHEeuFl4uGUGunyA" description="Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|" base_Property="_CWRmMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWUCcNFHEeuFl4uGUGunyA" description="Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWS0UNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWVQkNFHEeuFl4uGUGunyA" description="Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|" base_Property="_CWUCcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWWesNFHEeuFl4uGUGunyA" description="Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|" base_Property="_CWVQkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWXs0NFHEeuFl4uGUGunyA" description="Attempt a precision landing" base_Property="_CWWesdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWY68NFHEeuFl4uGUGunyA" description="Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |" base_Property="_CWXs0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWaJENFHEeuFl4uGUGunyA" description="Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|" base_Property="_CWY68dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWbXMNFHEeuFl4uGUGunyA" description="Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|" base_Property="_CWaJEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWclUNFHEeuFl4uGUGunyA" description="Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|" base_Property="_CWbXMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWdzcNFHEeuFl4uGUGunyA" description="Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|" base_Property="_CWclUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWfBkNFHEeuFl4uGUGunyA" description="set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|" base_Property="_CWdzcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWgPsNFHEeuFl4uGUGunyA" description="set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWfBkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWg2wNFHEeuFl4uGUGunyA" description="Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|" base_Property="_CWgPsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWiE4NFHEeuFl4uGUGunyA" description="NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWhd0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWjTANFHEeuFl4uGUGunyA" description="Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWiE4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWkhINFHEeuFl4uGUGunyA" description="Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|" base_Property="_CWjTAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWlvQNFHEeuFl4uGUGunyA" description="Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWkhIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWm9YNFHEeuFl4uGUGunyA" description="Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|" base_Property="_CWlvQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWoLgNFHEeuFl4uGUGunyA" description="NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWm9YdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWpZoNFHEeuFl4uGUGunyA" description="Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|" base_Property="_CWoLgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWqnwNFHEeuFl4uGUGunyA" description="Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWpZodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWr14NFHEeuFl4uGUGunyA" description="Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWqnwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWtEANFHEeuFl4uGUGunyA" description="Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|" base_Property="_CWr14dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWuSINFHEeuFl4uGUGunyA" description="Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|" base_Property="_CWtEAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWvgQNFHEeuFl4uGUGunyA" description="Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWuSIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWwHUNFHEeuFl4uGUGunyA" description="Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWvgQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWxVcNFHEeuFl4uGUGunyA" description="Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|" base_Property="_CWwuYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWyjkNFHEeuFl4uGUGunyA" description="Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWxVcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CWzxsNFHEeuFl4uGUGunyA" description="Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|" base_Property="_CWzKoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW0_0NFHEeuFl4uGUGunyA" description="Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CWzxsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW2N8NFHEeuFl4uGUGunyA" description="Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty| */" base_Property="_CW0_0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW3cENFHEeuFl4uGUGunyA" description="Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */" base_Property="_CW2N8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW4qMNFHEeuFl4uGUGunyA" description="Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|" base_Property="_CW3cFdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW54UNFHEeuFl4uGUGunyA" description="Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|" base_Property="_CW4qMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW7GcNFHEeuFl4uGUGunyA" description="Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CW54UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW8UkNFHEeuFl4uGUGunyA" description="Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|" base_Property="_CW7GcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW9isNFHEeuFl4uGUGunyA" description="Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|" base_Property="_CW8UkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW-w0NFHEeuFl4uGUGunyA" description="Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|" base_Property="_CW9is9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CW_-8NFHEeuFl4uGUGunyA" description="Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|" base_Property="_CW-w0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXBNENFHEeuFl4uGUGunyA" description="Mission command to set TRIG_DIST for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|" base_Property="_CW_-8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXCbMNFHEeuFl4uGUGunyA" description="Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXBNEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXDpUNFHEeuFl4uGUGunyA" description="Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXCbMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXE3cNFHEeuFl4uGUGunyA" description="motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|" base_Property="_CXDpUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXFegNFHEeuFl4uGUGunyA" description="Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXE3cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXHTsNFHEeuFl4uGUGunyA" description="Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXGFkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXH6wNFHEeuFl4uGUGunyA" description="Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|" base_Property="_CXHTsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXJI4NFHEeuFl4uGUGunyA" description="set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXIh0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXKXANFHEeuFl4uGUGunyA" description="set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|" base_Property="_CXJI4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXLlINFHEeuFl4uGUGunyA" description="NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|" base_Property="_CXKXAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXMzQNFHEeuFl4uGUGunyA" description="Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION" base_Property="_CXLlIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXOBYNFHEeuFl4uGUGunyA" description="param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration" base_Property="_CXMzQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXPPgNFHEeuFl4uGUGunyA" description="Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|" base_Property="_CXOBYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXQdoNFHEeuFl4uGUGunyA" description="UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started" base_Property="_CXPPgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXRrwNFHEeuFl4uGUGunyA" description="Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|" base_Property="_CXQdodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXS54NFHEeuFl4uGUGunyA" description="Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|" base_Property="_CXRrwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXUIANFHEeuFl4uGUGunyA" description="Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|" base_Property="_CXS54dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXVWINFHEeuFl4uGUGunyA" description="Command to ask information about a low level gimbal" base_Property="_CXUIAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXWkQNFHEeuFl4uGUGunyA" description="start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)|" base_Property="_CXVWIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXXyYNFHEeuFl4uGUGunyA" description="Arms / Disarms a component |1 to arm, 0 to disarm|" base_Property="_CXWkQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXYZcNFHEeuFl4uGUGunyA" description="Inject artificial failure for testing purposes" base_Property="_CXXyYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXZnkNFHEeuFl4uGUGunyA" description="Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|" base_Property="_CXYZcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXa1sNFHEeuFl4uGUGunyA" description="Request to send a single instance of the specified message" base_Property="_CXZnkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXcD0NFHEeuFl4uGUGunyA" description="Set camera capture mode (photo, video, etc.)" base_Property="_CXa1sdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXdR8NFHEeuFl4uGUGunyA" description="Set camera zoom" base_Property="_CXcD0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXegENFHEeuFl4uGUGunyA" description="Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw" base_Property="_CXd5AtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXfuMNFHEeuFl4uGUGunyA" description="Gimbal configuration to set which sysid/compid is in primary and secondary control" base_Property="_CXfHINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXg8UNFHEeuFl4uGUGunyA" description="Enable or disable on-board camera triggering system" base_Property="_CXfuMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXiKcNFHEeuFl4uGUGunyA" description="start streaming ULog data" base_Property="_CXg8UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXjYkNFHEeuFl4uGUGunyA" description="stop streaming ULog data" base_Property="_CXiKcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXkmsNFHEeuFl4uGUGunyA" description="control starting/stopping transmitting data over the high latency link" base_Property="_CXjYkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXl00NFHEeuFl4uGUGunyA" description="Command VTOL transition" base_Property="_CXkmsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXnqANFHEeuFl4uGUGunyA" description="Request arm authorization" base_Property="_CXl00dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXo4INFHEeuFl4uGUGunyA" description="Prepare a payload deployment in the flight plan" base_Property="_CXnqAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXqGQNFHEeuFl4uGUGunyA" description="Control a pre-programmed payload deployment" base_Property="_CXo4IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXrUYNFHEeuFl4uGUGunyA" description="Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location." base_Property="_CXqGQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXsigNFHEeuFl4uGUGunyA" description="start of PX4 internal only vehicle commands (> UINT16_MAX)" base_Property="_CXrUYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXtwoNFHEeuFl4uGUGunyA" description="Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|" base_Property="_CXsigdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXu-wNFHEeuFl4uGUGunyA" description="Command ACCEPTED and EXECUTED |" base_Property="_CXtwodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXwM4NFHEeuFl4uGUGunyA" description="Command TEMPORARY REJECTED/DENIED |" base_Property="_CXu-wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXxbANFHEeuFl4uGUGunyA" description="Command PERMANENTLY DENIED |" base_Property="_CXwM4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXyCENFHEeuFl4uGUGunyA" description="Command UNKNOWN/UNSUPPORTED |" base_Property="_CXxbAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CXzQMNFHEeuFl4uGUGunyA" description="Command executed, but failed |" base_Property="_CXypINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX0eUNFHEeuFl4uGUGunyA" description="Command being executed |" base_Property="_CXzQMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX1scNFHEeuFl4uGUGunyA" description="" base_Property="_CX0eUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX26kNFHEeuFl4uGUGunyA" description="Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |" base_Property="_CX1scdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX4IsNFHEeuFl4uGUGunyA" description="Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |" base_Property="_CX26kdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX5W0NFHEeuFl4uGUGunyA" description="Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |" base_Property="_CX4IsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX6k8NFHEeuFl4uGUGunyA" description="Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |" base_Property="_CX5W0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX7zENFHEeuFl4uGUGunyA" description="Load neutral position and start to point to Lat,Lon,Alt |" base_Property="_CX6k8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX9BMNFHEeuFl4uGUGunyA" description="" base_Property="_CX7zEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX-PUNFHEeuFl4uGUGunyA" description="No region of interest |" base_Property="_CX9BMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CX_dcNFHEeuFl4uGUGunyA" description="Point toward next MISSION |" base_Property="_CX-PUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYArkNFHEeuFl4uGUGunyA" description="Point toward given MISSION |" base_Property="_CX_dcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYBSoNFHEeuFl4uGUGunyA" description="Point toward fixed location |" base_Property="_CYArkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYCgwNFHEeuFl4uGUGunyA" description="Point toward target" base_Property="_CYB5sNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYDu4NFHEeuFl4uGUGunyA" description="Zoom one step increment" base_Property="_CYCgw9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYE9ANFHEeuFl4uGUGunyA" description="Continuous zoom up/down until stopped" base_Property="_CYDu4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYGLINFHEeuFl4uGUGunyA" description="Zoom value as proportion of full camera range" base_Property="_CYE9AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYHZQNFHEeuFl4uGUGunyA" description="Zoom to a focal length" base_Property="_CYGLIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYJ1gNFHEeuFl4uGUGunyA" description="Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYInctFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYLDoNFHEeuFl4uGUGunyA" description="Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYJ1gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYMRwNFHEeuFl4uGUGunyA" description="Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYLDodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYNf4NFHEeuFl4uGUGunyA" description="Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYMRwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYOuANFHEeuFl4uGUGunyA" description="Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYNf4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYP8INFHEeuFl4uGUGunyA" description="Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYOuAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYRKQNFHEeuFl4uGUGunyA" description="Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum." base_Property="_CYP8IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYSYYNFHEeuFl4uGUGunyA" description="Command ID" base_Property="_CYRKQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYTmgNFHEeuFl4uGUGunyA" description="System which should execute the command" base_Property="_CYSYYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYUNkNFHEeuFl4uGUGunyA" description="Component which should execute the command, 0 for all components" base_Property="_CYTmgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYVbsNFHEeuFl4uGUGunyA" description="System sending the command" base_Property="_CYU0oNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYWp0NFHEeuFl4uGUGunyA" description="Component sending the command" base_Property="_CYVbsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CYX38NFHEeuFl4uGUGunyA" description="0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)" base_Property="_CYWp0dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CYZGENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleCommand"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ca3LQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Ca19INFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CbF0wNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleCommandAck"/>
+ <robotics.commobject:DataAttribute xmi:id="_CdiEwNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CdhdsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cdj58NFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_Cdir0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CdlIENFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_Cdj58dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CdmWMNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_CdlIEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CdnkUNFHEeuFl4uGUGunyA" description="tell the controller to initiate takeoff when idling (ignored during flight)" base_Property="_CdmWMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CdxVUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleConstraints"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgM-QNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CgLwINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgOMYNFHEeuFl4uGUGunyA" description="synonym for actuator_armed.armed" base_Property="_CgM-QdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgPagNFHEeuFl4uGUGunyA" description="external override non-fatal for system. Only true for fixed wing" base_Property="_CgOMYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgQooNFHEeuFl4uGUGunyA" description="true if manual input is mixed in" base_Property="_CgPagdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgR2wNFHEeuFl4uGUGunyA" description="true if onboard autopilot should act" base_Property="_CgQoodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgTE4NFHEeuFl4uGUGunyA" description="true if offboard control should be used" base_Property="_CgR2wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgUTANFHEeuFl4uGUGunyA" description="true if rates are stabilized" base_Property="_CgTE4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgVhINFHEeuFl4uGUGunyA" description="true if attitude stabilization is mixed in" base_Property="_CgUTAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgWvQNFHEeuFl4uGUGunyA" description="true if acceleration is controlled" base_Property="_CgVhIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgX9YNFHEeuFl4uGUGunyA" description="true if horizontal velocity (implies direction) is controlled" base_Property="_CgWvQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgZLgNFHEeuFl4uGUGunyA" description="true if position is controlled" base_Property="_CgX9YdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgaZoNFHEeuFl4uGUGunyA" description="true if altitude is controlled" base_Property="_CgZLgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CgbnwNFHEeuFl4uGUGunyA" description="true if climb rate is controlled" base_Property="_CgaZodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cgc14NFHEeuFl4uGUGunyA" description="true if flighttermination is enabled" base_Property="_CgbnwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CgeEANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleControlMode"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci5F4NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Ci33wNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci67ENFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_Ci5s8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci8JMNFHEeuFl4uGUGunyA" description="Latitude, (degrees)" base_Property="_Ci67EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci9XUNFHEeuFl4uGUGunyA" description="Longitude, (degrees)" base_Property="_Ci8JMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci-lcNFHEeuFl4uGUGunyA" description="Altitude AMSL, (meters)" base_Property="_Ci9XUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Ci_MgNFHEeuFl4uGUGunyA" description="Altitude above ellipsoid, (meters)" base_Property="_Ci-lcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjAaoNFHEeuFl4uGUGunyA" description="Reset delta for altitude" base_Property="_Ci_zkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjCP0NFHEeuFl4uGUGunyA" description="Counter for reset events on horizontal position coordinates" base_Property="_CjBBsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjC24NFHEeuFl4uGUGunyA" description="Counter for reset events on altitude" base_Property="_CjCP0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjEsENFHEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_CjDd8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjF6MNFHEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_CjEsEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjHIUNFHEeuFl4uGUGunyA" description="Terrain altitude WGS84, (metres)" base_Property="_CjF6MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjIWcNFHEeuFl4uGUGunyA" description="Terrain altitude estimate is valid" base_Property="_CjHIUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CjJkkNFHEeuFl4uGUGunyA" description="True if this position is estimated through dead-reckoning" base_Property="_CjIWcdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CjLZwNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleGlobalPosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClmboNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CllNgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClnpwNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_ClnCsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Clo34NFHEeuFl4uGUGunyA" description="Latitude, (degrees)" base_Property="_CloQ0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClqGANFHEeuFl4uGUGunyA" description="Longitude, (degrees)" base_Property="_Clpe8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Clr7MNFHEeuFl4uGUGunyA" description="Altitude AMSL, (meters)" base_Property="_ClqtENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CltJUNFHEeuFl4uGUGunyA" description="Altitude above ellipsoid, (meters)" base_Property="_Clr7MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CluXcNFHEeuFl4uGUGunyA" description="Reset delta for altitude" base_Property="_CltJUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClvlkNFHEeuFl4uGUGunyA" description="Counter for reset events on horizontal position coordinates" base_Property="_Clu-gNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClwzsNFHEeuFl4uGUGunyA" description="Counter for reset events on altitude" base_Property="_ClwMoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClyB0NFHEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_ClxawNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ClzP8NFHEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_Clyo4NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cl0eENFHEeuFl4uGUGunyA" description="Terrain altitude WGS84, (metres)" base_Property="_Clz3ANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cl1sMNFHEeuFl4uGUGunyA" description="Terrain altitude estimate is valid" base_Property="_Cl0eEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cl26UNFHEeuFl4uGUGunyA" description="True if this position is estimated through dead-reckoning" base_Property="_Cl1sMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Cl4IcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleGlobalPositionGroundtruth"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoYC0NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CoWNoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoZQ8NFHEeuFl4uGUGunyA" description="Latitude in 1E-7 degrees" base_Property="_CoYC0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoZ4ANFHEeuFl4uGUGunyA" description="Longitude in 1E-7 degrees" base_Property="_CoZQ8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CobtMNFHEeuFl4uGUGunyA" description="Altitude in 1E-3 meters above MSL, (millimetres)" base_Property="_CoafENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Coc7UNFHEeuFl4uGUGunyA" description="Altitude in 1E-3 meters bove Ellipsoid, (millimetres)" base_Property="_CobtMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoeJcNFHEeuFl4uGUGunyA" description="GPS speed accuracy estimate, (metres/sec)" base_Property="_Coc7UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CofXkNFHEeuFl4uGUGunyA" description="GPS course accuracy estimate, (radians)" base_Property="_CoeJcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoglsNFHEeuFl4uGUGunyA" description="0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix." base_Property="_CofXkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cohz0NFHEeuFl4uGUGunyA" description="GPS horizontal position accuracy (metres)" base_Property="_CoglsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CojB8NFHEeuFl4uGUGunyA" description="GPS vertical position accuracy (metres)" base_Property="_Cohz0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CokQENFHEeuFl4uGUGunyA" description="Horizontal dilution of precision" base_Property="_CojB8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ColeMNFHEeuFl4uGUGunyA" description="Vertical dilution of precision" base_Property="_CokQEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_ComsUNFHEeuFl4uGUGunyA" description="GPS noise per millisecond" base_Property="_ColeMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Con6cNFHEeuFl4uGUGunyA" description="indicates jamming is occurring" base_Property="_ComsUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CopIkNFHEeuFl4uGUGunyA" description="indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical" base_Property="_Con6cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoqWsNFHEeuFl4uGUGunyA" description="GPS ground speed, (metres/sec)" base_Property="_CopIkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cork0NFHEeuFl4uGUGunyA" description="GPS North velocity, (metres/sec)" base_Property="_CoqWsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cosy8NFHEeuFl4uGUGunyA" description="GPS East velocity, (metres/sec)" base_Property="_Cork0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CouBENFHEeuFl4uGUGunyA" description="GPS Down velocity, (metres/sec)" base_Property="_Cosy8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CovPMNFHEeuFl4uGUGunyA" description="Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)" base_Property="_CouBEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CowdUNFHEeuFl4uGUGunyA" description="True if NED velocity is valid" base_Property="_CovPMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoxEYNFHEeuFl4uGUGunyA" description="timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)" base_Property="_CowdUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CoySgNFHEeuFl4uGUGunyA" description="Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0" base_Property="_CoxrcNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CozgoNFHEeuFl4uGUGunyA" description="Number of satellites used" base_Property="_CoySgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Co0uwNFHEeuFl4uGUGunyA" description="heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])" base_Property="_CozgodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Co184NFHEeuFl4uGUGunyA" description="heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])" base_Property="_Co0uwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Co2j8NFHEeuFl4uGUGunyA" description="GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers" base_Property="_Co184dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Co3yENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleGpsPosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrY6kNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CrXscNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CraIsNFHEeuFl4uGUGunyA" description="Accelerometer unique device ID for the sensor that does not change between power cycles" base_Property="_CrY6ktFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrbW0NFHEeuFl4uGUGunyA" description="Gyroscope unique device ID for the sensor that does not change between power cycles" base_Property="_CraIsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Crck8NFHEeuFl4uGUGunyA" description="delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)" base_Property="_CrbW0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrdzENFHEeuFl4uGUGunyA" description="delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)" base_Property="_Crck8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrfBMNFHEeuFl4uGUGunyA" description="integration period in microseconds" base_Property="_CrdzEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrgPUNFHEeuFl4uGUGunyA" description="integration period in microseconds" base_Property="_CrfBMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrhdcNFHEeuFl4uGUGunyA" description="bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame" base_Property="_Crg2YdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CrirkNFHEeuFl4uGUGunyA" description="Calibration changed counter. Monotonically increases whenever calibration changes." base_Property="_CriEgNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CrmV8NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleImu"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuFpQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CuEbINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuG3YNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_CuGQUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuIFgNFHEeuFl4uGUGunyA" description="unique device ID for the sensor that does not change between power cycles" base_Property="_CuHecNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuJ6sNFHEeuFl4uGUGunyA" description="total clipping per axis" base_Property="_CuIskNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuLI0NFHEeuFl4uGUGunyA" description="full raw sensor sample rate (Hz)" base_Property="_CuJ6tdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuMW8NFHEeuFl4uGUGunyA" description="full raw sensor sample rate (Hz)" base_Property="_CuLI0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuNlENFHEeuFl4uGUGunyA" description="high frequency vibration level in the IMU delta velocity data (m/s)" base_Property="_CuMW8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuOzMNFHEeuFl4uGUGunyA" description="high frequency vibration level in the IMU delta velocity data (m/s)" base_Property="_CuNlEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuQBUNFHEeuFl4uGUGunyA" description="Level of coning vibration in the IMU delta angles (rad^2)" base_Property="_CuOzMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuRPcNFHEeuFl4uGUGunyA" description="average accelerometer readings since last publication" base_Property="_CuQBUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CuSdkNFHEeuFl4uGUGunyA" description="average gyroscope readings since last publication" base_Property="_CuRPcdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_CuTrsNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleImuStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cwxw4NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_CwwiwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CwyX8NFHEeuFl4uGUGunyA" description="maximum altitude in [m] that can be reached" base_Property="_Cwxw4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CwzmENFHEeuFl4uGUGunyA" description="true if vehicle is currently in free-fall" base_Property="_Cwy_ANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cw00MNFHEeuFl4uGUGunyA" description="true if vehicle has ground contact but is not landed (1. stage)" base_Property="_Cw0NINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cw2pYNFHEeuFl4uGUGunyA" description="true if the vehicle might have landed (2. stage)" base_Property="_Cw00MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cw33gNFHEeuFl4uGUGunyA" description="true if vehicle is currently landed on the ground (3. stage)" base_Property="_Cw2pYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cw4ekNFHEeuFl4uGUGunyA" description="indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing)." base_Property="_Cw33gdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Cw_MQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleLandDetected"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzfGoNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Czd4gNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzgUwNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_CzfGodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czhi4NFHEeuFl4uGUGunyA" description="true if x and y are valid" base_Property="_CzgUwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzixANFHEeuFl4uGUGunyA" description="true if z is valid" base_Property="_Czhi4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czj_INFHEeuFl4uGUGunyA" description="true if vy and vy are valid" base_Property="_CzixAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzlNQNFHEeuFl4uGUGunyA" description="true if vz is valid" base_Property="_Czj_IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzmbYNFHEeuFl4uGUGunyA" description="North position in NED earth-fixed frame, (metres)" base_Property="_CzlNQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CznpgNFHEeuFl4uGUGunyA" description="East position in NED earth-fixed frame, (metres)" base_Property="_CzmbYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czo3oNFHEeuFl4uGUGunyA" description="Down position (negative altitude) in NED earth-fixed frame, (metres)" base_Property="_CznpgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czqs0NFHEeuFl4uGUGunyA" description="North velocity in NED earth-fixed frame, (metres/sec)" base_Property="_CzpetNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czr68NFHEeuFl4uGUGunyA" description="East velocity in NED earth-fixed frame, (metres/sec)" base_Property="_Czqs0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzsiANFHEeuFl4uGUGunyA" description="Down velocity in NED earth-fixed frame, (metres/sec)" base_Property="_Czr68dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzuXMNFHEeuFl4uGUGunyA" description="Down position time derivative in NED earth-fixed frame, (metres/sec)" base_Property="_CztJENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzvlUNFHEeuFl4uGUGunyA" description="North velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_CzuXN9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzwzcNFHEeuFl4uGUGunyA" description="East velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_CzvlUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzxagNFHEeuFl4uGUGunyA" description="Down velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_CzwzcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_CzyooNFHEeuFl4uGUGunyA" description="Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)" base_Property="_CzyBkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Czz2wNFHEeuFl4uGUGunyA" description="true if position (x, y) has a valid global reference (ref_lat, ref_lon)" base_Property="_Czyoo9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz1r8NFHEeuFl4uGUGunyA" description="true if z has a valid global reference (ref_alt)" base_Property="_Czz2wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz2TANFHEeuFl4uGUGunyA" description="Time when reference position was set since system start, (microseconds)" base_Property="_Cz1r8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz3hINFHEeuFl4uGUGunyA" description="Reference point latitude, (degrees)" base_Property="_Cz26ENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz4vQNFHEeuFl4uGUGunyA" description="Reference point longitude, (degrees)" base_Property="_Cz4IMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz59YNFHEeuFl4uGUGunyA" description="Reference altitude AMSL, (metres)" base_Property="_Cz5WUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz7LgNFHEeuFl4uGUGunyA" description="Distance from from bottom surface to ground, (metres)" base_Property="_Cz59YdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz8ZoNFHEeuFl4uGUGunyA" description="true if distance to bottom surface is valid" base_Property="_Cz7LgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz9nwNFHEeuFl4uGUGunyA" description="bitfield indicating what type of sensor is used to estimate dist_bottom" base_Property="_Cz8ZodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Cz-14NFHEeuFl4uGUGunyA" description="(1 << 0) a range sensor is used to estimate dist_bottom field" base_Property="_Cz9nw9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0AEANFHEeuFl4uGUGunyA" description="(1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)" base_Property="_Cz-14dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0BSINFHEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_C0AEAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0CgQNFHEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_C0BSIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0DHUNFHEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_C0CgQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0EVcNFHEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_C0DHUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0FjkNFHEeuFl4uGUGunyA" description="maximum horizontal speed - set to 0 when limiting not required (meters/sec)" base_Property="_C0EVcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0GxsNFHEeuFl4uGUGunyA" description="maximum vertical speed - set to 0 when limiting not required (meters/sec)" base_Property="_C0FjkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0HYwNFHEeuFl4uGUGunyA" description="minimum height above ground level - set to 0 when limiting not required (meters)" base_Property="_C0GxsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C0Im4NFHEeuFl4uGUGunyA" description="maximum height above ground level - set to 0 when limiting not required (meters)" base_Property="_C0H_0NFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_C0LDINFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleLocalPosition"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2ohQNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_C2nTINFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2pvYNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_C2ohQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2q9gNFHEeuFl4uGUGunyA" description="true if x and y are valid" base_Property="_C2pvYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2sLoNFHEeuFl4uGUGunyA" description="true if z is valid" base_Property="_C2q9gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2tZwNFHEeuFl4uGUGunyA" description="true if vy and vy are valid" base_Property="_C2sLodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2un4NFHEeuFl4uGUGunyA" description="true if vz is valid" base_Property="_C2tZwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2v2ANFHEeuFl4uGUGunyA" description="North position in NED earth-fixed frame, (metres)" base_Property="_C2vO8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2xEINFHEeuFl4uGUGunyA" description="East position in NED earth-fixed frame, (metres)" base_Property="_C2wdENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2y5UNFHEeuFl4uGUGunyA" description="Down position (negative altitude) in NED earth-fixed frame, (metres)" base_Property="_C2xrMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C20HcNFHEeuFl4uGUGunyA" description="North velocity in NED earth-fixed frame, (metres/sec)" base_Property="_C2y5V9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C21VkNFHEeuFl4uGUGunyA" description="East velocity in NED earth-fixed frame, (metres/sec)" base_Property="_C20HcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C22jsNFHEeuFl4uGUGunyA" description="Down velocity in NED earth-fixed frame, (metres/sec)" base_Property="_C21VkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C23x0NFHEeuFl4uGUGunyA" description="Down position time derivative in NED earth-fixed frame, (metres/sec)" base_Property="_C22jsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C24_8NFHEeuFl4uGUGunyA" description="North velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_C23x19FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C26OENFHEeuFl4uGUGunyA" description="East velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_C24_8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C27cMNFHEeuFl4uGUGunyA" description="Down velocity derivative in NED earth-fixed frame, (metres/sec^2)" base_Property="_C26OEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C28qUNFHEeuFl4uGUGunyA" description="Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)" base_Property="_C27cMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C294cNFHEeuFl4uGUGunyA" description="true if position (x, y) has a valid global reference (ref_lat, ref_lon)" base_Property="_C28qU9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C2_GkNFHEeuFl4uGUGunyA" description="true if z has a valid global reference (ref_alt)" base_Property="_C294cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3AUsNFHEeuFl4uGUGunyA" description="Time when reference position was set since system start, (microseconds)" base_Property="_C2_GkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3Bi0NFHEeuFl4uGUGunyA" description="Reference point latitude, (degrees)" base_Property="_C3AUsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3Cw8NFHEeuFl4uGUGunyA" description="Reference point longitude, (degrees)" base_Property="_C3Bi0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3D_ENFHEeuFl4uGUGunyA" description="Reference altitude AMSL, (metres)" base_Property="_C3Cw8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3FNMNFHEeuFl4uGUGunyA" description="Distance from from bottom surface to ground, (metres)" base_Property="_C3D_EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3GbUNFHEeuFl4uGUGunyA" description="true if distance to bottom surface is valid" base_Property="_C3FNMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3HpcNFHEeuFl4uGUGunyA" description="bitfield indicating what type of sensor is used to estimate dist_bottom" base_Property="_C3GbUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3IQgNFHEeuFl4uGUGunyA" description="(1 << 0) a range sensor is used to estimate dist_bottom field" base_Property="_C3Hpc9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3JeoNFHEeuFl4uGUGunyA" description="(1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)" base_Property="_C3I3kNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3KswNFHEeuFl4uGUGunyA" description="Standard deviation of horizontal position error, (metres)" base_Property="_C3JeodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3L64NFHEeuFl4uGUGunyA" description="Standard deviation of vertical position error, (metres)" base_Property="_C3KswdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3NJANFHEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_C3L64dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3OXINFHEeuFl4uGUGunyA" description="Standard deviation of horizontal velocity error, (metres/sec)" base_Property="_C3NJAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3PlQNFHEeuFl4uGUGunyA" description="maximum horizontal speed - set to 0 when limiting not required (meters/sec)" base_Property="_C3OXIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3QzYNFHEeuFl4uGUGunyA" description="maximum vertical speed - set to 0 when limiting not required (meters/sec)" base_Property="_C3PlQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3RacNFHEeuFl4uGUGunyA" description="minimum height above ground level - set to 0 when limiting not required (meters)" base_Property="_C3QzYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C3TPoNFHEeuFl4uGUGunyA" description="maximum height above ground level - set to 0 when limiting not required (meters)" base_Property="_C3SBgNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_C3UdwNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleLocalPositionGroundtruth"/>
+ <robotics.commobject:DataAttribute xmi:id="_C52NUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_C50_MNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C53bcNFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_C52NUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C54pkNFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_C54CgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C56ewNFHEeuFl4uGUGunyA" description="in meters NED" base_Property="_C55QoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C57s4NFHEeuFl4uGUGunyA" description="in radians NED -PI..+PI" base_Property="_C56ewdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C587ANFHEeuFl4uGUGunyA" description="in radians/sec" base_Property="_C57s4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C5-JINFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_C59iENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C5_-UNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_C5-wMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C6BMcNFHEeuFl4uGUGunyA" description="in meters/sec" base_Property="_C5_-UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C6CakNFHEeuFl4uGUGunyA" description="in meters/sec^2" base_Property="_C6BMcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C6EPwNFHEeuFl4uGUGunyA" description="in meters/sec^3" base_Property="_C6CakdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C6Fd4NFHEeuFl4uGUGunyA" description="normalized thrust vector in NED" base_Property="_C6EPwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_C6IhMNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleLocalPositionSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_C80o0NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_C8zasNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C8128NFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_C80o0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C83FENFHEeuFl4uGUGunyA" description="unique device ID for the selected magnetometer" base_Property="_C8128dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C84TMNFHEeuFl4uGUGunyA" description="Magnetic field in the FRD body frame XYZ-axis in Gauss" base_Property="_C83FEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C85hUNFHEeuFl4uGUGunyA" description="Calibration changed counter. Monotonically increases whenever calibration changes." base_Property="_C84TMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_C9EgcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleMagnetometer"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_neINFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_C_lo8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_qhcNFHEeuFl4uGUGunyA" description="NED earth-fixed frame" base_Property="_C_osStFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_s9sNFHEeuFl4uGUGunyA" description="FRD earth-fixed frame, arbitrary heading reference" base_Property="_C_rIgNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_uy4NFHEeuFl4uGUGunyA" description="Not aligned with the std frames of reference" base_Property="_C_s9sdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_woENFHEeuFl4uGUGunyA" description="FRD body-fixed frame" base_Property="_C_uy4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_zEUNFHEeuFl4uGUGunyA" description="North position" base_Property="_C_xPIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_05gNFHEeuFl4uGUGunyA" description="East position" base_Property="_C_zEUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_3VwNFHEeuFl4uGUGunyA" description="Down position" base_Property="_C_1gkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_5K8NFHEeuFl4uGUGunyA" description="Quaternion rotation from FRD body frame to refernce frame" base_Property="_C_3VwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_6ZENFHEeuFl4uGUGunyA" description="Quaternion rotation from odometry reference frame to navigation frame" base_Property="_C_5K8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_8OQNFHEeuFl4uGUGunyA" description="North velocity" base_Property="_C_7AI9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_9cYNFHEeuFl4uGUGunyA" description="East velocity" base_Property="_C_8OQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C_-qgNFHEeuFl4uGUGunyA" description="Down velocity" base_Property="_C_9cYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_C__4oNFHEeuFl4uGUGunyA" description="Angular velocity about X body axis" base_Property="_C_-qgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DABGwNFHEeuFl4uGUGunyA" description="Angular velocity about Y body axis" base_Property="_C__4odFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DACU4NFHEeuFl4uGUGunyA" description="Angular velocity about Z body axis" base_Property="_DABGwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DADjANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleMocapOdometry"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCi2UNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DChoMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DClSkNFHEeuFl4uGUGunyA" description="NED earth-fixed frame" base_Property="_DCkEdNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCmgsNFHEeuFl4uGUGunyA" description="FRD earth-fixed frame, arbitrary heading reference" base_Property="_DClSkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCnu0NFHEeuFl4uGUGunyA" description="Not aligned with the std frames of reference" base_Property="_DCmgsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCo88NFHEeuFl4uGUGunyA" description="FRD body-fixed frame" base_Property="_DCnu0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCqyINFHEeuFl4uGUGunyA" description="North position" base_Property="_DCo88tFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCsAQNFHEeuFl4uGUGunyA" description="East position" base_Property="_DCqyIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCtOYNFHEeuFl4uGUGunyA" description="Down position" base_Property="_DCsAQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCucgNFHEeuFl4uGUGunyA" description="Quaternion rotation from FRD body frame to refernce frame" base_Property="_DCtOYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCvqoNFHEeuFl4uGUGunyA" description="Quaternion rotation from odometry reference frame to navigation frame" base_Property="_DCucgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCw4wNFHEeuFl4uGUGunyA" description="North velocity" base_Property="_DCvqpdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCyG4NFHEeuFl4uGUGunyA" description="East velocity" base_Property="_DCw4wdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DCzVANFHEeuFl4uGUGunyA" description="Down velocity" base_Property="_DCyG4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DC0jINFHEeuFl4uGUGunyA" description="Angular velocity about X body axis" base_Property="_DCzVAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DC1xQNFHEeuFl4uGUGunyA" description="Angular velocity about Y body axis" base_Property="_DC0jIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DC2_YNFHEeuFl4uGUGunyA" description="Angular velocity about Z body axis" base_Property="_DC1xQdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DC4NgNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleOdometry"/>
+ <robotics.commobject:DataAttribute xmi:id="_DFW5wNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DFVroNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DFYu8NFHEeuFl4uGUGunyA" description="body angular rates in NED frame" base_Property="_DFXg0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DFZ9ENFHEeuFl4uGUGunyA" description="body angular rates in NED frame" base_Property="_DFYu8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DFakINFHEeuFl4uGUGunyA" description="body angular rates in NED frame" base_Property="_DFZ9EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DFbyQNFHEeuFl4uGUGunyA" description="Normalized thrust command in body NED frame [-1,1]" base_Property="_DFbLMNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DFljQNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleRatesSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIHS0NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DIGEsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIIg8NFHEeuFl4uGUGunyA" description="No region of interest" base_Property="_DIHS0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIJvENFHEeuFl4uGUGunyA" description="Point toward next MISSION with optional offset" base_Property="_DIIg8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIK9MNFHEeuFl4uGUGunyA" description="Point toward given MISSION" base_Property="_DIJvEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIMLUNFHEeuFl4uGUGunyA" description="Point toward fixed location" base_Property="_DIK9MdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DINZcNFHEeuFl4uGUGunyA" description="Point toward target" base_Property="_DIMLUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIOnkNFHEeuFl4uGUGunyA" description="ROI mode (see above)" base_Property="_DINZc9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIP1sNFHEeuFl4uGUGunyA" description="Latitude to point to" base_Property="_DIPOoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIRD0NFHEeuFl4uGUGunyA" description="Longitude to point to" base_Property="_DIQcwNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DISR8NFHEeuFl4uGUGunyA" description="Altitude to point to" base_Property="_DIRq4NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DITgENFHEeuFl4uGUGunyA" description="angle offset in rad" base_Property="_DISR8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIUuMNFHEeuFl4uGUGunyA" description="angle offset in rad" base_Property="_DITgEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DIV8UNFHEeuFl4uGUGunyA" description="angle offset in rad" base_Property="_DIUuMdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DIXKcNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleRoi"/>
+ <robotics.commobject:DataAttribute xmi:id="_DKzacNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DKyMUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK1PoNFHEeuFl4uGUGunyA" description="(1 << 0)" base_Property="_DK0BjdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK2dwNFHEeuFl4uGUGunyA" description="(1 << 1)" base_Property="_DK1PodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK3r4NFHEeuFl4uGUGunyA" description="(1 << 2)" base_Property="_DK2dwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK46ANFHEeuFl4uGUGunyA" description="(1 << 3)" base_Property="_DK3r4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK6vMNFHEeuFl4uGUGunyA" description="(1 << 4)" base_Property="_DK46AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK79UNFHEeuFl4uGUGunyA" description="Manual mode" base_Property="_DK6vNdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK9LcNFHEeuFl4uGUGunyA" description="Altitude control mode" base_Property="_DK79UdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK-ZkNFHEeuFl4uGUGunyA" description="Position control mode" base_Property="_DK9LcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DK_nsNFHEeuFl4uGUGunyA" description="Auto mission mode" base_Property="_DK_AoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLA10NFHEeuFl4uGUGunyA" description="Auto loiter mode" base_Property="_DK_nsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLCD8NFHEeuFl4uGUGunyA" description="Auto return to launch mode" base_Property="_DLA10dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLDSENFHEeuFl4uGUGunyA" description="Auto land on engine failure" base_Property="_DLCD8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLEgMNFHEeuFl4uGUGunyA" description="Auto land on gps failure (e.g. open loop loiter down)" base_Property="_DLDSEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLFuUNFHEeuFl4uGUGunyA" description="Acro mode" base_Property="_DLEgMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLG8cNFHEeuFl4uGUGunyA" description="Free slot" base_Property="_DLFuUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLIKkNFHEeuFl4uGUGunyA" description="Descend mode (no position control)" base_Property="_DLG8cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLJYsNFHEeuFl4uGUGunyA" description="Termination mode" base_Property="_DLIKkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLKm0NFHEeuFl4uGUGunyA" description="Stabilized mode" base_Property="_DLJYs9FHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLL08NFHEeuFl4uGUGunyA" description="Free slot" base_Property="_DLKm0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLNDENFHEeuFl4uGUGunyA" description="Takeoff" base_Property="_DLL08dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLORMNFHEeuFl4uGUGunyA" description="Land" base_Property="_DLNDEdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLPfUNFHEeuFl4uGUGunyA" description="Auto Follow" base_Property="_DLORMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLQtcNFHEeuFl4uGUGunyA" description="Precision land with landing target" base_Property="_DLPfUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLR7kNFHEeuFl4uGUGunyA" description="Orbit in a circle" base_Property="_DLQtcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLTwwNFHEeuFl4uGUGunyA" description="set navigation state machine to specified value" base_Property="_DLSiqdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLU-4NFHEeuFl4uGUGunyA" description="time when current nav_state activated" base_Property="_DLTwwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLVl8NFHEeuFl4uGUGunyA" description="current arming state" base_Property="_DLU-4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLW0ENFHEeuFl4uGUGunyA" description="current hil state" base_Property="_DLWNANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLYCMNFHEeuFl4uGUGunyA" description="true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)" base_Property="_DLW0EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLZQUNFHEeuFl4uGUGunyA" description="time when failsafe was activated" base_Property="_DLYCMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLaecNFHEeuFl4uGUGunyA" description="system type, contains mavlink MAV_TYPE" base_Property="_DLZQUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLbskNFHEeuFl4uGUGunyA" description="system id, contains MAVLink's system ID field" base_Property="_DLaecdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLc6sNFHEeuFl4uGUGunyA" description="subsystem / component id, contains MAVLink's component ID field" base_Property="_DLbskdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLeI0NFHEeuFl4uGUGunyA" description="Type of vehicle (fixed-wing, rotary wing, ground)" base_Property="_DLc6sdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLfW8NFHEeuFl4uGUGunyA" description="True if the system is VTOL capable" base_Property="_DLeI0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLf-ANFHEeuFl4uGUGunyA" description="True if the system performs a 90° pitch down rotation during transition from MC to FW" base_Property="_DLfW8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLhMINFHEeuFl4uGUGunyA" description="True if VTOL should stabilize attitude for fw in manual mode" base_Property="_DLglENFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLiaQNFHEeuFl4uGUGunyA" description="True if VTOL is doing a transition" base_Property="_DLhMIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLjoYNFHEeuFl4uGUGunyA" description="True if VTOL is doing a transition from MC to FW" base_Property="_DLiaQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLk2gNFHEeuFl4uGUGunyA" description="true if RC reception lost" base_Property="_DLjoYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLmEoNFHEeuFl4uGUGunyA" description="set to 1 to disable the RC input, 2 to enable manual control to RC in mapping." base_Property="_DLk2gdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLnSwNFHEeuFl4uGUGunyA" description="datalink to GCS lost" base_Property="_DLmEodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLog4NFHEeuFl4uGUGunyA" description="counts unique data link lost events" base_Property="_DLnSwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLpvANFHEeuFl4uGUGunyA" description="Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost" base_Property="_DLog4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLq9INFHEeuFl4uGUGunyA" description="Set to true if an engine failure is detected" base_Property="_DLpvAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLrkMNFHEeuFl4uGUGunyA" description="Set to true if mission could not continue/finish" base_Property="_DLq9IdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLsyUNFHEeuFl4uGUGunyA" description="Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]" base_Property="_DLsLQNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLvOkNFHEeuFl4uGUGunyA" description="Arming timestamp (microseconds)" base_Property="_DLungNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DLxDwNFHEeuFl4uGUGunyA" description="Takeoff timestamp (microseconds)" base_Property="_DLv1oNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DLyR4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOSzUNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DORlMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOUogNFHEeuFl4uGUGunyA" description="true if the hotplug sensor search is over" base_Property="_DOTaYtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOV2oNFHEeuFl4uGUGunyA" description="set to true by the commander app if the quality of the local position estimate is good enough to use for navigation" base_Property="_DOUohtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOXEwNFHEeuFl4uGUGunyA" description="set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation" base_Property="_DOV2odFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOYS4NFHEeuFl4uGUGunyA" description="set to true by the commander app if the quality of the global position estimate is good enough to use for navigation" base_Property="_DOXEwdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOZhANFHEeuFl4uGUGunyA" description="indicates a valid home position (a valid home position is not always a valid launch)" base_Property="_DOYS4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOavINFHEeuFl4uGUGunyA" description="set if input power is valid" base_Property="_DOZhAdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOb9QNFHEeuFl4uGUGunyA" description="set if battery is available and not low" base_Property="_DOavIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOdycNFHEeuFl4uGUGunyA" description="set to true if one or more ESCs reporting esc_status are offline" base_Property="_DOckUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOfAkNFHEeuFl4uGUGunyA" description="set to true if one or more ESCs reporting esc_status has a failure" base_Property="_DOdycdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOgOsNFHEeuFl4uGUGunyA" description="set to true when the position valid checks have been disabled" base_Property="_DOfAltFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOhc0NFHEeuFl4uGUGunyA" description="set to true if for VTOLs arming in fixed-wing mode should be allowed" base_Property="_DOgOsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOiq8NFHEeuFl4uGUGunyA" description="set if RC input should be ignored temporarily" base_Property="_DOhc1NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOj5ENFHEeuFl4uGUGunyA" description="set if RC calibration is valid" base_Property="_DOiq8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOlHMNFHEeuFl4uGUGunyA" description="Set to true if vtol transition failed" base_Property="_DOj5EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOmVUNFHEeuFl4uGUGunyA" description="status of the USB power supply" base_Property="_DOlHMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOnjcNFHEeuFl4uGUGunyA" description="set to true if the SD card was detected" base_Property="_DOmVUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOoxkNFHEeuFl4uGUGunyA" description="Set to true if avoidance system is enabled via COM_OBS_AVOID parameter" base_Property="_DOnjcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DOp_sNFHEeuFl4uGUGunyA" description="Status of the obstacle avoidance system" base_Property="_DOoxkdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DOqmwNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleStatusFlags"/>
+ <robotics.commobject:DataAttribute xmi:id="_DRKhINFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DRJTANFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DRLvQNFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_DRLIMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DRNkcNFHEeuFl4uGUGunyA" description="thrust setpoint along X, Y, Z body axis (in N)" base_Property="_DRMWUNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DRZKoNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleThrustSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_DT2BsNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DT0zkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DT3P0NFHEeuFl4uGUGunyA" description="timestamp of the data sample on which this message is based (microseconds)" base_Property="_DT2BsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DT4d8NFHEeuFl4uGUGunyA" description="torque setpoint about X, Y, Z body axis (in N.m)" base_Property="_DT3P0dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DUDdENFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleTorqueSetpoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_DWklkNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DWjXcNFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DWxZ4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleTrajectoryBezier"/>
+ <robotics.commobject:DataAttribute xmi:id="_DZTwgNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DZSiYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DZU-oNFHEeuFl4uGUGunyA" description="Type from MAV_TRAJECTORY_REPRESENTATION enum." base_Property="_DZUXktFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DZhL4NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleTrajectoryWaypoint"/>
+ <robotics.commobject:DataAttribute xmi:id="_DcEJkNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DcC7cNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DcFXsNFHEeuFl4uGUGunyA" description="Type from MAV_TRAJECTORY_REPRESENTATION enum." base_Property="_DcEJk9FHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DcSMANFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleTrajectoryWaypointDesired"/>
+ <robotics.commobject:DataAttribute xmi:id="_DeyGYNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Dew4QNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DezUgNFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_DeyGYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_De0ioNFHEeuFl4uGUGunyA" description="Quaternion rotation from the FRD body frame to the NED earth frame" base_Property="_DezUgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_De1wwNFHEeuFl4uGUGunyA" description="Amount by which quaternion has changed during last reset" base_Property="_De1JsNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_De3l8NFHEeuFl4uGUGunyA" description="Quaternion reset counter" base_Property="_De2X0NFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DfBW8NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleVisionAttitude"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dhe1ENFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Dhdm8NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhgqQNFHEeuFl4uGUGunyA" description="NED earth-fixed frame" base_Property="_DhfcMNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhjGgNFHEeuFl4uGUGunyA" description="FRD earth-fixed frame, arbitrary heading reference" base_Property="_DhhRUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhkUoNFHEeuFl4uGUGunyA" description="Not aligned with the std frames of reference" base_Property="_DhjGgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhliwNFHEeuFl4uGUGunyA" description="FRD body-fixed frame" base_Property="_DhkUodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dhmw4NFHEeuFl4uGUGunyA" description="North position" base_Property="_DhliwtFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dhn_ANFHEeuFl4uGUGunyA" description="East position" base_Property="_Dhmw4dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhpNINFHEeuFl4uGUGunyA" description="Down position" base_Property="_Dhn_AdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhqbQNFHEeuFl4uGUGunyA" description="Quaternion rotation from FRD body frame to refernce frame" base_Property="_DhpNIdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhsQcNFHEeuFl4uGUGunyA" description="Quaternion rotation from odometry reference frame to navigation frame" base_Property="_DhqbQdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhtekNFHEeuFl4uGUGunyA" description="North velocity" base_Property="_Dhs3gNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhussNFHEeuFl4uGUGunyA" description="East velocity" base_Property="_DhuFoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dhv60NFHEeuFl4uGUGunyA" description="Down velocity" base_Property="_DhussdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhxI8NFHEeuFl4uGUGunyA" description="Angular velocity about X body axis" base_Property="_Dhv60dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhyXENFHEeuFl4uGUGunyA" description="Angular velocity about Y body axis" base_Property="_DhxI8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DhzlMNFHEeuFl4uGUGunyA" description="Angular velocity about Z body axis" base_Property="_DhyXEdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Dh0zUNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VehicleVisualOdometry"/>
+ <robotics.commobject:DataAttribute xmi:id="_DkSRcNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DkRqYNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DkTfkNFHEeuFl4uGUGunyA" description="true: vtol vehicle is in rotating wing mode" base_Property="_DkSRcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DkUtsNFHEeuFl4uGUGunyA" description="True if VTOL is doing a transition from MC to FW" base_Property="_DkUGoNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DkV70NFHEeuFl4uGUGunyA" description="vtol in transition failsafe mode" base_Property="_DkUtsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DkXJ8NFHEeuFl4uGUGunyA" description="In fw mode stabilize attitude even if in manual mode" base_Property="_DkV70dFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_Dkfs0NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_VtolVehicleStatus"/>
+ <robotics.commobject:DataAttribute xmi:id="_DnL0cNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DnKmUNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DnNCkNFHEeuFl4uGUGunyA" description="The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation" base_Property="_DnL0cdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DnOQsNFHEeuFl4uGUGunyA" description="Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse" base_Property="_DnNCkdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DnPe0NFHEeuFl4uGUGunyA" description="Number of pulses per revolution for each wheel" base_Property="_DnOQsdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DnZ24NFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_WheelEncoders"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp0RsNFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_DpzDkNFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp1f0NFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_Dp0RsdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp2t8NFHEeuFl4uGUGunyA" description="Wind component in north / X direction (m/sec)" base_Property="_Dp1f0dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp38ENFHEeuFl4uGUGunyA" description="Wind component in east / Y direction (m/sec)" base_Property="_Dp2t8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp5KMNFHEeuFl4uGUGunyA" description="Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_Dp38EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp6YUNFHEeuFl4uGUGunyA" description="Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated" base_Property="_Dp5KMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp7mcNFHEeuFl4uGUGunyA" description="True airspeed innovation" base_Property="_Dp6YUdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp80kNFHEeuFl4uGUGunyA" description="True airspeed innovation variance" base_Property="_Dp7mcdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp-CsNFHEeuFl4uGUGunyA" description="Sideslip measurement innovation" base_Property="_Dp80kdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dp_Q0NFHEeuFl4uGUGunyA" description="Sideslip measurement innovation variance" base_Property="_Dp-CsdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DqCUINFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_Wind"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dscu8NFHEeuFl4uGUGunyA" description="time since system start (microseconds)" base_Property="_Dsbg0NFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dsd9ENFHEeuFl4uGUGunyA" description="the timestamp of the raw data (microseconds)" base_Property="_Dscu8dFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DsfLMNFHEeuFl4uGUGunyA" description="composite yaw from GSF (rad)" base_Property="_Dsd9EdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DshAYNFHEeuFl4uGUGunyA" description="composite yaw variance from GSF (rad^2)" base_Property="_DsfLMdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DsiOgNFHEeuFl4uGUGunyA" description="yaw estimate for each model in the filter bank (rad)" base_Property="_DshAYdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DsjcoNFHEeuFl4uGUGunyA" description="North velocity innovation for each model in the filter bank (m/s)" base_Property="_DsiOgdFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_DskqwNFHEeuFl4uGUGunyA" description="East velocity innovation for each model in the filter bank (m/s)" base_Property="_DsjcodFHEeuFl4uGUGunyA"/>
+ <robotics.commobject:DataAttribute xmi:id="_Dsl44NFHEeuFl4uGUGunyA" description="weighting for each model in the filter bank" base_Property="_DskqwdFHEeuFl4uGUGunyA"/>
+ <robotics.services:ServiceDefinition xmi:id="_DsqxYNFHEeuFl4uGUGunyA" base_Interface="svcdefs/P_YawEstimatorStatus"/>
+</xmi:XMI>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.properties b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.properties
new file mode 100644
index 0000000..5ae1621
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.properties
@@ -0,0 +1,11 @@
+# Copyright (c) CEA LIST.
+#
+# This program and the accompanying materials are made
+# available under the terms of the Eclipse Public License 2.0
+# which is available at https://www.eclipse.org/legal/epl-2.0/
+#
+# SPDX-License-Identifier: EPL-2.0
+#
+
+pluginName=Papyrus for Robotics: library with additional ROS2 service definitions (Incubation)
+providerName=Eclipse Modeling Project
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.xml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.xml
new file mode 100644
index 0000000..b2ce970
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/plugin.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.2"?>
+<plugin>
+ <extension point="org.eclipse.emf.ecore.uri_mapping">
+ <mapping source="pathmap://ROS2_LIB_EXTRA/" target="platform:/plugin/org.eclipse.papyrus.robotics.ros2.library.extra/models/">
+ </mapping>
+ </extension>
+</plugin>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/pom.xml b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/pom.xml
new file mode 100644
index 0000000..01e8c6b
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.library.extra/pom.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+ <modelVersion>4.0.0</modelVersion>
+ <parent>
+ <groupId>org.eclipse.papyrus.robotics</groupId>
+ <artifactId>org.eclipse.papyrus.robotics.ros2</artifactId>
+ <version>0.8.0-SNAPSHOT</version>
+ </parent>
+ <artifactId>org.eclipse.papyrus.robotics.ros2.library.extra</artifactId>
+ <packaging>eclipse-plugin</packaging>
+ <description>Papyrus for Robotics: additional ROS2 libraries for Mavros/geometry and PX4</description>
+</project>
diff --git a/plugins/ros2/pom.xml b/plugins/ros2/pom.xml
index 7225127..5fb07cb 100644
--- a/plugins/ros2/pom.xml
+++ b/plugins/ros2/pom.xml
@@ -21,6 +21,7 @@
<module>org.eclipse.papyrus.robotics.ros2.codegen.tests</module>
<module>org.eclipse.papyrus.robotics.ros2.preferences</module>
<module>org.eclipse.papyrus.robotics.ros2.library.base</module>
+ <module>org.eclipse.papyrus.robotics.ros2.library.extra</module>
<module>org.eclipse.papyrus.robotics.ros2.library.nav2</module>
<module>org.eclipse.papyrus.robotics.ros2.reverse</module>
</modules>
diff --git a/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml b/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
index 1a97a4c..2d1e602 100644
--- a/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
+++ b/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
@@ -55,6 +55,13 @@
unpack="false"/>
<plugin
+ id="org.eclipse.papyrus.robotics.ros2.library.extra"
+ download-size="0"
+ install-size="0"
+ version="0.0.0"
+ unpack="false"/>
+
+ <plugin
id="org.eclipse.papyrus.robotics.ros2.preferences"
download-size="0"
install-size="0"
