Fresh import of the PX4 firmware sources.

79 files changed, 35078 insertions, 0 deletions

diff --git a/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc b/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc
new file mode 100644
index 000000000..e984f512a
--- /dev/null
+++ b/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc
@@ -0,0 +1,5431 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+
+#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
+#include "pixhawk.pb.h"
+
+#include <algorithm>
+
+#include <google/protobuf/stubs/once.h>
+#include <google/protobuf/io/coded_stream.h>
+#include <google/protobuf/wire_format_lite_inl.h>
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/reflection_ops.h>
+#include <google/protobuf/wire_format.h>
+// @@protoc_insertion_point(includes)
+
+namespace px {
+
+namespace {
+
+const ::google::protobuf::Descriptor* HeaderInfo_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  HeaderInfo_reflection_ = NULL;
+const ::google::protobuf::Descriptor* GLOverlay_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  GLOverlay_reflection_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* Obstacle_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Obstacle_reflection_ = NULL;
+const ::google::protobuf::Descriptor* ObstacleList_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  ObstacleList_reflection_ = NULL;
+const ::google::protobuf::Descriptor* ObstacleMap_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  ObstacleMap_reflection_ = NULL;
+const ::google::protobuf::Descriptor* Path_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Path_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZI_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZI_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZI_PointXYZI_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZRGB_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZRGB_PointXYZRGB_reflection_ = NULL;
+const ::google::protobuf::Descriptor* RGBDImage_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  RGBDImage_reflection_ = NULL;
+const ::google::protobuf::Descriptor* Waypoint_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Waypoint_reflection_ = NULL;
+
+}  // namespace
+
+
+void protobuf_AssignDesc_pixhawk_2eproto() {
+  protobuf_AddDesc_pixhawk_2eproto();
+  const ::google::protobuf::FileDescriptor* file =
+    ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
+      "pixhawk.proto");
+  GOOGLE_CHECK(file != NULL);
+  HeaderInfo_descriptor_ = file->message_type(0);
+  static const int HeaderInfo_offsets_[3] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_sysid_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_compid_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, timestamp_),
+  };
+  HeaderInfo_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      HeaderInfo_descriptor_,
+      HeaderInfo::default_instance_,
+      HeaderInfo_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(HeaderInfo));
+  GLOverlay_descriptor_ = file->message_type(1);
+  static const int GLOverlay_offsets_[7] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, name_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, coordinateframetype_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, data_),
+  };
+  GLOverlay_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      GLOverlay_descriptor_,
+      GLOverlay::default_instance_,
+      GLOverlay_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(GLOverlay));
+  GLOverlay_CoordinateFrameType_descriptor_ = GLOverlay_descriptor_->enum_type(0);
+  GLOverlay_Mode_descriptor_ = GLOverlay_descriptor_->enum_type(1);
+  GLOverlay_Identifier_descriptor_ = GLOverlay_descriptor_->enum_type(2);
+  Obstacle_descriptor_ = file->message_type(2);
+  static const int Obstacle_offsets_[6] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, length_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, width_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, height_),
+  };
+  Obstacle_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Obstacle_descriptor_,
+      Obstacle::default_instance_,
+      Obstacle_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Obstacle));
+  ObstacleList_descriptor_ = file->message_type(3);
+  static const int ObstacleList_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, obstacles_),
+  };
+  ObstacleList_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      ObstacleList_descriptor_,
+      ObstacleList::default_instance_,
+      ObstacleList_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(ObstacleList));
+  ObstacleMap_descriptor_ = file->message_type(4);
+  static const int ObstacleMap_offsets_[10] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, type_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, resolution_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, rows_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, cols_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapr0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapc0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayr0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayc0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, data_),
+  };
+  ObstacleMap_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      ObstacleMap_descriptor_,
+      ObstacleMap::default_instance_,
+      ObstacleMap_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(ObstacleMap));
+  Path_descriptor_ = file->message_type(5);
+  static const int Path_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, waypoints_),
+  };
+  Path_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Path_descriptor_,
+      Path::default_instance_,
+      Path_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Path));
+  PointCloudXYZI_descriptor_ = file->message_type(6);
+  static const int PointCloudXYZI_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, points_),
+  };
+  PointCloudXYZI_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZI_descriptor_,
+      PointCloudXYZI::default_instance_,
+      PointCloudXYZI_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZI));
+  PointCloudXYZI_PointXYZI_descriptor_ = PointCloudXYZI_descriptor_->nested_type(0);
+  static const int PointCloudXYZI_PointXYZI_offsets_[4] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, intensity_),
+  };
+  PointCloudXYZI_PointXYZI_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZI_PointXYZI_descriptor_,
+      PointCloudXYZI_PointXYZI::default_instance_,
+      PointCloudXYZI_PointXYZI_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZI_PointXYZI));
+  PointCloudXYZRGB_descriptor_ = file->message_type(7);
+  static const int PointCloudXYZRGB_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, points_),
+  };
+  PointCloudXYZRGB_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZRGB_descriptor_,
+      PointCloudXYZRGB::default_instance_,
+      PointCloudXYZRGB_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZRGB));
+  PointCloudXYZRGB_PointXYZRGB_descriptor_ = PointCloudXYZRGB_descriptor_->nested_type(0);
+  static const int PointCloudXYZRGB_PointXYZRGB_offsets_[4] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, rgb_),
+  };
+  PointCloudXYZRGB_PointXYZRGB_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZRGB_PointXYZRGB_descriptor_,
+      PointCloudXYZRGB_PointXYZRGB::default_instance_,
+      PointCloudXYZRGB_PointXYZRGB_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZRGB_PointXYZRGB));
+  RGBDImage_descriptor_ = file->message_type(8);
+  static const int RGBDImage_offsets_[21] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, cols_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, rows_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_config_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_type_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, roll_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, pitch_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, yaw_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lon_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lat_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, alt_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_matrix_),
+  };
+  RGBDImage_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      RGBDImage_descriptor_,
+      RGBDImage::default_instance_,
+      RGBDImage_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(RGBDImage));
+  Waypoint_descriptor_ = file->message_type(9);
+  static const int Waypoint_offsets_[6] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, roll_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, pitch_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, yaw_),
+  };
+  Waypoint_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Waypoint_descriptor_,
+      Waypoint::default_instance_,
+      Waypoint_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Waypoint));
+}
+
+namespace {
+
+GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_);
+inline void protobuf_AssignDescriptorsOnce() {
+  ::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_,
+                 &protobuf_AssignDesc_pixhawk_2eproto);
+}
+
+void protobuf_RegisterTypes(const ::std::string&) {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    HeaderInfo_descriptor_, &HeaderInfo::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    GLOverlay_descriptor_, &GLOverlay::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Obstacle_descriptor_, &Obstacle::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    ObstacleList_descriptor_, &ObstacleList::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    ObstacleMap_descriptor_, &ObstacleMap::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Path_descriptor_, &Path::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZI_descriptor_, &PointCloudXYZI::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZI_PointXYZI_descriptor_, &PointCloudXYZI_PointXYZI::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZRGB_descriptor_, &PointCloudXYZRGB::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZRGB_PointXYZRGB_descriptor_, &PointCloudXYZRGB_PointXYZRGB::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    RGBDImage_descriptor_, &RGBDImage::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Waypoint_descriptor_, &Waypoint::default_instance());
+}
+
+}  // namespace
+
+void protobuf_ShutdownFile_pixhawk_2eproto() {
+  delete HeaderInfo::default_instance_;
+  delete HeaderInfo_reflection_;
+  delete GLOverlay::default_instance_;
+  delete GLOverlay_reflection_;
+  delete Obstacle::default_instance_;
+  delete Obstacle_reflection_;
+  delete ObstacleList::default_instance_;
+  delete ObstacleList_reflection_;
+  delete ObstacleMap::default_instance_;
+  delete ObstacleMap_reflection_;
+  delete Path::default_instance_;
+  delete Path_reflection_;
+  delete PointCloudXYZI::default_instance_;
+  delete PointCloudXYZI_reflection_;
+  delete PointCloudXYZI_PointXYZI::default_instance_;
+  delete PointCloudXYZI_PointXYZI_reflection_;
+  delete PointCloudXYZRGB::default_instance_;
+  delete PointCloudXYZRGB_reflection_;
+  delete PointCloudXYZRGB_PointXYZRGB::default_instance_;
+  delete PointCloudXYZRGB_PointXYZRGB_reflection_;
+  delete RGBDImage::default_instance_;
+  delete RGBDImage_reflection_;
+  delete Waypoint::default_instance_;
+  delete Waypoint_reflection_;
+}
+
+void protobuf_AddDesc_pixhawk_2eproto() {
+  static bool already_here = false;
+  if (already_here) return;
+  already_here = true;
+  GOOGLE_PROTOBUF_VERIFY_VERSION;
+
+  ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
+    "\n\rpixhawk.proto\022\002px\"L\n\nHeaderInfo\022\024\n\014sou"
+    "rce_sysid\030\001 \002(\005\022\025\n\rsource_compid\030\002 \002(\005\022\021"
+    "\n\ttimestamp\030\003 \002(\001\"\377\004\n\tGLOverlay\022\036\n\006heade"
+    "r\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004name\030\002 \001(\t\022>\n"
+    "\023coordinateFrameType\030\003 \001(\0162!.px.GLOverla"
+    "y.CoordinateFrameType\022\020\n\010origin_x\030\004 \001(\001\022"
+    "\020\n\010origin_y\030\005 \001(\001\022\020\n\010origin_z\030\006 \001(\001\022\014\n\004d"
+    "ata\030\007 \001(\014\",\n\023CoordinateFrameType\022\n\n\006GLOB"
+    "AL\020\000\022\t\n\005LOCAL\020\001\"\333\001\n\004Mode\022\n\n\006POINTS\020\000\022\t\n\005"
+    "LINES\020\001\022\016\n\nLINE_STRIP\020\002\022\r\n\tLINE_LOOP\020\003\022\r"
+    "\n\tTRIANGLES\020\004\022\022\n\016TRIANGLE_STRIP\020\005\022\020\n\014TRI"
+    "ANGLE_FAN\020\006\022\t\n\005QUADS\020\007\022\016\n\nQUAD_STRIP\020\010\022\013"
+    "\n\007POLYGON\020\t\022\020\n\014SOLID_CIRCLE\020\n\022\017\n\013WIRE_CI"
+    "RCLE\020\013\022\016\n\nSOLID_CUBE\020\014\022\r\n\tWIRE_CUBE\020\r\"\263\001"
+    "\n\nIdentifier\022\007\n\003END\020\016\022\014\n\010VERTEX2F\020\017\022\014\n\010V"
+    "ERTEX3F\020\020\022\013\n\007ROTATEF\020\021\022\016\n\nTRANSLATEF\020\022\022\n"
+    "\n\006SCALEF\020\023\022\017\n\013PUSH_MATRIX\020\024\022\016\n\nPOP_MATRI"
+    "X\020\025\022\013\n\007COLOR3F\020\026\022\013\n\007COLOR4F\020\027\022\r\n\tPOINTSI"
+    "ZE\020\030\022\r\n\tLINEWIDTH\020\031\"Z\n\010Obstacle\022\t\n\001x\030\001 \001"
+    "(\002\022\t\n\001y\030\002 \001(\002\022\t\n\001z\030\003 \001(\002\022\016\n\006length\030\004 \001(\002"
+    "\022\r\n\005width\030\005 \001(\002\022\016\n\006height\030\006 \001(\002\"O\n\014Obsta"
+    "cleList\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo\022"
+    "\037\n\tobstacles\030\002 \003(\0132\014.px.Obstacle\"\271\001\n\013Obs"
+    "tacleMap\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo"
+    "\022\014\n\004type\030\002 \002(\005\022\022\n\nresolution\030\003 \001(\002\022\014\n\004ro"
+    "ws\030\004 \001(\005\022\014\n\004cols\030\005 \001(\005\022\r\n\005mapR0\030\006 \001(\005\022\r\n"
+    "\005mapC0\030\007 \001(\005\022\017\n\007arrayR0\030\010 \001(\005\022\017\n\007arrayC0"
+    "\030\t \001(\005\022\014\n\004data\030\n \001(\014\"G\n\004Path\022\036\n\006header\030\001"
+    " \002(\0132\016.px.HeaderInfo\022\037\n\twaypoints\030\002 \003(\0132"
+    "\014.px.Waypoint\"\237\001\n\016PointCloudXYZI\022\036\n\006head"
+    "er\030\001 \002(\0132\016.px.HeaderInfo\022,\n\006points\030\002 \003(\013"
+    "2\034.px.PointCloudXYZI.PointXYZI\032\?\n\tPointX"
+    "YZI\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z\030\003 \002(\002\022\021\n\t"
+    "intensity\030\004 \002(\002\"\241\001\n\020PointCloudXYZRGB\022\036\n\006"
+    "header\030\001 \002(\0132\016.px.HeaderInfo\0220\n\006points\030\002"
+    " \003(\0132 .px.PointCloudXYZRGB.PointXYZRGB\032;"
+    "\n\013PointXYZRGB\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z"
+    "\030\003 \002(\002\022\013\n\003rgb\030\004 \002(\002\"\365\002\n\tRGBDImage\022\036\n\006hea"
+    "der\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004cols\030\002 \002(\r\022"
+    "\014\n\004rows\030\003 \002(\r\022\r\n\005step1\030\004 \002(\r\022\r\n\005type1\030\005 "
+    "\002(\r\022\022\n\nimageData1\030\006 \002(\014\022\r\n\005step2\030\007 \002(\r\022\r"
+    "\n\005type2\030\010 \002(\r\022\022\n\nimageData2\030\t \002(\014\022\025\n\rcam"
+    "era_config\030\n \001(\r\022\023\n\013camera_type\030\013 \001(\r\022\014\n"
+    "\004roll\030\014 \001(\002\022\r\n\005pitch\030\r \001(\002\022\013\n\003yaw\030\016 \001(\002\022"
+    "\013\n\003lon\030\017 \001(\002\022\013\n\003lat\030\020 \001(\002\022\013\n\003alt\030\021 \001(\002\022\020"
+    "\n\010ground_x\030\022 \001(\002\022\020\n\010ground_y\030\023 \001(\002\022\020\n\010gr"
+    "ound_z\030\024 \001(\002\022\025\n\rcamera_matrix\030\025 \003(\002\"U\n\010W"
+    "aypoint\022\t\n\001x\030\001 \002(\001\022\t\n\001y\030\002 \002(\001\022\t\n\001z\030\003 \001(\001"
+    "\022\014\n\004roll\030\004 \001(\001\022\r\n\005pitch\030\005 \001(\001\022\013\n\003yaw\030\006 \001"
+    "(\001", 1962);
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
+    "pixhawk.proto", &protobuf_RegisterTypes);
+  HeaderInfo::default_instance_ = new HeaderInfo();
+  GLOverlay::default_instance_ = new GLOverlay();
+  Obstacle::default_instance_ = new Obstacle();
+  ObstacleList::default_instance_ = new ObstacleList();
+  ObstacleMap::default_instance_ = new ObstacleMap();
+  Path::default_instance_ = new Path();
+  PointCloudXYZI::default_instance_ = new PointCloudXYZI();
+  PointCloudXYZI_PointXYZI::default_instance_ = new PointCloudXYZI_PointXYZI();
+  PointCloudXYZRGB::default_instance_ = new PointCloudXYZRGB();
+  PointCloudXYZRGB_PointXYZRGB::default_instance_ = new PointCloudXYZRGB_PointXYZRGB();
+  RGBDImage::default_instance_ = new RGBDImage();
+  Waypoint::default_instance_ = new Waypoint();
+  HeaderInfo::default_instance_->InitAsDefaultInstance();
+  GLOverlay::default_instance_->InitAsDefaultInstance();
+  Obstacle::default_instance_->InitAsDefaultInstance();
+  ObstacleList::default_instance_->InitAsDefaultInstance();
+  ObstacleMap::default_instance_->InitAsDefaultInstance();
+  Path::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZI::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZI_PointXYZI::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZRGB::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZRGB_PointXYZRGB::default_instance_->InitAsDefaultInstance();
+  RGBDImage::default_instance_->InitAsDefaultInstance();
+  Waypoint::default_instance_->InitAsDefaultInstance();
+  ::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_pixhawk_2eproto);
+}
+
+// Force AddDescriptors() to be called at static initialization time.
+struct StaticDescriptorInitializer_pixhawk_2eproto {
+  StaticDescriptorInitializer_pixhawk_2eproto() {
+    protobuf_AddDesc_pixhawk_2eproto();
+  }
+} static_descriptor_initializer_pixhawk_2eproto_;
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int HeaderInfo::kSourceSysidFieldNumber;
+const int HeaderInfo::kSourceCompidFieldNumber;
+const int HeaderInfo::kTimestampFieldNumber;
+#endif  // !_MSC_VER
+
+HeaderInfo::HeaderInfo()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void HeaderInfo::InitAsDefaultInstance() {
+}
+
+HeaderInfo::HeaderInfo(const HeaderInfo& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void HeaderInfo::SharedCtor() {
+  _cached_size_ = 0;
+  source_sysid_ = 0;
+  source_compid_ = 0;
+  timestamp_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+HeaderInfo::~HeaderInfo() {
+  SharedDtor();
+}
+
+void HeaderInfo::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void HeaderInfo::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* HeaderInfo::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return HeaderInfo_descriptor_;
+}
+
+const HeaderInfo& HeaderInfo::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+HeaderInfo* HeaderInfo::default_instance_ = NULL;
+
+HeaderInfo* HeaderInfo::New() const {
+  return new HeaderInfo;
+}
+
+void HeaderInfo::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    source_sysid_ = 0;
+    source_compid_ = 0;
+    timestamp_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool HeaderInfo::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required int32 source_sysid = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &source_sysid_)));
+          set_has_source_sysid();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_source_compid;
+        break;
+      }
+      
+      // required int32 source_compid = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_source_compid:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &source_compid_)));
+          set_has_source_compid();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(25)) goto parse_timestamp;
+        break;
+      }
+      
+      // required double timestamp = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_timestamp:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &timestamp_)));
+          set_has_timestamp();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void HeaderInfo::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required int32 source_sysid = 1;
+  if (has_source_sysid()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->source_sysid(), output);
+  }
+  
+  // required int32 source_compid = 2;
+  if (has_source_compid()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->source_compid(), output);
+  }
+  
+  // required double timestamp = 3;
+  if (has_timestamp()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->timestamp(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* HeaderInfo::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required int32 source_sysid = 1;
+  if (has_source_sysid()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->source_sysid(), target);
+  }
+  
+  // required int32 source_compid = 2;
+  if (has_source_compid()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->source_compid(), target);
+  }
+  
+  // required double timestamp = 3;
+  if (has_timestamp()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->timestamp(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int HeaderInfo::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required int32 source_sysid = 1;
+    if (has_source_sysid()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->source_sysid());
+    }
+    
+    // required int32 source_compid = 2;
+    if (has_source_compid()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->source_compid());
+    }
+    
+    // required double timestamp = 3;
+    if (has_timestamp()) {
+      total_size += 1 + 8;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void HeaderInfo::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const HeaderInfo* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const HeaderInfo*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void HeaderInfo::MergeFrom(const HeaderInfo& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_source_sysid()) {
+      set_source_sysid(from.source_sysid());
+    }
+    if (from.has_source_compid()) {
+      set_source_compid(from.source_compid());
+    }
+    if (from.has_timestamp()) {
+      set_timestamp(from.timestamp());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void HeaderInfo::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void HeaderInfo::CopyFrom(const HeaderInfo& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool HeaderInfo::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000007) != 0x00000007) return false;
+  
+  return true;
+}
+
+void HeaderInfo::Swap(HeaderInfo* other) {
+  if (other != this) {
+    std::swap(source_sysid_, other->source_sysid_);
+    std::swap(source_compid_, other->source_compid_);
+    std::swap(timestamp_, other->timestamp_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata HeaderInfo::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = HeaderInfo_descriptor_;
+  metadata.reflection = HeaderInfo_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_CoordinateFrameType_descriptor_;
+}
+bool GLOverlay_CoordinateFrameType_IsValid(int value) {
+  switch(value) {
+    case 0:
+    case 1:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_CoordinateFrameType GLOverlay::GLOBAL;
+const GLOverlay_CoordinateFrameType GLOverlay::LOCAL;
+const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MIN;
+const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MAX;
+const int GLOverlay::CoordinateFrameType_ARRAYSIZE;
+#endif  // _MSC_VER
+const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_Mode_descriptor_;
+}
+bool GLOverlay_Mode_IsValid(int value) {
+  switch(value) {
+    case 0:
+    case 1:
+    case 2:
+    case 3:
+    case 4:
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+    case 9:
+    case 10:
+    case 11:
+    case 12:
+    case 13:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_Mode GLOverlay::POINTS;
+const GLOverlay_Mode GLOverlay::LINES;
+const GLOverlay_Mode GLOverlay::LINE_STRIP;
+const GLOverlay_Mode GLOverlay::LINE_LOOP;
+const GLOverlay_Mode GLOverlay::TRIANGLES;
+const GLOverlay_Mode GLOverlay::TRIANGLE_STRIP;
+const GLOverlay_Mode GLOverlay::TRIANGLE_FAN;
+const GLOverlay_Mode GLOverlay::QUADS;
+const GLOverlay_Mode GLOverlay::QUAD_STRIP;
+const GLOverlay_Mode GLOverlay::POLYGON;
+const GLOverlay_Mode GLOverlay::SOLID_CIRCLE;
+const GLOverlay_Mode GLOverlay::WIRE_CIRCLE;
+const GLOverlay_Mode GLOverlay::SOLID_CUBE;
+const GLOverlay_Mode GLOverlay::WIRE_CUBE;
+const GLOverlay_Mode GLOverlay::Mode_MIN;
+const GLOverlay_Mode GLOverlay::Mode_MAX;
+const int GLOverlay::Mode_ARRAYSIZE;
+#endif  // _MSC_VER
+const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_Identifier_descriptor_;
+}
+bool GLOverlay_Identifier_IsValid(int value) {
+  switch(value) {
+    case 14:
+    case 15:
+    case 16:
+    case 17:
+    case 18:
+    case 19:
+    case 20:
+    case 21:
+    case 22:
+    case 23:
+    case 24:
+    case 25:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_Identifier GLOverlay::END;
+const GLOverlay_Identifier GLOverlay::VERTEX2F;
+const GLOverlay_Identifier GLOverlay::VERTEX3F;
+const GLOverlay_Identifier GLOverlay::ROTATEF;
+const GLOverlay_Identifier GLOverlay::TRANSLATEF;
+const GLOverlay_Identifier GLOverlay::SCALEF;
+const GLOverlay_Identifier GLOverlay::PUSH_MATRIX;
+const GLOverlay_Identifier GLOverlay::POP_MATRIX;
+const GLOverlay_Identifier GLOverlay::COLOR3F;
+const GLOverlay_Identifier GLOverlay::COLOR4F;
+const GLOverlay_Identifier GLOverlay::POINTSIZE;
+const GLOverlay_Identifier GLOverlay::LINEWIDTH;
+const GLOverlay_Identifier GLOverlay::Identifier_MIN;
+const GLOverlay_Identifier GLOverlay::Identifier_MAX;
+const int GLOverlay::Identifier_ARRAYSIZE;
+#endif  // _MSC_VER
+#ifndef _MSC_VER
+const int GLOverlay::kHeaderFieldNumber;
+const int GLOverlay::kNameFieldNumber;
+const int GLOverlay::kCoordinateFrameTypeFieldNumber;
+const int GLOverlay::kOriginXFieldNumber;
+const int GLOverlay::kOriginYFieldNumber;
+const int GLOverlay::kOriginZFieldNumber;
+const int GLOverlay::kDataFieldNumber;
+#endif  // !_MSC_VER
+
+GLOverlay::GLOverlay()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void GLOverlay::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+GLOverlay::GLOverlay(const GLOverlay& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void GLOverlay::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  coordinateframetype_ = 0;
+  origin_x_ = 0;
+  origin_y_ = 0;
+  origin_z_ = 0;
+  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+GLOverlay::~GLOverlay() {
+  SharedDtor();
+}
+
+void GLOverlay::SharedDtor() {
+  if (name_ != &::google::protobuf::internal::kEmptyString) {
+    delete name_;
+  }
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    delete data_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void GLOverlay::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* GLOverlay::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_descriptor_;
+}
+
+const GLOverlay& GLOverlay::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+GLOverlay* GLOverlay::default_instance_ = NULL;
+
+GLOverlay* GLOverlay::New() const {
+  return new GLOverlay;
+}
+
+void GLOverlay::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    if (has_name()) {
+      if (name_ != &::google::protobuf::internal::kEmptyString) {
+        name_->clear();
+      }
+    }
+    coordinateframetype_ = 0;
+    origin_x_ = 0;
+    origin_y_ = 0;
+    origin_z_ = 0;
+    if (has_data()) {
+      if (data_ != &::google::protobuf::internal::kEmptyString) {
+        data_->clear();
+      }
+    }
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool GLOverlay::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_name;
+        break;
+      }
+      
+      // optional string name = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_name:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
+                input, this->mutable_name()));
+          ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+            this->name().data(), this->name().length(),
+            ::google::protobuf::internal::WireFormat::PARSE);
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(24)) goto parse_coordinateFrameType;
+        break;
+      }
+      
+      // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_coordinateFrameType:
+          int value;
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>(
+                 input, &value)));
+          if (::px::GLOverlay_CoordinateFrameType_IsValid(value)) {
+            set_coordinateframetype(static_cast< ::px::GLOverlay_CoordinateFrameType >(value));
+          } else {
+            mutable_unknown_fields()->AddVarint(3, value);
+          }
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(33)) goto parse_origin_x;
+        break;
+      }
+      
+      // optional double origin_x = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_x:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_x_)));
+          set_has_origin_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(41)) goto parse_origin_y;
+        break;
+      }
+      
+      // optional double origin_y = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_y_)));
+          set_has_origin_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(49)) goto parse_origin_z;
+        break;
+      }
+      
+      // optional double origin_z = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_z_)));
+          set_has_origin_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(58)) goto parse_data;
+        break;
+      }
+      
+      // optional bytes data = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_data:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_data()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void GLOverlay::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // optional string name = 2;
+  if (has_name()) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+      this->name().data(), this->name().length(),
+      ::google::protobuf::internal::WireFormat::SERIALIZE);
+    ::google::protobuf::internal::WireFormatLite::WriteString(
+      2, this->name(), output);
+  }
+  
+  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+  if (has_coordinateframetype()) {
+    ::google::protobuf::internal::WireFormatLite::WriteEnum(
+      3, this->coordinateframetype(), output);
+  }
+  
+  // optional double origin_x = 4;
+  if (has_origin_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->origin_x(), output);
+  }
+  
+  // optional double origin_y = 5;
+  if (has_origin_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->origin_y(), output);
+  }
+  
+  // optional double origin_z = 6;
+  if (has_origin_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->origin_z(), output);
+  }
+  
+  // optional bytes data = 7;
+  if (has_data()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      7, this->data(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* GLOverlay::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // optional string name = 2;
+  if (has_name()) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+      this->name().data(), this->name().length(),
+      ::google::protobuf::internal::WireFormat::SERIALIZE);
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
+        2, this->name(), target);
+  }
+  
+  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+  if (has_coordinateframetype()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray(
+      3, this->coordinateframetype(), target);
+  }
+  
+  // optional double origin_x = 4;
+  if (has_origin_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->origin_x(), target);
+  }
+  
+  // optional double origin_y = 5;
+  if (has_origin_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->origin_y(), target);
+  }
+  
+  // optional double origin_z = 6;
+  if (has_origin_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->origin_z(), target);
+  }
+  
+  // optional bytes data = 7;
+  if (has_data()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        7, this->data(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int GLOverlay::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // optional string name = 2;
+    if (has_name()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::StringSize(
+          this->name());
+    }
+    
+    // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+    if (has_coordinateframetype()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::EnumSize(this->coordinateframetype());
+    }
+    
+    // optional double origin_x = 4;
+    if (has_origin_x()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double origin_y = 5;
+    if (has_origin_y()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double origin_z = 6;
+    if (has_origin_z()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional bytes data = 7;
+    if (has_data()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->data());
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void GLOverlay::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const GLOverlay* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const GLOverlay*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void GLOverlay::MergeFrom(const GLOverlay& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_name()) {
+      set_name(from.name());
+    }
+    if (from.has_coordinateframetype()) {
+      set_coordinateframetype(from.coordinateframetype());
+    }
+    if (from.has_origin_x()) {
+      set_origin_x(from.origin_x());
+    }
+    if (from.has_origin_y()) {
+      set_origin_y(from.origin_y());
+    }
+    if (from.has_origin_z()) {
+      set_origin_z(from.origin_z());
+    }
+    if (from.has_data()) {
+      set_data(from.data());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void GLOverlay::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void GLOverlay::CopyFrom(const GLOverlay& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GLOverlay::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void GLOverlay::Swap(GLOverlay* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(name_, other->name_);
+    std::swap(coordinateframetype_, other->coordinateframetype_);
+    std::swap(origin_x_, other->origin_x_);
+    std::swap(origin_y_, other->origin_y_);
+    std::swap(origin_z_, other->origin_z_);
+    std::swap(data_, other->data_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata GLOverlay::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = GLOverlay_descriptor_;
+  metadata.reflection = GLOverlay_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Obstacle::kXFieldNumber;
+const int Obstacle::kYFieldNumber;
+const int Obstacle::kZFieldNumber;
+const int Obstacle::kLengthFieldNumber;
+const int Obstacle::kWidthFieldNumber;
+const int Obstacle::kHeightFieldNumber;
+#endif  // !_MSC_VER
+
+Obstacle::Obstacle()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Obstacle::InitAsDefaultInstance() {
+}
+
+Obstacle::Obstacle(const Obstacle& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Obstacle::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  length_ = 0;
+  width_ = 0;
+  height_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Obstacle::~Obstacle() {
+  SharedDtor();
+}
+
+void Obstacle::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void Obstacle::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Obstacle::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Obstacle_descriptor_;
+}
+
+const Obstacle& Obstacle::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Obstacle* Obstacle::default_instance_ = NULL;
+
+Obstacle* Obstacle::New() const {
+  return new Obstacle;
+}
+
+void Obstacle::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    length_ = 0;
+    width_ = 0;
+    height_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Obstacle::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // optional float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // optional float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // optional float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_length;
+        break;
+      }
+      
+      // optional float length = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_length:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &length_)));
+          set_has_length();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(45)) goto parse_width;
+        break;
+      }
+      
+      // optional float width = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_width:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &width_)));
+          set_has_width();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(53)) goto parse_height;
+        break;
+      }
+      
+      // optional float height = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_height:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &height_)));
+          set_has_height();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Obstacle::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // optional float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // optional float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // optional float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // optional float length = 4;
+  if (has_length()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->length(), output);
+  }
+  
+  // optional float width = 5;
+  if (has_width()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->width(), output);
+  }
+  
+  // optional float height = 6;
+  if (has_height()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->height(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Obstacle::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // optional float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // optional float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // optional float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // optional float length = 4;
+  if (has_length()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->length(), target);
+  }
+  
+  // optional float width = 5;
+  if (has_width()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->width(), target);
+  }
+  
+  // optional float height = 6;
+  if (has_height()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->height(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Obstacle::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // optional float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float length = 4;
+    if (has_length()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float width = 5;
+    if (has_width()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float height = 6;
+    if (has_height()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Obstacle::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Obstacle* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Obstacle*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Obstacle::MergeFrom(const Obstacle& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_length()) {
+      set_length(from.length());
+    }
+    if (from.has_width()) {
+      set_width(from.width());
+    }
+    if (from.has_height()) {
+      set_height(from.height());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Obstacle::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Obstacle::CopyFrom(const Obstacle& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Obstacle::IsInitialized() const {
+  
+  return true;
+}
+
+void Obstacle::Swap(Obstacle* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(length_, other->length_);
+    std::swap(width_, other->width_);
+    std::swap(height_, other->height_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Obstacle::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Obstacle_descriptor_;
+  metadata.reflection = Obstacle_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int ObstacleList::kHeaderFieldNumber;
+const int ObstacleList::kObstaclesFieldNumber;
+#endif  // !_MSC_VER
+
+ObstacleList::ObstacleList()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void ObstacleList::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+ObstacleList::ObstacleList(const ObstacleList& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void ObstacleList::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+ObstacleList::~ObstacleList() {
+  SharedDtor();
+}
+
+void ObstacleList::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void ObstacleList::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* ObstacleList::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return ObstacleList_descriptor_;
+}
+
+const ObstacleList& ObstacleList::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+ObstacleList* ObstacleList::default_instance_ = NULL;
+
+ObstacleList* ObstacleList::New() const {
+  return new ObstacleList;
+}
+
+void ObstacleList::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  obstacles_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool ObstacleList::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_obstacles;
+        break;
+      }
+      
+      // repeated .px.Obstacle obstacles = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_obstacles:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_obstacles()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_obstacles;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void ObstacleList::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.Obstacle obstacles = 2;
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->obstacles(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* ObstacleList::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.Obstacle obstacles = 2;
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->obstacles(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int ObstacleList::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.Obstacle obstacles = 2;
+  total_size += 1 * this->obstacles_size();
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->obstacles(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void ObstacleList::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const ObstacleList* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleList*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void ObstacleList::MergeFrom(const ObstacleList& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  obstacles_.MergeFrom(from.obstacles_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void ObstacleList::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void ObstacleList::CopyFrom(const ObstacleList& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ObstacleList::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void ObstacleList::Swap(ObstacleList* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    obstacles_.Swap(&other->obstacles_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata ObstacleList::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = ObstacleList_descriptor_;
+  metadata.reflection = ObstacleList_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int ObstacleMap::kHeaderFieldNumber;
+const int ObstacleMap::kTypeFieldNumber;
+const int ObstacleMap::kResolutionFieldNumber;
+const int ObstacleMap::kRowsFieldNumber;
+const int ObstacleMap::kColsFieldNumber;
+const int ObstacleMap::kMapR0FieldNumber;
+const int ObstacleMap::kMapC0FieldNumber;
+const int ObstacleMap::kArrayR0FieldNumber;
+const int ObstacleMap::kArrayC0FieldNumber;
+const int ObstacleMap::kDataFieldNumber;
+#endif  // !_MSC_VER
+
+ObstacleMap::ObstacleMap()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void ObstacleMap::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+ObstacleMap::ObstacleMap(const ObstacleMap& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void ObstacleMap::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  type_ = 0;
+  resolution_ = 0;
+  rows_ = 0;
+  cols_ = 0;
+  mapr0_ = 0;
+  mapc0_ = 0;
+  arrayr0_ = 0;
+  arrayc0_ = 0;
+  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+ObstacleMap::~ObstacleMap() {
+  SharedDtor();
+}
+
+void ObstacleMap::SharedDtor() {
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    delete data_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void ObstacleMap::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* ObstacleMap::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return ObstacleMap_descriptor_;
+}
+
+const ObstacleMap& ObstacleMap::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+ObstacleMap* ObstacleMap::default_instance_ = NULL;
+
+ObstacleMap* ObstacleMap::New() const {
+  return new ObstacleMap;
+}
+
+void ObstacleMap::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    type_ = 0;
+    resolution_ = 0;
+    rows_ = 0;
+    cols_ = 0;
+    mapr0_ = 0;
+    mapc0_ = 0;
+    arrayr0_ = 0;
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    arrayc0_ = 0;
+    if (has_data()) {
+      if (data_ != &::google::protobuf::internal::kEmptyString) {
+        data_->clear();
+      }
+    }
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool ObstacleMap::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_type;
+        break;
+      }
+      
+      // required int32 type = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &type_)));
+          set_has_type();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_resolution;
+        break;
+      }
+      
+      // optional float resolution = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_resolution:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &resolution_)));
+          set_has_resolution();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(32)) goto parse_rows;
+        break;
+      }
+      
+      // optional int32 rows = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_rows:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &rows_)));
+          set_has_rows();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(40)) goto parse_cols;
+        break;
+      }
+      
+      // optional int32 cols = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_cols:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &cols_)));
+          set_has_cols();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(48)) goto parse_mapR0;
+        break;
+      }
+      
+      // optional int32 mapR0 = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_mapR0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &mapr0_)));
+          set_has_mapr0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(56)) goto parse_mapC0;
+        break;
+      }
+      
+      // optional int32 mapC0 = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_mapC0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &mapc0_)));
+          set_has_mapc0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(64)) goto parse_arrayR0;
+        break;
+      }
+      
+      // optional int32 arrayR0 = 8;
+      case 8: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_arrayR0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &arrayr0_)));
+          set_has_arrayr0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(72)) goto parse_arrayC0;
+        break;
+      }
+      
+      // optional int32 arrayC0 = 9;
+      case 9: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_arrayC0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &arrayc0_)));
+          set_has_arrayc0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(82)) goto parse_data;
+        break;
+      }
+      
+      // optional bytes data = 10;
+      case 10: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_data:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_data()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void ObstacleMap::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // required int32 type = 2;
+  if (has_type()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->type(), output);
+  }
+  
+  // optional float resolution = 3;
+  if (has_resolution()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->resolution(), output);
+  }
+  
+  // optional int32 rows = 4;
+  if (has_rows()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(4, this->rows(), output);
+  }
+  
+  // optional int32 cols = 5;
+  if (has_cols()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->cols(), output);
+  }
+  
+  // optional int32 mapR0 = 6;
+  if (has_mapr0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mapr0(), output);
+  }
+  
+  // optional int32 mapC0 = 7;
+  if (has_mapc0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mapc0(), output);
+  }
+  
+  // optional int32 arrayR0 = 8;
+  if (has_arrayr0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->arrayr0(), output);
+  }
+  
+  // optional int32 arrayC0 = 9;
+  if (has_arrayc0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->arrayc0(), output);
+  }
+  
+  // optional bytes data = 10;
+  if (has_data()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      10, this->data(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* ObstacleMap::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // required int32 type = 2;
+  if (has_type()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->type(), target);
+  }
+  
+  // optional float resolution = 3;
+  if (has_resolution()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->resolution(), target);
+  }
+  
+  // optional int32 rows = 4;
+  if (has_rows()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(4, this->rows(), target);
+  }
+  
+  // optional int32 cols = 5;
+  if (has_cols()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->cols(), target);
+  }
+  
+  // optional int32 mapR0 = 6;
+  if (has_mapr0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mapr0(), target);
+  }
+  
+  // optional int32 mapC0 = 7;
+  if (has_mapc0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mapc0(), target);
+  }
+  
+  // optional int32 arrayR0 = 8;
+  if (has_arrayr0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->arrayr0(), target);
+  }
+  
+  // optional int32 arrayC0 = 9;
+  if (has_arrayc0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->arrayc0(), target);
+  }
+  
+  // optional bytes data = 10;
+  if (has_data()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        10, this->data(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int ObstacleMap::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // required int32 type = 2;
+    if (has_type()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->type());
+    }
+    
+    // optional float resolution = 3;
+    if (has_resolution()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional int32 rows = 4;
+    if (has_rows()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->rows());
+    }
+    
+    // optional int32 cols = 5;
+    if (has_cols()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->cols());
+    }
+    
+    // optional int32 mapR0 = 6;
+    if (has_mapr0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->mapr0());
+    }
+    
+    // optional int32 mapC0 = 7;
+    if (has_mapc0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->mapc0());
+    }
+    
+    // optional int32 arrayR0 = 8;
+    if (has_arrayr0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->arrayr0());
+    }
+    
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    // optional int32 arrayC0 = 9;
+    if (has_arrayc0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->arrayc0());
+    }
+    
+    // optional bytes data = 10;
+    if (has_data()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->data());
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void ObstacleMap::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const ObstacleMap* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleMap*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void ObstacleMap::MergeFrom(const ObstacleMap& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_type()) {
+      set_type(from.type());
+    }
+    if (from.has_resolution()) {
+      set_resolution(from.resolution());
+    }
+    if (from.has_rows()) {
+      set_rows(from.rows());
+    }
+    if (from.has_cols()) {
+      set_cols(from.cols());
+    }
+    if (from.has_mapr0()) {
+      set_mapr0(from.mapr0());
+    }
+    if (from.has_mapc0()) {
+      set_mapc0(from.mapc0());
+    }
+    if (from.has_arrayr0()) {
+      set_arrayr0(from.arrayr0());
+    }
+  }
+  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (from.has_arrayc0()) {
+      set_arrayc0(from.arrayc0());
+    }
+    if (from.has_data()) {
+      set_data(from.data());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void ObstacleMap::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void ObstacleMap::CopyFrom(const ObstacleMap& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ObstacleMap::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void ObstacleMap::Swap(ObstacleMap* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(type_, other->type_);
+    std::swap(resolution_, other->resolution_);
+    std::swap(rows_, other->rows_);
+    std::swap(cols_, other->cols_);
+    std::swap(mapr0_, other->mapr0_);
+    std::swap(mapc0_, other->mapc0_);
+    std::swap(arrayr0_, other->arrayr0_);
+    std::swap(arrayc0_, other->arrayc0_);
+    std::swap(data_, other->data_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata ObstacleMap::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = ObstacleMap_descriptor_;
+  metadata.reflection = ObstacleMap_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Path::kHeaderFieldNumber;
+const int Path::kWaypointsFieldNumber;
+#endif  // !_MSC_VER
+
+Path::Path()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Path::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+Path::Path(const Path& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Path::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Path::~Path() {
+  SharedDtor();
+}
+
+void Path::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void Path::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Path::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Path_descriptor_;
+}
+
+const Path& Path::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Path* Path::default_instance_ = NULL;
+
+Path* Path::New() const {
+  return new Path;
+}
+
+void Path::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  waypoints_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Path::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_waypoints;
+        break;
+      }
+      
+      // repeated .px.Waypoint waypoints = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_waypoints:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_waypoints()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_waypoints;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Path::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.Waypoint waypoints = 2;
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->waypoints(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Path::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.Waypoint waypoints = 2;
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->waypoints(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Path::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.Waypoint waypoints = 2;
+  total_size += 1 * this->waypoints_size();
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->waypoints(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Path::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Path* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Path*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Path::MergeFrom(const Path& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  waypoints_.MergeFrom(from.waypoints_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Path::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Path::CopyFrom(const Path& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Path::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < waypoints_size(); i++) {
+    if (!this->waypoints(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void Path::Swap(Path* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    waypoints_.Swap(&other->waypoints_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Path::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Path_descriptor_;
+  metadata.reflection = Path_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int PointCloudXYZI_PointXYZI::kXFieldNumber;
+const int PointCloudXYZI_PointXYZI::kYFieldNumber;
+const int PointCloudXYZI_PointXYZI::kZFieldNumber;
+const int PointCloudXYZI_PointXYZI::kIntensityFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZI_PointXYZI::InitAsDefaultInstance() {
+}
+
+PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI_PointXYZI::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  intensity_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZI_PointXYZI::~PointCloudXYZI_PointXYZI() {
+  SharedDtor();
+}
+
+void PointCloudXYZI_PointXYZI::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void PointCloudXYZI_PointXYZI::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZI_PointXYZI_descriptor_;
+}
+
+const PointCloudXYZI_PointXYZI& PointCloudXYZI_PointXYZI::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::default_instance_ = NULL;
+
+PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::New() const {
+  return new PointCloudXYZI_PointXYZI;
+}
+
+void PointCloudXYZI_PointXYZI::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    intensity_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZI_PointXYZI::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // required float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // required float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_intensity;
+        break;
+      }
+      
+      // required float intensity = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_intensity:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &intensity_)));
+          set_has_intensity();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZI_PointXYZI::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // required float intensity = 4;
+  if (has_intensity()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->intensity(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZI_PointXYZI::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // required float intensity = 4;
+  if (has_intensity()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->intensity(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZI_PointXYZI::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float intensity = 4;
+    if (has_intensity()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZI_PointXYZI::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZI_PointXYZI* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI_PointXYZI*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZI_PointXYZI::MergeFrom(const PointCloudXYZI_PointXYZI& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_intensity()) {
+      set_intensity(from.intensity());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZI_PointXYZI::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI_PointXYZI::CopyFrom(const PointCloudXYZI_PointXYZI& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZI_PointXYZI::IsInitialized() const {
+  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
+  
+  return true;
+}
+
+void PointCloudXYZI_PointXYZI::Swap(PointCloudXYZI_PointXYZI* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(intensity_, other->intensity_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZI_PointXYZI::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZI_PointXYZI_descriptor_;
+  metadata.reflection = PointCloudXYZI_PointXYZI_reflection_;
+  return metadata;
+}
+
+
+// -------------------------------------------------------------------
+
+#ifndef _MSC_VER
+const int PointCloudXYZI::kHeaderFieldNumber;
+const int PointCloudXYZI::kPointsFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZI::PointCloudXYZI()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZI::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+PointCloudXYZI::PointCloudXYZI(const PointCloudXYZI& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZI::~PointCloudXYZI() {
+  SharedDtor();
+}
+
+void PointCloudXYZI::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void PointCloudXYZI::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZI::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZI_descriptor_;
+}
+
+const PointCloudXYZI& PointCloudXYZI::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZI* PointCloudXYZI::default_instance_ = NULL;
+
+PointCloudXYZI* PointCloudXYZI::New() const {
+  return new PointCloudXYZI;
+}
+
+void PointCloudXYZI::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  points_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZI::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        break;
+      }
+      
+      // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_points:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_points()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZI::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->points(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZI::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->points(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZI::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  total_size += 1 * this->points_size();
+  for (int i = 0; i < this->points_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->points(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZI::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZI* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZI::MergeFrom(const PointCloudXYZI& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  points_.MergeFrom(from.points_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZI::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI::CopyFrom(const PointCloudXYZI& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZI::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < points_size(); i++) {
+    if (!this->points(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void PointCloudXYZI::Swap(PointCloudXYZI* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    points_.Swap(&other->points_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZI::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZI_descriptor_;
+  metadata.reflection = PointCloudXYZI_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int PointCloudXYZRGB_PointXYZRGB::kXFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kYFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kZFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kRgbFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZRGB_PointXYZRGB::InitAsDefaultInstance() {
+}
+
+PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  rgb_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZRGB_PointXYZRGB::~PointCloudXYZRGB_PointXYZRGB() {
+  SharedDtor();
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZRGB_PointXYZRGB_descriptor_;
+}
+
+const PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB_PointXYZRGB::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::default_instance_ = NULL;
+
+PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::New() const {
+  return new PointCloudXYZRGB_PointXYZRGB;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    rgb_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZRGB_PointXYZRGB::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // required float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // required float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_rgb;
+        break;
+      }
+      
+      // required float rgb = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_rgb:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &rgb_)));
+          set_has_rgb();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // required float rgb = 4;
+  if (has_rgb()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->rgb(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // required float rgb = 4;
+  if (has_rgb()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->rgb(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZRGB_PointXYZRGB::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float rgb = 4;
+    if (has_rgb()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZRGB_PointXYZRGB* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB_PointXYZRGB*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_rgb()) {
+      set_rgb(from.rgb());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZRGB_PointXYZRGB::IsInitialized() const {
+  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
+  
+  return true;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::Swap(PointCloudXYZRGB_PointXYZRGB* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(rgb_, other->rgb_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZRGB_PointXYZRGB::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZRGB_PointXYZRGB_descriptor_;
+  metadata.reflection = PointCloudXYZRGB_PointXYZRGB_reflection_;
+  return metadata;
+}
+
+
+// -------------------------------------------------------------------
+
+#ifndef _MSC_VER
+const int PointCloudXYZRGB::kHeaderFieldNumber;
+const int PointCloudXYZRGB::kPointsFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZRGB::PointCloudXYZRGB()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZRGB::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+PointCloudXYZRGB::PointCloudXYZRGB(const PointCloudXYZRGB& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZRGB::~PointCloudXYZRGB() {
+  SharedDtor();
+}
+
+void PointCloudXYZRGB::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void PointCloudXYZRGB::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZRGB::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZRGB_descriptor_;
+}
+
+const PointCloudXYZRGB& PointCloudXYZRGB::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZRGB* PointCloudXYZRGB::default_instance_ = NULL;
+
+PointCloudXYZRGB* PointCloudXYZRGB::New() const {
+  return new PointCloudXYZRGB;
+}
+
+void PointCloudXYZRGB::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  points_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZRGB::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        break;
+      }
+      
+      // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_points:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_points()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZRGB::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->points(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZRGB::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->points(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZRGB::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  total_size += 1 * this->points_size();
+  for (int i = 0; i < this->points_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->points(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZRGB* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZRGB::MergeFrom(const PointCloudXYZRGB& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  points_.MergeFrom(from.points_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB::CopyFrom(const PointCloudXYZRGB& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZRGB::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < points_size(); i++) {
+    if (!this->points(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void PointCloudXYZRGB::Swap(PointCloudXYZRGB* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    points_.Swap(&other->points_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZRGB::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZRGB_descriptor_;
+  metadata.reflection = PointCloudXYZRGB_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int RGBDImage::kHeaderFieldNumber;
+const int RGBDImage::kColsFieldNumber;
+const int RGBDImage::kRowsFieldNumber;
+const int RGBDImage::kStep1FieldNumber;
+const int RGBDImage::kType1FieldNumber;
+const int RGBDImage::kImageData1FieldNumber;
+const int RGBDImage::kStep2FieldNumber;
+const int RGBDImage::kType2FieldNumber;
+const int RGBDImage::kImageData2FieldNumber;
+const int RGBDImage::kCameraConfigFieldNumber;
+const int RGBDImage::kCameraTypeFieldNumber;
+const int RGBDImage::kRollFieldNumber;
+const int RGBDImage::kPitchFieldNumber;
+const int RGBDImage::kYawFieldNumber;
+const int RGBDImage::kLonFieldNumber;
+const int RGBDImage::kLatFieldNumber;
+const int RGBDImage::kAltFieldNumber;
+const int RGBDImage::kGroundXFieldNumber;
+const int RGBDImage::kGroundYFieldNumber;
+const int RGBDImage::kGroundZFieldNumber;
+const int RGBDImage::kCameraMatrixFieldNumber;
+#endif  // !_MSC_VER
+
+RGBDImage::RGBDImage()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void RGBDImage::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+RGBDImage::RGBDImage(const RGBDImage& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void RGBDImage::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  cols_ = 0u;
+  rows_ = 0u;
+  step1_ = 0u;
+  type1_ = 0u;
+  imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  step2_ = 0u;
+  type2_ = 0u;
+  imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  camera_config_ = 0u;
+  camera_type_ = 0u;
+  roll_ = 0;
+  pitch_ = 0;
+  yaw_ = 0;
+  lon_ = 0;
+  lat_ = 0;
+  alt_ = 0;
+  ground_x_ = 0;
+  ground_y_ = 0;
+  ground_z_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+RGBDImage::~RGBDImage() {
+  SharedDtor();
+}
+
+void RGBDImage::SharedDtor() {
+  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
+    delete imagedata1_;
+  }
+  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
+    delete imagedata2_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void RGBDImage::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* RGBDImage::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return RGBDImage_descriptor_;
+}
+
+const RGBDImage& RGBDImage::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+RGBDImage* RGBDImage::default_instance_ = NULL;
+
+RGBDImage* RGBDImage::New() const {
+  return new RGBDImage;
+}
+
+void RGBDImage::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    cols_ = 0u;
+    rows_ = 0u;
+    step1_ = 0u;
+    type1_ = 0u;
+    if (has_imagedata1()) {
+      if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
+        imagedata1_->clear();
+      }
+    }
+    step2_ = 0u;
+    type2_ = 0u;
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (has_imagedata2()) {
+      if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
+        imagedata2_->clear();
+      }
+    }
+    camera_config_ = 0u;
+    camera_type_ = 0u;
+    roll_ = 0;
+    pitch_ = 0;
+    yaw_ = 0;
+    lon_ = 0;
+    lat_ = 0;
+  }
+  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    alt_ = 0;
+    ground_x_ = 0;
+    ground_y_ = 0;
+    ground_z_ = 0;
+  }
+  camera_matrix_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool RGBDImage::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_cols;
+        break;
+      }
+      
+      // required uint32 cols = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_cols:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &cols_)));
+          set_has_cols();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(24)) goto parse_rows;
+        break;
+      }
+      
+      // required uint32 rows = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_rows:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &rows_)));
+          set_has_rows();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(32)) goto parse_step1;
+        break;
+      }
+      
+      // required uint32 step1 = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_step1:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &step1_)));
+          set_has_step1();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(40)) goto parse_type1;
+        break;
+      }
+      
+      // required uint32 type1 = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type1:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &type1_)));
+          set_has_type1();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(50)) goto parse_imageData1;
+        break;
+      }
+      
+      // required bytes imageData1 = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_imageData1:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_imagedata1()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(56)) goto parse_step2;
+        break;
+      }
+      
+      // required uint32 step2 = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_step2:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &step2_)));
+          set_has_step2();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(64)) goto parse_type2;
+        break;
+      }
+      
+      // required uint32 type2 = 8;
+      case 8: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type2:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &type2_)));
+          set_has_type2();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(74)) goto parse_imageData2;
+        break;
+      }
+      
+      // required bytes imageData2 = 9;
+      case 9: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_imageData2:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_imagedata2()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(80)) goto parse_camera_config;
+        break;
+      }
+      
+      // optional uint32 camera_config = 10;
+      case 10: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_camera_config:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &camera_config_)));
+          set_has_camera_config();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(88)) goto parse_camera_type;
+        break;
+      }
+      
+      // optional uint32 camera_type = 11;
+      case 11: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_camera_type:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &camera_type_)));
+          set_has_camera_type();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(101)) goto parse_roll;
+        break;
+      }
+      
+      // optional float roll = 12;
+      case 12: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_roll:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &roll_)));
+          set_has_roll();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(109)) goto parse_pitch;
+        break;
+      }
+      
+      // optional float pitch = 13;
+      case 13: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_pitch:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &pitch_)));
+          set_has_pitch();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(117)) goto parse_yaw;
+        break;
+      }
+      
+      // optional float yaw = 14;
+      case 14: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_yaw:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &yaw_)));
+          set_has_yaw();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(125)) goto parse_lon;
+        break;
+      }
+      
+      // optional float lon = 15;
+      case 15: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_lon:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &lon_)));
+          set_has_lon();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(133)) goto parse_lat;
+        break;
+      }
+      
+      // optional float lat = 16;
+      case 16: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_lat:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &lat_)));
+          set_has_lat();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(141)) goto parse_alt;
+        break;
+      }
+      
+      // optional float alt = 17;
+      case 17: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_alt:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &alt_)));
+          set_has_alt();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(149)) goto parse_ground_x;
+        break;
+      }
+      
+      // optional float ground_x = 18;
+      case 18: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_x:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_x_)));
+          set_has_ground_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(157)) goto parse_ground_y;
+        break;
+      }
+      
+      // optional float ground_y = 19;
+      case 19: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_y_)));
+          set_has_ground_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(165)) goto parse_ground_z;
+        break;
+      }
+      
+      // optional float ground_z = 20;
+      case 20: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_z_)));
+          set_has_ground_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(173)) goto parse_camera_matrix;
+        break;
+      }
+      
+      // repeated float camera_matrix = 21;
+      case 21: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_camera_matrix:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 2, 173, input, this->mutable_camera_matrix())));
+        } else if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag)
+                   == ::google::protobuf::internal::WireFormatLite::
+                      WIRETYPE_LENGTH_DELIMITED) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitiveNoInline<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, this->mutable_camera_matrix())));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(173)) goto parse_camera_matrix;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void RGBDImage::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // required uint32 cols = 2;
+  if (has_cols()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->cols(), output);
+  }
+  
+  // required uint32 rows = 3;
+  if (has_rows()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->rows(), output);
+  }
+  
+  // required uint32 step1 = 4;
+  if (has_step1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->step1(), output);
+  }
+  
+  // required uint32 type1 = 5;
+  if (has_type1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(5, this->type1(), output);
+  }
+  
+  // required bytes imageData1 = 6;
+  if (has_imagedata1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      6, this->imagedata1(), output);
+  }
+  
+  // required uint32 step2 = 7;
+  if (has_step2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->step2(), output);
+  }
+  
+  // required uint32 type2 = 8;
+  if (has_type2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(8, this->type2(), output);
+  }
+  
+  // required bytes imageData2 = 9;
+  if (has_imagedata2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      9, this->imagedata2(), output);
+  }
+  
+  // optional uint32 camera_config = 10;
+  if (has_camera_config()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(10, this->camera_config(), output);
+  }
+  
+  // optional uint32 camera_type = 11;
+  if (has_camera_type()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(11, this->camera_type(), output);
+  }
+  
+  // optional float roll = 12;
+  if (has_roll()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->roll(), output);
+  }
+  
+  // optional float pitch = 13;
+  if (has_pitch()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(13, this->pitch(), output);
+  }
+  
+  // optional float yaw = 14;
+  if (has_yaw()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(14, this->yaw(), output);
+  }
+  
+  // optional float lon = 15;
+  if (has_lon()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(15, this->lon(), output);
+  }
+  
+  // optional float lat = 16;
+  if (has_lat()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(16, this->lat(), output);
+  }
+  
+  // optional float alt = 17;
+  if (has_alt()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(17, this->alt(), output);
+  }
+  
+  // optional float ground_x = 18;
+  if (has_ground_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(18, this->ground_x(), output);
+  }
+  
+  // optional float ground_y = 19;
+  if (has_ground_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(19, this->ground_y(), output);
+  }
+  
+  // optional float ground_z = 20;
+  if (has_ground_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(20, this->ground_z(), output);
+  }
+  
+  // repeated float camera_matrix = 21;
+  for (int i = 0; i < this->camera_matrix_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(
+      21, this->camera_matrix(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* RGBDImage::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // required uint32 cols = 2;
+  if (has_cols()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->cols(), target);
+  }
+  
+  // required uint32 rows = 3;
+  if (has_rows()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->rows(), target);
+  }
+  
+  // required uint32 step1 = 4;
+  if (has_step1()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->step1(), target);
+  }
+  
+  // required uint32 type1 = 5;
+  if (has_type1()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(5, this->type1(), target);
+  }
+  
+  // required bytes imageData1 = 6;
+  if (has_imagedata1()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        6, this->imagedata1(), target);
+  }
+  
+  // required uint32 step2 = 7;
+  if (has_step2()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->step2(), target);
+  }
+  
+  // required uint32 type2 = 8;
+  if (has_type2()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(8, this->type2(), target);
+  }
+  
+  // required bytes imageData2 = 9;
+  if (has_imagedata2()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        9, this->imagedata2(), target);
+  }
+  
+  // optional uint32 camera_config = 10;
+  if (has_camera_config()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(10, this->camera_config(), target);
+  }
+  
+  // optional uint32 camera_type = 11;
+  if (has_camera_type()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(11, this->camera_type(), target);
+  }
+  
+  // optional float roll = 12;
+  if (has_roll()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->roll(), target);
+  }
+  
+  // optional float pitch = 13;
+  if (has_pitch()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(13, this->pitch(), target);
+  }
+  
+  // optional float yaw = 14;
+  if (has_yaw()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(14, this->yaw(), target);
+  }
+  
+  // optional float lon = 15;
+  if (has_lon()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(15, this->lon(), target);
+  }
+  
+  // optional float lat = 16;
+  if (has_lat()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(16, this->lat(), target);
+  }
+  
+  // optional float alt = 17;
+  if (has_alt()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(17, this->alt(), target);
+  }
+  
+  // optional float ground_x = 18;
+  if (has_ground_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(18, this->ground_x(), target);
+  }
+  
+  // optional float ground_y = 19;
+  if (has_ground_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(19, this->ground_y(), target);
+  }
+  
+  // optional float ground_z = 20;
+  if (has_ground_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(20, this->ground_z(), target);
+  }
+  
+  // repeated float camera_matrix = 21;
+  for (int i = 0; i < this->camera_matrix_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteFloatToArray(21, this->camera_matrix(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int RGBDImage::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // required uint32 cols = 2;
+    if (has_cols()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->cols());
+    }
+    
+    // required uint32 rows = 3;
+    if (has_rows()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->rows());
+    }
+    
+    // required uint32 step1 = 4;
+    if (has_step1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->step1());
+    }
+    
+    // required uint32 type1 = 5;
+    if (has_type1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->type1());
+    }
+    
+    // required bytes imageData1 = 6;
+    if (has_imagedata1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->imagedata1());
+    }
+    
+    // required uint32 step2 = 7;
+    if (has_step2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->step2());
+    }
+    
+    // required uint32 type2 = 8;
+    if (has_type2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->type2());
+    }
+    
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    // required bytes imageData2 = 9;
+    if (has_imagedata2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->imagedata2());
+    }
+    
+    // optional uint32 camera_config = 10;
+    if (has_camera_config()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->camera_config());
+    }
+    
+    // optional uint32 camera_type = 11;
+    if (has_camera_type()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->camera_type());
+    }
+    
+    // optional float roll = 12;
+    if (has_roll()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float pitch = 13;
+    if (has_pitch()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float yaw = 14;
+    if (has_yaw()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float lon = 15;
+    if (has_lon()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float lat = 16;
+    if (has_lat()) {
+      total_size += 2 + 4;
+    }
+    
+  }
+  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    // optional float alt = 17;
+    if (has_alt()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_x = 18;
+    if (has_ground_x()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_y = 19;
+    if (has_ground_y()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_z = 20;
+    if (has_ground_z()) {
+      total_size += 2 + 4;
+    }
+    
+  }
+  // repeated float camera_matrix = 21;
+  {
+    int data_size = 0;
+    data_size = 4 * this->camera_matrix_size();
+    total_size += 2 * this->camera_matrix_size() + data_size;
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void RGBDImage::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const RGBDImage* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const RGBDImage*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void RGBDImage::MergeFrom(const RGBDImage& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  camera_matrix_.MergeFrom(from.camera_matrix_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_cols()) {
+      set_cols(from.cols());
+    }
+    if (from.has_rows()) {
+      set_rows(from.rows());
+    }
+    if (from.has_step1()) {
+      set_step1(from.step1());
+    }
+    if (from.has_type1()) {
+      set_type1(from.type1());
+    }
+    if (from.has_imagedata1()) {
+      set_imagedata1(from.imagedata1());
+    }
+    if (from.has_step2()) {
+      set_step2(from.step2());
+    }
+    if (from.has_type2()) {
+      set_type2(from.type2());
+    }
+  }
+  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (from.has_imagedata2()) {
+      set_imagedata2(from.imagedata2());
+    }
+    if (from.has_camera_config()) {
+      set_camera_config(from.camera_config());
+    }
+    if (from.has_camera_type()) {
+      set_camera_type(from.camera_type());
+    }
+    if (from.has_roll()) {
+      set_roll(from.roll());
+    }
+    if (from.has_pitch()) {
+      set_pitch(from.pitch());
+    }
+    if (from.has_yaw()) {
+      set_yaw(from.yaw());
+    }
+    if (from.has_lon()) {
+      set_lon(from.lon());
+    }
+    if (from.has_lat()) {
+      set_lat(from.lat());
+    }
+  }
+  if (from._has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    if (from.has_alt()) {
+      set_alt(from.alt());
+    }
+    if (from.has_ground_x()) {
+      set_ground_x(from.ground_x());
+    }
+    if (from.has_ground_y()) {
+      set_ground_y(from.ground_y());
+    }
+    if (from.has_ground_z()) {
+      set_ground_z(from.ground_z());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void RGBDImage::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void RGBDImage::CopyFrom(const RGBDImage& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool RGBDImage::IsInitialized() const {
+  if ((_has_bits_[0] & 0x000001ff) != 0x000001ff) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void RGBDImage::Swap(RGBDImage* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(cols_, other->cols_);
+    std::swap(rows_, other->rows_);
+    std::swap(step1_, other->step1_);
+    std::swap(type1_, other->type1_);
+    std::swap(imagedata1_, other->imagedata1_);
+    std::swap(step2_, other->step2_);
+    std::swap(type2_, other->type2_);
+    std::swap(imagedata2_, other->imagedata2_);
+    std::swap(camera_config_, other->camera_config_);
+    std::swap(camera_type_, other->camera_type_);
+    std::swap(roll_, other->roll_);
+    std::swap(pitch_, other->pitch_);
+    std::swap(yaw_, other->yaw_);
+    std::swap(lon_, other->lon_);
+    std::swap(lat_, other->lat_);
+    std::swap(alt_, other->alt_);
+    std::swap(ground_x_, other->ground_x_);
+    std::swap(ground_y_, other->ground_y_);
+    std::swap(ground_z_, other->ground_z_);
+    camera_matrix_.Swap(&other->camera_matrix_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata RGBDImage::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = RGBDImage_descriptor_;
+  metadata.reflection = RGBDImage_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Waypoint::kXFieldNumber;
+const int Waypoint::kYFieldNumber;
+const int Waypoint::kZFieldNumber;
+const int Waypoint::kRollFieldNumber;
+const int Waypoint::kPitchFieldNumber;
+const int Waypoint::kYawFieldNumber;
+#endif  // !_MSC_VER
+
+Waypoint::Waypoint()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Waypoint::InitAsDefaultInstance() {
+}
+
+Waypoint::Waypoint(const Waypoint& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Waypoint::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  roll_ = 0;
+  pitch_ = 0;
+  yaw_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Waypoint::~Waypoint() {
+  SharedDtor();
+}
+
+void Waypoint::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void Waypoint::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Waypoint::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Waypoint_descriptor_;
+}
+
+const Waypoint& Waypoint::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Waypoint* Waypoint::default_instance_ = NULL;
+
+Waypoint* Waypoint::New() const {
+  return new Waypoint;
+}
+
+void Waypoint::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    roll_ = 0;
+    pitch_ = 0;
+    yaw_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Waypoint::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required double x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(17)) goto parse_y;
+        break;
+      }
+      
+      // required double y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(25)) goto parse_z;
+        break;
+      }
+      
+      // optional double z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(33)) goto parse_roll;
+        break;
+      }
+      
+      // optional double roll = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_roll:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &roll_)));
+          set_has_roll();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(41)) goto parse_pitch;
+        break;
+      }
+      
+      // optional double pitch = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_pitch:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &pitch_)));
+          set_has_pitch();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(49)) goto parse_yaw;
+        break;
+      }
+      
+      // optional double yaw = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_yaw:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &yaw_)));
+          set_has_yaw();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Waypoint::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required double x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output);
+  }
+  
+  // required double y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output);
+  }
+  
+  // optional double z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output);
+  }
+  
+  // optional double roll = 4;
+  if (has_roll()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->roll(), output);
+  }
+  
+  // optional double pitch = 5;
+  if (has_pitch()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->pitch(), output);
+  }
+  
+  // optional double yaw = 6;
+  if (has_yaw()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->yaw(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Waypoint::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required double x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target);
+  }
+  
+  // required double y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target);
+  }
+  
+  // optional double z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target);
+  }
+  
+  // optional double roll = 4;
+  if (has_roll()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->roll(), target);
+  }
+  
+  // optional double pitch = 5;
+  if (has_pitch()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->pitch(), target);
+  }
+  
+  // optional double yaw = 6;
+  if (has_yaw()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->yaw(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Waypoint::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required double x = 1;
+    if (has_x()) {
+      total_size += 1 + 8;
+    }
+    
+    // required double y = 2;
+    if (has_y()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double z = 3;
+    if (has_z()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double roll = 4;
+    if (has_roll()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double pitch = 5;
+    if (has_pitch()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double yaw = 6;
+    if (has_yaw()) {
+      total_size += 1 + 8;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Waypoint::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Waypoint* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Waypoint*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Waypoint::MergeFrom(const Waypoint& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_roll()) {
+      set_roll(from.roll());
+    }
+    if (from.has_pitch()) {
+      set_pitch(from.pitch());
+    }
+    if (from.has_yaw()) {
+      set_yaw(from.yaw());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Waypoint::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Waypoint::CopyFrom(const Waypoint& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Waypoint::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
+  
+  return true;
+}
+
+void Waypoint::Swap(Waypoint* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(roll_, other->roll_);
+    std::swap(pitch_, other->pitch_);
+    std::swap(yaw_, other->yaw_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Waypoint::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Waypoint_descriptor_;
+  metadata.reflection = Waypoint_reflection_;
+  return metadata;
+}
+
+
+// @@protoc_insertion_point(namespace_scope)
+
+}  // namespace px
+
+// @@protoc_insertion_point(global_scope)
diff --git a/mavlink/share/pyshared/pymavlink/.gitignore b/mavlink/share/pyshared/pymavlink/.gitignore
new file mode 100644
index 000000000..3d395ecda
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/.gitignore
@@ -0,0 +1,13 @@
+apidocs/
+*.zip
+*.pyc
+send.sh
+generator/C/include/ardupilotmega
+generator/C/include/common
+generator/C/include/pixhawk
+generator/C/include/minimal
+generator/C/include/ualberta
+generator/C/include/slugs
+testmav0.9*
+testmav1.0*
+Debug/
diff --git a/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde b/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
new file mode 100644
index 000000000..b903b5c16
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
@@ -0,0 +1,55 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/*
+  send all possible mavlink messages
+  Andrew Tridgell July 2011
+*/
+
+// AVR runtime
+#include <avr/io.h>
+#include <avr/eeprom.h>
+#include <avr/pgmspace.h>
+#include <math.h>
+
+// Libraries
+#include <FastSerial.h>
+#include <AP_Common.h>
+#include <GCS_MAVLink.h>
+#include "mavtest.h"
+
+FastSerialPort0(Serial);        // FTDI/console
+FastSerialPort1(Serial1);       // GPS port
+FastSerialPort3(Serial3);       // Telemetry port
+
+#define SERIAL0_BAUD 115200
+#define SERIAL3_BAUD 115200
+
+void setup() {
+	Serial.begin(SERIAL0_BAUD, 128, 128);
+	Serial3.begin(SERIAL3_BAUD, 128, 128);
+	mavlink_comm_0_port = &Serial;
+	mavlink_comm_1_port = &Serial3;
+}
+
+
+
+void loop()
+{
+	Serial.println("Starting MAVLink test generator\n");
+	while (1) {
+		mavlink_msg_heartbeat_send(
+			MAVLINK_COMM_0,
+			mavlink_system.type,
+			MAV_AUTOPILOT_ARDUPILOTMEGA);
+
+		mavlink_msg_heartbeat_send(
+			MAVLINK_COMM_1,
+			mavlink_system.type,
+			MAV_AUTOPILOT_ARDUPILOTMEGA);
+
+		mavtest_generate_outputs(MAVLINK_COMM_0);
+		mavtest_generate_outputs(MAVLINK_COMM_1);
+		delay(500);
+	}
+}
+
diff --git a/mavlink/share/pyshared/pymavlink/APM_Mavtest/Makefile b/mavlink/share/pyshared/pymavlink/APM_Mavtest/Makefile
new file mode 100644
index 000000000..7ca38b1a2
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/APM_Mavtest/Makefile
@@ -0,0 +1,10 @@
+#
+# Trivial makefile for building APM
+#
+
+#
+# Select 'mega' for the original APM, or 'mega2560' for the V2 APM.
+#
+BOARD	=	mega2560
+
+include ../libraries/AP_Common/Arduino.mk
diff --git a/mavlink/share/pyshared/pymavlink/README.txt b/mavlink/share/pyshared/pymavlink/README.txt
new file mode 100644
index 000000000..386013e11
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/README.txt
@@ -0,0 +1,4 @@
+This is a python implementation of the MAVLink protocol. 
+
+Please see http://www.qgroundcontrol.org/mavlink/pymavlink for
+documentation
diff --git a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
new file mode 100644
index 000000000..d7d82256c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+'''
+set stream rate on an APM 
+'''
+
+import sys, struct, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("apmsetrate.py [options]")
+
+parser.add_option("--baudrate", dest="baudrate", type='int',
+                  help="master port baud rate", default=115200)
+parser.add_option("--device", dest="device", default=None, help="serial device")
+parser.add_option("--rate", dest="rate", default=4, type='int', help="requested stream rate")
+parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
+                  default=255, help='MAVLink source system for this GCS')
+parser.add_option("--showmessages", dest="showmessages", action='store_true',
+                  help="show incoming messages", default=False)
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+    import mavlink10 as mavlink
+else:
+    import mavlink
+import mavutil
+
+if opts.device is None:
+    print("You must specify a serial device")
+    sys.exit(1)
+
+def wait_heartbeat(m):
+    '''wait for a heartbeat so we know the target system IDs'''
+    print("Waiting for APM heartbeat")
+    m.wait_heartbeat()
+    print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
+
+def show_messages(m):
+    '''show incoming mavlink messages'''
+    while True:
+        msg = m.recv_match(blocking=True)
+        if not msg:
+            return
+        if msg.get_type() == "BAD_DATA":
+            if mavutil.all_printable(msg.data):
+                sys.stdout.write(msg.data)
+                sys.stdout.flush()
+        else:
+            print(msg)                    
+                
+# create a mavlink serial instance
+master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
+
+# wait for the heartbeat msg to find the system ID
+wait_heartbeat(master)
+
+print("Sending all stream request for rate %u" % opts.rate)
+for i in range(0, 3):
+    master.mav.request_data_stream_send(master.target_system, master.target_component,
+                                        mavlink.MAV_DATA_STREAM_ALL, opts.rate, 1)
+if opts.showmessages:
+    show_messages(master)
diff --git a/mavlink/share/pyshared/pymavlink/examples/bwtest.py b/mavlink/share/pyshared/pymavlink/examples/bwtest.py
new file mode 100644
index 000000000..de56d4f8c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/bwtest.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+'''
+check bandwidth of link
+'''
+
+import sys, struct, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+import mavutil
+
+from optparse import OptionParser
+parser = OptionParser("bwtest.py [options]")
+
+parser.add_option("--baudrate", dest="baudrate", type='int',
+                  help="master port baud rate", default=115200)
+parser.add_option("--device", dest="device", default=None, help="serial device")
+(opts, args) = parser.parse_args()
+
+if opts.device is None:
+    print("You must specify a serial device")
+    sys.exit(1)
+
+# create a mavlink serial instance
+master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
+
+t1 = time.time()
+
+counts = {}
+
+bytes_sent = 0
+bytes_recv = 0
+
+while True:
+    master.mav.heartbeat_send(1, 1)
+    master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7)
+    master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9)
+    master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7)
+    master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6)
+    while master.port.inWaiting() > 0:
+        m = master.recv_msg()
+        if m == None: break
+        if m.get_type() not in counts:
+            counts[m.get_type()] = 0
+        counts[m.get_type()] += 1
+    t2 = time.time()
+    if t2 - t1 > 1.0:
+        print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % (
+            master.mav.total_packets_sent,
+            master.mav.total_packets_received,
+            master.mav.total_receive_errors,
+            0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1),
+            0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1)))
+        bytes_sent = master.mav.total_bytes_sent
+        bytes_recv = master.mav.total_bytes_received
+        t1 = t2
diff --git a/mavlink/share/pyshared/pymavlink/examples/flightmodes.py b/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
new file mode 100644
index 000000000..03d7e2c47
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+'''
+show changes in flight modes
+'''
+
+import sys, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("flightmodes.py [options]")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: flightmodes.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def flight_modes(logfile):
+    '''show flight modes for a log file'''
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename)
+
+    mode = -1
+    nav_mode = -1
+
+    filesize = os.path.getsize(filename)
+
+    while True:
+        m = mlog.recv_match(type='SYS_STATUS',
+                            condition='SYS_STATUS.mode != %u or SYS_STATUS.nav_mode != %u' % (mode, nav_mode))
+        if m is None:
+            return
+        mode = m.mode
+        nav_mode = m.nav_mode
+        pct = (100.0 * mlog.f.tell()) / filesize
+        print('%s MAV.flightmode=%-12s mode=%u nav_mode=%u (MAV.timestamp=%u %u%%)' % (
+            time.asctime(time.localtime(m._timestamp)),
+            mlog.flightmode,
+            mode, nav_mode, m._timestamp, pct))
+
+for filename in args:
+    flight_modes(filename)
+
+
diff --git a/mavlink/share/pyshared/pymavlink/examples/flighttime.py b/mavlink/share/pyshared/pymavlink/examples/flighttime.py
new file mode 100644
index 000000000..81cd38c94
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/flighttime.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+
+'''
+work out total flight time for a mavlink log
+'''
+
+import sys, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("flighttime.py [options]")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: flighttime.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def flight_time(logfile):
+    '''work out flight time for a log file'''
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename)
+
+    in_air = False
+    start_time = 0.0
+    total_time = 0.0
+    t = None
+
+    while True:
+        m = mlog.recv_match(type='VFR_HUD')
+        if m is None:
+            if in_air:
+                total_time += time.mktime(t) - start_time
+            if total_time > 0:
+                print("Flight time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
+            return total_time
+        t = time.localtime(m._timestamp)
+        if m.groundspeed > 3.0 and not in_air:
+            print("In air at %s" % time.asctime(t))
+            in_air = True
+            start_time = time.mktime(t)
+        elif m.groundspeed < 3.0 and in_air:
+            print("On ground at %s" % time.asctime(t))
+            in_air = False
+            total_time += time.mktime(t) - start_time
+    return total_time
+
+total = 0.0
+for filename in args:
+    total += flight_time(filename)
+
+print("Total time in air: %u:%02u" % (int(total)/60, int(total)%60))
diff --git a/mavlink/share/pyshared/pymavlink/examples/gpslock.py b/mavlink/share/pyshared/pymavlink/examples/gpslock.py
new file mode 100644
index 000000000..f15b29072
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/gpslock.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+
+'''
+show GPS lock events in a MAVLink log
+'''
+
+import sys, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("gpslock.py [options]")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: gpslock.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def lock_time(logfile):
+    '''work out gps lock times for a log file'''
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename)
+
+    locked = False
+    start_time = 0.0
+    total_time = 0.0
+    t = None
+    m = mlog.recv_match(type='GPS_RAW')
+    unlock_time = time.mktime(time.localtime(m._timestamp))
+
+    while True:
+        m = mlog.recv_match(type='GPS_RAW')
+        if m is None:
+            if locked:
+                total_time += time.mktime(t) - start_time
+            if total_time > 0:
+                print("Lock time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
+            return total_time
+        t = time.localtime(m._timestamp)
+        if m.fix_type == 2 and not locked:
+            print("Locked at %s after %u seconds" % (time.asctime(t),
+                                                     time.mktime(t) - unlock_time))
+            locked = True
+            start_time = time.mktime(t)
+        elif m.fix_type == 1 and locked:
+            print("Lost GPS lock at %s" % time.asctime(t))
+            locked = False
+            total_time += time.mktime(t) - start_time
+            unlock_time = time.mktime(t)
+        elif m.fix_type == 0 and locked:
+            print("Lost protocol lock at %s" % time.asctime(t))
+            locked = False
+            total_time += time.mktime(t) - start_time
+            unlock_time = time.mktime(t)
+    return total_time
+
+total = 0.0
+for filename in args:
+    total += lock_time(filename)
+
+print("Total time locked: %u:%02u" % (int(total)/60, int(total)%60))
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit.py b/mavlink/share/pyshared/pymavlink/examples/magfit.py
new file mode 100644
index 000000000..7bfda796b
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/magfit.py
@@ -0,0 +1,138 @@
+#!/usr/bin/env python
+
+'''
+fit best estimate of magnetometer offsets
+'''
+
+import sys, time, os, math
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("magfit.py [options]")
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
+parser.add_option("--noise", type='float', default=0, help="noise to add")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+from rotmat import Vector3
+
+if len(args) < 1:
+    print("Usage: magfit.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def noise():
+    '''a noise vector'''
+    from random import gauss
+    v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1))
+    v.normalize()
+    return v * opts.noise
+
+def select_data(data):
+    ret = []
+    counts = {}
+    for d in data:
+        mag = d
+        key = "%u:%u:%u" % (mag.x/20,mag.y/20,mag.z/20)
+        if key in counts:
+            counts[key] += 1
+        else:
+            counts[key] = 1
+        if counts[key] < 3:
+            ret.append(d)
+    print(len(data), len(ret))
+    return ret
+
+def radius(mag, offsets):
+    '''return radius give data point and offsets'''
+    return (mag + offsets).length()
+
+def radius_cmp(a, b, offsets):
+    '''return radius give data point and offsets'''
+    diff = radius(a, offsets) - radius(b, offsets)
+    if diff > 0:
+        return 1
+    if diff < 0:
+        return -1
+    return 0
+
+def sphere_error(p, data):
+    from scipy import sqrt
+    x,y,z,r = p
+    ofs = Vector3(x,y,z)
+    ret = []
+    for d in data:
+        mag = d
+        err = r - radius(mag, ofs)
+        ret.append(err)
+    return ret
+
+def fit_data(data):
+    import numpy, scipy
+    from scipy import optimize
+
+    p0 = [0.0, 0.0, 0.0, 0.0]
+    p1, ier = optimize.leastsq(sphere_error, p0[:], args=(data))
+    if not ier in [1, 2, 3, 4]:
+        raise RuntimeError("Unable to find solution")
+    return (Vector3(p1[0], p1[1], p1[2]), p1[3])
+
+def magfit(logfile):
+    '''find best magnetometer offset fit to a log file'''
+
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
+
+    data = []
+
+    last_t = 0
+    offsets = Vector3(0,0,0)
+
+    # now gather all the data
+    while True:
+        m = mlog.recv_match(condition=opts.condition)
+        if m is None:
+            break
+        if m.get_type() == "SENSOR_OFFSETS":
+            # update current offsets
+            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
+        if m.get_type() == "RAW_IMU":
+            mag = Vector3(m.xmag, m.ymag, m.zmag)
+            # add data point after subtracting the current offsets
+            data.append(mag - offsets + noise())
+
+    print("Extracted %u data points" % len(data))
+    print("Current offsets: %s" % offsets)
+
+    data = select_data(data)
+
+    # do an initial fit with all data
+    (offsets, field_strength) = fit_data(data)
+
+    for count in range(3):
+        # sort the data by the radius
+        data.sort(lambda a,b : radius_cmp(a,b,offsets))
+
+        print("Fit %u    : %s  field_strength=%6.1f to %6.1f" % (
+            count, offsets,
+            radius(data[0], offsets), radius(data[-1], offsets)))
+        
+        # discard outliers, keep the middle 3/4
+        data = data[len(data)/8:-len(data)/8]
+
+        # fit again
+        (offsets, field_strength) = fit_data(data)
+
+    print("Final    : %s  field_strength=%6.1f to %6.1f" % (
+        offsets,
+        radius(data[0], offsets), radius(data[-1], offsets)))
+
+total = 0.0
+for filename in args:
+    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py b/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
new file mode 100644
index 000000000..87d2dbb7f
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python
+
+'''
+fit best estimate of magnetometer offsets using the algorithm from
+Bill Premerlani
+'''
+
+import sys, time, os, math
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+# command line option handling
+from optparse import OptionParser
+parser = OptionParser("magfit_delta.py [options]")
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--verbose", action='store_true', default=False, help="verbose offset output")
+parser.add_option("--gain", type='float', default=0.01, help="algorithm gain")
+parser.add_option("--noise", type='float', default=0, help="noise to add")
+parser.add_option("--max-change", type='float', default=10, help="max step change")
+parser.add_option("--min-diff", type='float', default=50, help="min mag vector delta")
+parser.add_option("--history", type='int', default=20, help="how many points to keep")
+parser.add_option("--repeat", type='int', default=1, help="number of repeats through the data")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+from rotmat import Vector3, Matrix3
+
+if len(args) < 1:
+    print("Usage: magfit_delta.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def noise():
+    '''a noise vector'''
+    from random import gauss
+    v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1))
+    v.normalize()
+    return v * opts.noise
+
+def find_offsets(data, ofs):
+    '''find mag offsets by applying Bills "offsets revisited" algorithm
+       on the data
+
+       This is an implementation of the algorithm from:
+          http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf
+       '''
+
+    # a limit on the maximum change in each step
+    max_change = opts.max_change
+
+    # the gain factor for the algorithm
+    gain = opts.gain
+
+    data2 = []
+    for d in data:
+        d = d.copy() + noise()
+        d.x = float(int(d.x + 0.5))
+        d.y = float(int(d.y + 0.5))
+        d.z = float(int(d.z + 0.5))
+        data2.append(d)
+    data = data2
+
+    history_idx = 0
+    mag_history = data[0:opts.history]
+    
+    for i in range(opts.history, len(data)):
+        B1 = mag_history[history_idx] + ofs
+        B2 = data[i] + ofs
+        
+        diff = B2 - B1
+        diff_length = diff.length()
+        if diff_length <= opts.min_diff:
+            # the mag vector hasn't changed enough - we don't get any
+            # information from this
+            history_idx = (history_idx+1) % opts.history
+            continue
+
+        mag_history[history_idx] = data[i]
+        history_idx = (history_idx+1) % opts.history
+
+        # equation 6 of Bills paper
+        delta = diff * (gain * (B2.length() - B1.length()) / diff_length)
+
+        # limit the change from any one reading. This is to prevent
+        # single crazy readings from throwing off the offsets for a long
+        # time
+        delta_length = delta.length()
+        if max_change != 0 and delta_length > max_change:
+            delta *= max_change / delta_length
+
+        # set the new offsets
+        ofs = ofs - delta
+
+        if opts.verbose:
+            print ofs
+    return ofs
+
+
+def magfit(logfile):
+    '''find best magnetometer offset fit to a log file'''
+
+    print("Processing log %s" % filename)
+
+    # open the log file
+    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
+
+    data = []
+    mag = None
+    offsets = Vector3(0,0,0)
+    
+    # now gather all the data
+    while True:
+        # get the next MAVLink message in the log
+        m = mlog.recv_match(condition=opts.condition)
+        if m is None:
+            break
+        if m.get_type() == "SENSOR_OFFSETS":
+            # update offsets that were used during this flight
+            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
+        if m.get_type() == "RAW_IMU" and offsets != None:
+            # extract one mag vector, removing the offsets that were
+            # used during that flight to get the raw sensor values
+            mag = Vector3(m.xmag, m.ymag, m.zmag) - offsets
+            data.append(mag)
+
+    print("Extracted %u data points" % len(data))
+    print("Current offsets: %s" % offsets)
+
+    # run the fitting algorithm
+    ofs = offsets
+    ofs = Vector3(0,0,0)
+    for r in range(opts.repeat):
+        ofs = find_offsets(data, ofs)
+        print('Loop %u offsets %s' % (r, ofs))
+        sys.stdout.flush()
+    print("New offsets: %s" % ofs)
+
+total = 0.0
+for filename in args:
+    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py b/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
new file mode 100644
index 000000000..30ba45806
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+
+'''
+fit best estimate of magnetometer offsets
+'''
+
+import sys, time, os, math
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("magfit.py [options]")
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--minspeed", type='float', default=5.0, help="minimum ground speed to use")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: magfit.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+class vec3(object):
+    def __init__(self, x, y, z):
+        self.x = x
+        self.y = y
+        self.z = z
+    def __str__(self):
+        return "%.1f %.1f %.1f" % (self.x, self.y, self.z)
+
+def heading_error1(parm, data):
+    from math import sin, cos, atan2, degrees
+    from numpy import dot
+    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
+
+    ret = []
+    for d in data:
+        x = d[0] + xofs
+        y = d[1] + yofs
+        z = d[2] + zofs
+        r = d[3]
+        p = d[4]
+        h = d[5]
+
+        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
+        headY = y*cos(r) - z*sin(r)
+        heading = degrees(atan2(-headY,headX)) + declination
+        if heading < 0:
+            heading += 360
+        herror = h - heading
+        if herror > 180:
+            herror -= 360
+        if herror < -180:
+            herror += 360
+        ret.append(herror)
+    return ret
+
+def heading_error(parm, data):
+    from math import sin, cos, atan2, degrees
+    from numpy import dot
+    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
+
+    a = [[1.0,a2,a3],[a4,a5,a6],[a7,a8,a9]]
+
+    ret = []
+    for d in data:
+        x = d[0] + xofs
+        y = d[1] + yofs
+        z = d[2] + zofs
+        r = d[3]
+        p = d[4]
+        h = d[5]
+        mv = [x, y, z]
+        mv2 = dot(a, mv)
+        x = mv2[0]
+        y = mv2[1]
+        z = mv2[2]
+
+        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
+        headY = y*cos(r) - z*sin(r)
+        heading = degrees(atan2(-headY,headX)) + declination
+        if heading < 0:
+            heading += 360
+        herror = h - heading
+        if herror > 180:
+            herror -= 360
+        if herror < -180:
+            herror += 360
+        ret.append(herror)
+    return ret
+
+def fit_data(data):
+    import numpy, scipy
+    from scipy import optimize
+
+    p0 = [0.0, 0.0, 0.0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0]
+    p1, ier = optimize.leastsq(heading_error1, p0[:], args=(data))
+
+#    p0 = p1[:]
+#    p1, ier = optimize.leastsq(heading_error, p0[:], args=(data))
+
+    print(p1)
+    if not ier in [1, 2, 3, 4]:
+        raise RuntimeError("Unable to find solution")
+    return p1
+
+def magfit(logfile):
+    '''find best magnetometer offset fit to a log file'''
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
+
+    flying = False
+    gps_heading = 0.0
+
+    data = []
+
+    # get the current mag offsets
+    m = mlog.recv_match(type='SENSOR_OFFSETS')
+    offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
+
+    attitude = mlog.recv_match(type='ATTITUDE')
+
+    # now gather all the data
+    while True:
+        m = mlog.recv_match()
+        if m is None:
+            break
+        if m.get_type() == "GPS_RAW":
+            # flying if groundspeed more than 5 m/s
+            flying = (m.v > opts.minspeed and m.fix_type == 2)
+            gps_heading = m.hdg
+        if m.get_type() == "ATTITUDE":
+            attitude = m
+        if m.get_type() == "SENSOR_OFFSETS":
+            # update current offsets
+            offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
+        if not flying:
+            continue
+        if m.get_type() == "RAW_IMU":
+            data.append((m.xmag - offsets.x, m.ymag - offsets.y, m.zmag - offsets.z, attitude.roll, attitude.pitch, gps_heading))
+    print("Extracted %u data points" % len(data))
+    print("Current offsets: %s" % offsets)
+    ofs2 = fit_data(data)
+    print("Declination estimate: %.1f" % ofs2[-1])
+    new_offsets = vec3(ofs2[0], ofs2[1], ofs2[2])
+    a = [[ofs2[3], ofs2[4], ofs2[5]],
+         [ofs2[6], ofs2[7], ofs2[8]],
+         [ofs2[9], ofs2[10], ofs2[11]]]
+    print(a)
+    print("New offsets    : %s" % new_offsets)
+
+total = 0.0
+for filename in args:
+    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magtest.py b/mavlink/share/pyshared/pymavlink/examples/magtest.py
new file mode 100644
index 000000000..8b910f8fd
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/magtest.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+
+'''
+rotate APMs on bench to test magnetometers
+
+'''
+
+import sys, os, time
+from math import radians
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+import mavlink, mavutil
+
+from optparse import OptionParser
+parser = OptionParser("rotate.py [options]")
+
+parser.add_option("--device1", dest="device1", default=None, help="mavlink device1")
+parser.add_option("--device2", dest="device2", default=None, help="mavlink device2")
+parser.add_option("--baudrate", dest="baudrate", type='int',
+                  help="master port baud rate", default=115200)
+(opts, args) = parser.parse_args()
+
+if opts.device1 is None or opts.device2 is None:
+    print("You must specify a mavlink device")
+    sys.exit(1)
+
+def set_attitude(rc3, rc4):
+    global mav1, mav2
+    values = [ 65535 ] * 8
+    values[2] = rc3
+    values[3] = rc4
+    mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values)
+    mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values)
+
+
+# create a mavlink instance
+mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate)
+
+# create a mavlink instance
+mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate)
+
+print("Waiting for HEARTBEAT")
+mav1.wait_heartbeat()
+mav2.wait_heartbeat()
+print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system))
+print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system))
+
+print("Waiting for MANUAL mode")
+mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
+mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
+
+print("Setting declination")
+mav1.mav.param_set_send(mav1.target_system, mav1.target_component,
+                       'COMPASS_DEC', radians(12.33))
+mav2.mav.param_set_send(mav2.target_system, mav2.target_component,
+                       'COMPASS_DEC', radians(12.33))
+
+
+set_attitude(1060, 1160)
+
+event = mavutil.periodic_event(30)
+pevent = mavutil.periodic_event(0.3)
+rc3_min = 1060
+rc3_max = 1850
+rc4_min = 1080
+rc4_max = 1500
+rc3 = rc3_min
+rc4 = 1160
+delta3 = 2
+delta4 = 1
+use_pitch = 1
+
+MAV_ACTION_CALIBRATE_GYRO = 17
+mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO)
+mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO)
+
+print("Waiting for gyro calibration")
+mav1.recv_match(type='ACTION_ACK')
+mav2.recv_match(type='ACTION_ACK')
+
+print("Resetting mag offsets")
+mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0)
+mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0)
+
+def TrueHeading(SERVO_OUTPUT_RAW):
+    p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
+    return 172 + p*(326 - 172)
+
+while True:
+    mav1.recv_msg()
+    mav2.recv_msg()
+    if event.trigger():
+        if not use_pitch:
+            rc4 = 1160
+        set_attitude(rc3, rc4)
+        rc3 += delta3
+        if rc3 > rc3_max or rc3 < rc3_min:
+            delta3 = -delta3
+            use_pitch ^= 1
+        rc4 += delta4
+        if rc4 > rc4_max or rc4 < rc4_min:
+            delta4 = -delta4
+    if pevent.trigger():
+        print "hdg1: %3u hdg2: %3u  ofs1: %4u, %4u, %4u  ofs2: %4u, %4u, %4u" % (
+            mav1.messages['VFR_HUD'].heading,
+            mav2.messages['VFR_HUD'].heading,
+            mav1.messages['SENSOR_OFFSETS'].mag_ofs_x,
+            mav1.messages['SENSOR_OFFSETS'].mag_ofs_y,
+            mav1.messages['SENSOR_OFFSETS'].mag_ofs_z,
+            mav2.messages['SENSOR_OFFSETS'].mag_ofs_x,
+            mav2.messages['SENSOR_OFFSETS'].mag_ofs_y,
+            mav2.messages['SENSOR_OFFSETS'].mag_ofs_z,
+            )
+    time.sleep(0.01)
+
+# 314M 326G
+# 160M 172G
+
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavgraph.py b/mavlink/share/pyshared/pymavlink/examples/mavgraph.py
new file mode 100644
index 000000000..e19856487
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavgraph.py
@@ -0,0 +1,196 @@
+#!/usr/bin/env python
+'''
+graph a MAVLink log file
+Andrew Tridgell August 2011
+'''
+
+import sys, struct, time, os, datetime
+import math, re
+import pylab, pytz, matplotlib
+from math import *
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from mavextra import *
+
+locator = None
+formatter = None
+
+def plotit(x, y, fields, colors=[]):
+    '''plot a set of graphs using date for x axis'''
+    global locator, formatter
+    pylab.ion()
+    fig = pylab.figure(num=1, figsize=(12,6))
+    ax1 = fig.gca()
+    ax2 = None
+    xrange = 0.0
+    for i in range(0, len(fields)):
+        if len(x[i]) == 0: continue
+        if x[i][-1] - x[i][0] > xrange:
+            xrange = x[i][-1] - x[i][0]
+    xrange *= 24 * 60 * 60
+    if formatter is None:
+        if xrange < 1000:
+            formatter = matplotlib.dates.DateFormatter('%H:%M:%S')
+        else:
+            formatter = matplotlib.dates.DateFormatter('%H:%M')
+        interval = 1
+        intervals = [ 1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600,
+                      900, 1800, 3600, 7200, 5*3600, 10*3600, 24*3600 ]
+        for interval in intervals:
+            if xrange / interval < 15:
+                break
+        locator = matplotlib.dates.SecondLocator(interval=interval)
+    ax1.xaxis.set_major_locator(locator)
+    ax1.xaxis.set_major_formatter(formatter)
+    empty = True
+    ax1_labels = []
+    ax2_labels = []
+    for i in range(0, len(fields)):
+        if len(x[i]) == 0:
+            print("Failed to find any values for field %s" % fields[i])
+            continue
+        if i < len(colors):
+            color = colors[i]
+        else:
+            color = 'red'
+        (tz, tzdst) = time.tzname
+        if axes[i] == 2:
+            if ax2 == None:
+                ax2 = ax1.twinx()
+            ax = ax2
+            ax2.xaxis.set_major_locator(locator)
+            ax2.xaxis.set_major_formatter(formatter)
+            label = fields[i]
+            if label.endswith(":2"):
+                label = label[:-2]
+            ax2_labels.append(label)
+        else:
+            ax1_labels.append(fields[i])
+            ax = ax1
+        ax.plot_date(x[i], y[i], color=color, label=fields[i],
+                     linestyle='-', marker='None', tz=None)
+        pylab.draw()
+        empty = False
+    if ax1_labels != []:
+        ax1.legend(ax1_labels,loc=opts.legend)
+    if ax2_labels != []:
+        ax2.legend(ax2_labels,loc=opts.legend2)
+    if empty:
+        print("No data to graph")
+        return
+
+
+from optparse import OptionParser
+parser = OptionParser("mavgraph.py [options] <filename> <fields>")
+
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
+parser.add_option("--labels",dest="labels", default=None, help="comma separated field labels")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--legend",  default='upper left', help="default legend position")
+parser.add_option("--legend2",  default='upper right', help="default legend2 position")
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 2:
+    print("Usage: mavlogdump.py [options] <LOGFILES...> <fields...>")
+    sys.exit(1)
+
+filenames = []
+fields = []
+for f in args:
+    if os.path.exists(f):
+        filenames.append(f)
+    else:
+        fields.append(f)
+msg_types = set()
+multiplier = []
+field_types = []
+
+colors = [ 'red', 'green', 'blue', 'orange', 'olive', 'black', 'grey' ]
+
+# work out msg types we are interested in
+x = []
+y = []
+axes = []
+first_only = []
+re_caps = re.compile('[A-Z_]+')
+for f in fields:
+    caps = set(re.findall(re_caps, f))
+    msg_types = msg_types.union(caps)
+    field_types.append(caps)
+    y.append([])
+    x.append([])
+    axes.append(1)
+    first_only.append(False)
+
+def add_data(t, msg, vars):
+    '''add some data'''
+    mtype = msg.get_type()
+    if mtype not in msg_types:
+        return
+    for i in range(0, len(fields)):
+        if mtype not in field_types[i]:
+            continue
+        f = fields[i]
+        if f.endswith(":2"):
+            axes[i] = 2
+            f = f[:-2]
+        if f.endswith(":1"):
+            first_only[i] = True
+            f = f[:-2]
+        v = mavutil.evaluate_expression(f, vars)
+        if v is None:
+            continue
+        y[i].append(v)
+        x[i].append(t)
+
+def process_file(filename):
+    '''process one file'''
+    print("Processing %s" % filename)
+    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
+    vars = {}
+    
+    while True:
+        msg = mlog.recv_match(opts.condition)
+        if msg is None: break
+        tdays = (msg._timestamp - time.timezone) / (24 * 60 * 60)
+        tdays += 719163 # pylab wants it since 0001-01-01
+        add_data(tdays, msg, mlog.messages)
+
+if len(filenames) == 0:
+    print("No files to process")
+    sys.exit(1)
+
+if opts.labels is not None:
+    labels = opts.labels.split(',')
+    if len(labels) != len(fields)*len(filenames):
+        print("Number of labels (%u) must match number of fields (%u)" % (
+            len(labels), len(fields)*len(filenames)))
+        sys.exit(1)
+else:
+    labels = None
+
+for fi in range(0, len(filenames)):
+    f = filenames[fi]
+    process_file(f)
+    for i in range(0, len(x)):
+        if first_only[i] and fi != 0:
+            x[i] = []
+            y[i] = []
+    if labels:
+        lab = labels[fi*len(fields):(fi+1)*len(fields)]
+    else:
+        lab = fields[:]
+    plotit(x, y, lab, colors=colors[fi*len(fields):])
+    for i in range(0, len(x)):
+        x[i] = []
+        y[i] = []
+pylab.show()
+raw_input('press enter to exit....')
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py b/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
new file mode 100644
index 000000000..f4cdc56bf
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+'''
+example program that dumps a Mavlink log file. The log file is
+assumed to be in the format that qgroundcontrol uses, which consists
+of a series of MAVLink packets, each with a 64 bit timestamp
+header. The timestamp is in microseconds since 1970 (unix epoch)
+'''
+
+import sys, time, os, struct
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("mavlogdump.py [options]")
+
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
+parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
+parser.add_option("-f", "--follow",dest="follow", action='store_true', help="keep waiting for more data at end of file")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
+parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
+parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--types",  default=None, help="types of messages (comma separated)")
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: mavlogdump.py [options] <LOGFILE>")
+    sys.exit(1)
+
+filename = args[0]
+mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
+                                  notimestamps=opts.notimestamps,
+                                  robust_parsing=opts.robust)
+
+output = None
+if opts.output:
+    output = mavutil.mavlogfile(opts.output, write=True)
+
+types = opts.types
+if types is not None:
+    types = types.split(',')
+    
+while True:
+    m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
+    if m is None:
+        break
+    if types is not None and m.get_type() not in types:
+        continue
+    if output:
+        timestamp = getattr(m, '_timestamp', None)
+        if timestamp:
+            output.write(struct.pack('>Q', timestamp*1.0e6))
+        output.write(m.get_msgbuf().tostring())
+    if opts.quiet:
+        continue
+    print("%s.%02u: %s" % (
+        time.strftime("%Y-%m-%d %H:%M:%S",
+                      time.localtime(m._timestamp)),
+        int(m._timestamp*100.0)%100, m))
+        
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavparms.py b/mavlink/share/pyshared/pymavlink/examples/mavparms.py
new file mode 100644
index 000000000..702fbd9e1
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavparms.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+
+'''
+extract mavlink parameter values
+'''
+
+import sys, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("mavparms.py [options]")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: mavparms.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+parms = {}
+
+def mavparms(logfile):
+    '''extract mavlink parameters'''
+    mlog = mavutil.mavlink_connection(filename)
+
+    while True:
+        m = mlog.recv_match(type='PARAM_VALUE')
+        if m is None:
+            return
+        pname = str(m.param_id).strip()
+        if len(pname) > 0:
+            parms[pname] = m.param_value
+
+total = 0.0
+for filename in args:
+    mavparms(filename)
+
+keys = parms.keys()
+keys.sort()
+for p in keys:
+    print("%-15s %.6f" % (p, parms[p]))
+    
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtest.py b/mavlink/share/pyshared/pymavlink/examples/mavtest.py
new file mode 100644
index 000000000..3c385e48a
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavtest.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+import sys, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+import mavlink
+
+class fifo(object):
+    def __init__(self):
+        self.buf = []
+    def write(self, data):
+        self.buf += data
+        return len(data)
+    def read(self):
+        return self.buf.pop(0)
+
+f = fifo()
+
+# create a mavlink instance, which will do IO on file object 'f'
+mav = mavlink.MAVLink(f)
+
+# set the WP_RADIUS parameter on the MAV at the end of the link
+mav.param_set_send(7, 1, "WP_RADIUS", 101)
+
+# alternatively, produce a MAVLink_param_set object 
+# this can be sent via your own transport if you like
+m = mav.param_set_encode(7, 1, "WP_RADIUS", 101)
+
+# get the encoded message as a buffer
+b = m.get_msgbuf()
+
+# decode an incoming message
+m2 = mav.decode(b)
+
+# show what fields it has
+print("Got a message with id %u and fields %s" % (m2.get_msgId(), m2.get_fieldnames()))
+
+# print out the fields
+print(m2)
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtester.py b/mavlink/share/pyshared/pymavlink/examples/mavtester.py
new file mode 100644
index 000000000..8b5284f3f
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavtester.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+'''
+test mavlink messages
+'''
+
+import sys, struct, time, os
+from curses import ascii
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+import mavlink, mavtest, mavutil
+
+from optparse import OptionParser
+parser = OptionParser("mavtester.py [options]")
+
+parser.add_option("--baudrate", dest="baudrate", type='int',
+                  help="master port baud rate", default=115200)
+parser.add_option("--device", dest="device", default=None, help="serial device")
+parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
+                  default=255, help='MAVLink source system for this GCS')
+(opts, args) = parser.parse_args()
+
+if opts.device is None:
+    print("You must specify a serial device")
+    sys.exit(1)
+
+def wait_heartbeat(m):
+    '''wait for a heartbeat so we know the target system IDs'''
+    print("Waiting for APM heartbeat")
+    msg = m.recv_match(type='HEARTBEAT', blocking=True)
+    print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
+
+# create a mavlink serial instance
+master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate, source_system=opts.SOURCE_SYSTEM)
+
+# wait for the heartbeat msg to find the system ID
+wait_heartbeat(master)
+
+print("Sending all message types")
+mavtest.generate_outputs(master.mav)
+
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py b/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
new file mode 100644
index 000000000..92d3cb51c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+
+'''
+example program to extract GPS data from a mavlink log, and create a GPX
+file, for loading into google earth
+'''
+
+import sys, struct, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("mavtogpx.py [options]")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
+parser.add_option("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: mavtogpx.py <LOGFILE>")
+    sys.exit(1)
+
+def mav_to_gpx(infilename, outfilename):
+    '''convert a mavlink log file to a GPX file'''
+
+    mlog = mavutil.mavlink_connection(infilename)
+    outf = open(outfilename, mode='w')
+
+    def process_packet(m):
+        t = time.localtime(m._timestamp)
+        outf.write('''<trkpt lat="%s" lon="%s">
+  <ele>%s</ele>
+  <time>%s</time>
+  <course>%s</course>
+  <speed>%s</speed>
+  <fix>3d</fix>
+</trkpt>
+''' % (m.lat, m.lon, m.alt,
+       time.strftime("%Y-%m-%dT%H:%M:%SZ", t),
+       m.hdg, m.v))
+
+    def add_header():
+        outf.write('''<?xml version="1.0" encoding="UTF-8"?>
+<gpx
+  version="1.0"
+  creator="pymavlink"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xmlns="http://www.topografix.com/GPX/1/0"
+  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
+<trk>
+<trkseg>
+''')
+
+    def add_footer():
+        outf.write('''</trkseg>
+</trk>
+</gpx>
+''')
+
+    add_header()       
+
+    count=0
+    while True:
+        m = mlog.recv_match(type='GPS_RAW', condition=opts.condition)
+        if m is None: break
+        if m.fix_type != 2 and not opts.nofixcheck:
+            continue
+        if m.lat == 0.0 or m.lon == 0.0:
+            continue
+        process_packet(m)
+        count += 1
+    add_footer()
+    print("Created %s with %u points" % (outfilename, count))
+    
+
+for infilename in args:
+    outfilename = infilename + '.gpx'
+    mav_to_gpx(infilename, outfilename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/rotmat.py b/mavlink/share/pyshared/pymavlink/examples/rotmat.py
new file mode 100644
index 000000000..6d5405949
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/rotmat.py
@@ -0,0 +1,269 @@
+#!/usr/bin/env python
+#
+# vector3 and rotation matrix classes
+# This follows the conventions in the ArduPilot code,
+# and is essentially a python version of the AP_Math library
+#
+# Andrew Tridgell, March 2012
+#
+# This library is free software; you can redistribute it and/or modify it
+# under the terms of the GNU Lesser General Public License as published by the
+# Free Software Foundation; either version 2.1 of the License, or (at your
+# option) any later version.
+#
+# This library is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License
+# for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with this library; if not, write to the Free Software Foundation,
+# Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
+
+'''rotation matrix class
+'''
+
+from math import sin, cos, sqrt, asin, atan2, pi, radians, acos
+
+class Vector3:
+    '''a vector'''
+    def __init__(self, x=None, y=None, z=None):
+        if x != None and y != None and z != None:
+            self.x = float(x)
+            self.y = float(y)
+            self.z = float(z)
+        elif x != None and len(x) == 3:
+            self.x = float(x[0])
+            self.y = float(x[1])
+            self.z = float(x[2])
+        elif x != None:
+            raise ValueError('bad initialiser')
+        else:
+            self.x = float(0)
+            self.y = float(0)
+            self.z = float(0)
+
+    def __repr__(self):
+        return 'Vector3(%.2f, %.2f, %.2f)' % (self.x,
+                                              self.y,
+                                              self.z)
+
+    def __add__(self, v):
+        return Vector3(self.x + v.x,
+                       self.y + v.y,
+                       self.z + v.z)
+
+    __radd__ = __add__
+
+    def __sub__(self, v):
+        return Vector3(self.x - v.x,
+                       self.y - v.y,
+                       self.z - v.z)
+
+    def __neg__(self):
+        return Vector3(-self.x, -self.y, -self.z)
+
+    def __rsub__(self, v):
+        return Vector3(v.x - self.x,
+                       v.y - self.y,
+                       v.z - self.z)
+
+    def __mul__(self, v):
+        if isinstance(v, Vector3):
+            '''dot product'''
+            return self.x*v.x + self.y*v.y + self.z*v.z
+        return Vector3(self.x * v,
+                       self.y * v,
+                       self.z * v)
+
+    __rmul__ = __mul__
+
+    def __div__(self, v):
+        return Vector3(self.x / v,
+                       self.y / v,
+                       self.z / v)
+
+    def __mod__(self, v):
+        '''cross product'''
+        return Vector3(self.y*v.z - self.z*v.y,
+                       self.z*v.x - self.x*v.z,
+                       self.x*v.y - self.y*v.x)
+
+    def __copy__(self):
+        return Vector3(self.x, self.y, self.z)
+
+    copy = __copy__
+
+    def length(self):
+        return sqrt(self.x**2 + self.y**2 + self.z**2)
+
+    def zero(self):
+        self.x = self.y = self.z = 0
+
+    def angle(self, v):
+        '''return the angle between this vector and another vector'''
+        return acos(self * v) / (self.length() * v.length())
+
+    def normalized(self):
+        return self / self.length()
+    
+    def normalize(self):
+        v = self.normalized()
+        self.x = v.x
+        self.y = v.y
+        self.z = v.z
+        
+class Matrix3:
+    '''a 3x3 matrix, intended as a rotation matrix'''
+    def __init__(self, a=None, b=None, c=None):
+        if a is not None and b is not None and c is not None:
+            self.a = a.copy()
+            self.b = b.copy()
+            self.c = c.copy()
+        else:
+            self.identity()
+
+    def __repr__(self):
+        return 'Matrix3((%.2f, %.2f, %.2f), (%.2f, %.2f, %.2f), (%.2f, %.2f, %.2f))' % (
+            self.a.x, self.a.y, self.a.z,
+            self.b.x, self.b.y, self.b.z,
+            self.c.x, self.c.y, self.c.z)
+
+    def identity(self):
+        self.a = Vector3(1,0,0)
+        self.b = Vector3(0,1,0)
+        self.c = Vector3(0,0,1)
+
+    def transposed(self):
+        return Matrix3(Vector3(self.a.x, self.b.x, self.c.x),
+                       Vector3(self.a.y, self.b.y, self.c.y),
+                       Vector3(self.a.z, self.b.z, self.c.z))
+
+        
+    def from_euler(self, roll, pitch, yaw):
+        '''fill the matrix from Euler angles in radians'''
+        cp = cos(pitch)
+	sp = sin(pitch)
+	sr = sin(roll)
+	cr = cos(roll)
+	sy = sin(yaw)
+	cy = cos(yaw)
+
+	self.a.x = cp * cy
+	self.a.y = (sr * sp * cy) - (cr * sy)
+	self.a.z = (cr * sp * cy) + (sr * sy)
+	self.b.x = cp * sy
+	self.b.y = (sr * sp * sy) + (cr * cy)
+	self.b.z = (cr * sp * sy) - (sr * cy)
+	self.c.x = -sp
+	self.c.y = sr * cp
+	self.c.z = cr * cp
+
+
+    def to_euler(self):
+        '''find Euler angles for the matrix'''
+        if self.c.x >= 1.0:
+            pitch = pi
+        elif self.c.x <= -1.0:
+            pitch = -pi
+        else:
+            pitch = -asin(self.c.x)
+        roll = atan2(self.c.y, self.c.z)
+        yaw  = atan2(self.b.x, self.a.x)
+        return (roll, pitch, yaw)
+
+    def __add__(self, m):
+        return Matrix3(self.a + m.a, self.b + m.b, self.c + m.c)
+
+    __radd__ = __add__
+
+    def __sub__(self, m):
+        return Matrix3(self.a - m.a, self.b - m.b, self.c - m.c)
+
+    def __rsub__(self, m):
+        return Matrix3(m.a - self.a, m.b - self.b, m.c - self.c)
+    
+    def __mul__(self, other):
+        if isinstance(other, Vector3):
+            v = other
+            return Vector3(self.a.x * v.x + self.a.y * v.y + self.a.z * v.z,
+                           self.b.x * v.x + self.b.y * v.y + self.b.z * v.z,
+                           self.c.x * v.x + self.c.y * v.y + self.c.z * v.z)
+        elif isinstance(other, Matrix3):
+            m = other
+            return Matrix3(Vector3(self.a.x * m.a.x + self.a.y * m.b.x + self.a.z * m.c.x,
+                                   self.a.x * m.a.y + self.a.y * m.b.y + self.a.z * m.c.y,
+                                   self.a.x * m.a.z + self.a.y * m.b.z + self.a.z * m.c.z),
+                           Vector3(self.b.x * m.a.x + self.b.y * m.b.x + self.b.z * m.c.x,
+                                   self.b.x * m.a.y + self.b.y * m.b.y + self.b.z * m.c.y,
+                                   self.b.x * m.a.z + self.b.y * m.b.z + self.b.z * m.c.z),
+                           Vector3(self.c.x * m.a.x + self.c.y * m.b.x + self.c.z * m.c.x,
+                                   self.c.x * m.a.y + self.c.y * m.b.y + self.c.z * m.c.y,
+                                   self.c.x * m.a.z + self.c.y * m.b.z + self.c.z * m.c.z))
+        v = other
+        return Matrix3(self.a * v, self.b * v, self.c * v)
+
+    def __div__(self, v):
+        return Matrix3(self.a / v, self.b / v, self.c / v)
+
+    def __neg__(self):
+        return Matrix3(-self.a, -self.b, -self.c)
+
+    def __copy__(self):
+        return Matrix3(self.a, self.b, self.c)
+
+    copy = __copy__
+
+    def rotate(self, g):
+        '''rotate the matrix by a given amount on 3 axes'''
+	temp_matrix = Matrix3()
+        a = self.a
+        b = self.b
+        c = self.c
+	temp_matrix.a.x = a.y * g.z - a.z * g.y
+	temp_matrix.a.y = a.z * g.x - a.x * g.z
+	temp_matrix.a.z = a.x * g.y - a.y * g.x
+	temp_matrix.b.x = b.y * g.z - b.z * g.y
+	temp_matrix.b.y = b.z * g.x - b.x * g.z
+	temp_matrix.b.z = b.x * g.y - b.y * g.x
+	temp_matrix.c.x = c.y * g.z - c.z * g.y
+	temp_matrix.c.y = c.z * g.x - c.x * g.z
+	temp_matrix.c.z = c.x * g.y - c.y * g.x
+        self.a += temp_matrix.a
+        self.b += temp_matrix.b
+        self.c += temp_matrix.c
+
+    def normalize(self):
+        '''re-normalise a rotation matrix'''
+	error = self.a * self.b
+	t0 = self.a - (self.b * (0.5 * error))
+	t1 = self.b - (self.a * (0.5 * error))
+	t2 = t0 % t1
+        self.a = t0 * (1.0 / t0.length())
+        self.b = t1 * (1.0 / t1.length())
+        self.c = t2 * (1.0 / t2.length())
+
+    def trace(self):
+        '''the trace of the matrix'''
+        return self.a.x + self.b.y + self.c.z
+
+def test_euler():
+    '''check that from_euler() and to_euler() are consistent'''
+    m = Matrix3()
+    from math import radians, degrees
+    for r in range(-179, 179, 3):
+        for p in range(-89, 89, 3):
+            for y in range(-179, 179, 3):
+                m.from_euler(radians(r), radians(p), radians(y))
+                (r2, p2, y2) = m.to_euler()
+                v1 = Vector3(r,p,y)
+                v2 = Vector3(degrees(r2),degrees(p2),degrees(y2))
+                diff = v1 - v2
+                if diff.length() > 1.0e-12:
+                    print('EULER ERROR:', v1, v2, diff.length())
+                    
+if __name__ == "__main__":
+    import doctest
+    doctest.testmod()
+    test_euler()
+    
diff --git a/mavlink/share/pyshared/pymavlink/examples/sigloss.py b/mavlink/share/pyshared/pymavlink/examples/sigloss.py
new file mode 100644
index 000000000..feb189d97
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/sigloss.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+
+'''
+show times when signal is lost
+'''
+
+import sys, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("sigloss.py [options]")
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
+parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--deltat", type='float', default=1.0, help="loss threshold in seconds")
+
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: sigloss.py [options] <LOGFILE...>")
+    sys.exit(1)
+
+def sigloss(logfile):
+    '''work out signal loss times for a log file'''
+    print("Processing log %s" % filename)
+    mlog = mavutil.mavlink_connection(filename,
+                                      planner_format=opts.planner,
+                                      notimestamps=opts.notimestamps,
+                                      robust_parsing=opts.robust)
+
+    last_t = 0
+
+    while True:
+        m = mlog.recv_match()
+        if m is None:
+            return
+        if opts.notimestamps:
+            if not 'usec' in m._fieldnames:
+                continue
+            t = m.usec / 1.0e6
+        else:
+            t = m._timestamp
+        if last_t != 0:
+            if t - last_t > opts.deltat:
+                print("Sig lost for %.1fs at %s" % (t-last_t, time.asctime(time.localtime(t))))
+        last_t = t
+
+total = 0.0
+for filename in args:
+    sigloss(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/wptogpx.py b/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
new file mode 100644
index 000000000..306f20af2
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+'''
+example program to extract GPS data from a waypoint file, and create a GPX
+file, for loading into google earth
+'''
+
+import sys, struct, time, os
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+from optparse import OptionParser
+parser = OptionParser("wptogpx.py [options]")
+(opts, args) = parser.parse_args()
+
+import mavutil, mavwp
+
+if len(args) < 1:
+    print("Usage: wptogpx.py <WPFILE>")
+    sys.exit(1)
+
+def wp_to_gpx(infilename, outfilename):
+    '''convert a wp file to a GPX file'''
+
+    wp = mavwp.MAVWPLoader()
+    wp.load(infilename)
+    outf = open(outfilename, mode='w')
+
+    def process_wp(w, i):
+        t = time.localtime(i)
+        outf.write('''<wpt lat="%s" lon="%s">
+  <ele>%s</ele>
+  <cmt>WP %u</cmt>
+</wpt>
+''' % (w.x, w.y, w.z, i))
+
+    def add_header():
+        outf.write('''<?xml version="1.0" encoding="UTF-8"?>
+<gpx
+  version="1.0"
+  creator="pymavlink"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xmlns="http://www.topografix.com/GPX/1/0"
+  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
+''')
+
+    def add_footer():
+        outf.write('''
+</gpx>
+''')
+
+    add_header()       
+
+    count = 0
+    for i in range(wp.count()):
+        w = wp.wp(i)
+        if w.frame == 3:
+            w.z += wp.wp(0).z
+        if w.command == 16:
+            process_wp(w, i)
+        count += 1
+    add_footer()
+    print("Created %s with %u points" % (outfilename, count))
+    
+
+for infilename in args:
+    outfilename = infilename + '.gpx'
+    wp_to_gpx(infilename, outfilename)
diff --git a/mavlink/share/pyshared/pymavlink/fgFDM.py b/mavlink/share/pyshared/pymavlink/fgFDM.py
new file mode 100644
index 000000000..f390e0a93
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/fgFDM.py
@@ -0,0 +1,209 @@
+#!/usr/bin/env python
+# parse and construct FlightGear NET FDM packets
+# Andrew Tridgell, November 2011
+# released under GNU GPL version 2 or later
+
+import struct, math
+
+class fgFDMError(Exception):
+    '''fgFDM error class'''
+    def __init__(self, msg):
+        Exception.__init__(self, msg)
+        self.message = 'fgFDMError: ' + msg
+
+class fgFDMVariable(object):
+    '''represent a single fgFDM variable'''
+    def __init__(self, index, arraylength, units):
+        self.index   = index
+        self.arraylength = arraylength
+        self.units = units
+
+class fgFDMVariableList(object):
+    '''represent a list of fgFDM variable'''
+    def __init__(self):
+        self.vars = {}
+        self._nextidx = 0
+        
+    def add(self, varname, arraylength=1, units=None):
+        self.vars[varname] = fgFDMVariable(self._nextidx, arraylength, units=units)
+        self._nextidx += arraylength
+
+class fgFDM(object):
+    '''a flightgear native FDM parser/generator'''
+    def __init__(self):
+        '''init a fgFDM object'''
+        self.FG_NET_FDM_VERSION = 24
+        self.pack_string = '>I 4x 3d 6f 11f 3f 2f I 4I 4f 4f 4f 4f 4f 4f 4f 4f 4f I 4f I 3I 3f 3f 3f I i f 10f'
+        self.values = [0]*98
+
+        self.FG_MAX_ENGINES = 4
+        self.FG_MAX_WHEELS  = 3
+        self.FG_MAX_TANKS   = 4
+
+        # supported unit mappings
+        self.unitmap = {
+            ('radians', 'degrees') : math.degrees(1),
+            ('rps',     'dps')     : math.degrees(1),
+            ('feet',    'meters')  : 0.3048,
+            ('fps',     'mps')     : 0.3048,
+            ('knots',   'mps')     : 0.514444444,
+            ('knots',   'fps')     : 0.514444444/0.3048,
+            ('fpss',    'mpss')    : 0.3048,
+            ('seconds', 'minutes') : 60,
+            ('seconds', 'hours')   : 3600,
+            }
+
+        # build a mapping between variable name and index in the values array
+        # note that the order of this initialisation is critical - it must
+        # match the wire structure
+        self.mapping = fgFDMVariableList()
+        self.mapping.add('version')
+
+        # position
+        self.mapping.add('longitude', units='radians')	# geodetic (radians)
+        self.mapping.add('latitude', units='radians')	# geodetic (radians)
+        self.mapping.add('altitude', units='meters')	# above sea level (meters)
+        self.mapping.add('agl', units='meters')		# above ground level (meters)
+
+        # attitude
+        self.mapping.add('phi', units='radians')	# roll (radians)
+        self.mapping.add('theta', units='radians')	# pitch (radians)
+        self.mapping.add('psi', units='radians')	# yaw or true heading (radians)
+        self.mapping.add('alpha', units='radians')      # angle of attack (radians)
+        self.mapping.add('beta', units='radians')       # side slip angle (radians)
+
+        # Velocities
+        self.mapping.add('phidot', units='rps')		# roll rate (radians/sec)
+        self.mapping.add('thetadot', units='rps')	# pitch rate (radians/sec)
+        self.mapping.add('psidot', units='rps')		# yaw rate (radians/sec)
+        self.mapping.add('vcas', units='fps')		# calibrated airspeed
+        self.mapping.add('climb_rate', units='fps')	# feet per second
+        self.mapping.add('v_north', units='fps')        # north velocity in local/body frame, fps
+        self.mapping.add('v_east', units='fps')         # east velocity in local/body frame, fps
+        self.mapping.add('v_down', units='fps')         # down/vertical velocity in local/body frame, fps
+        self.mapping.add('v_wind_body_north', units='fps')   # north velocity in local/body frame
+        self.mapping.add('v_wind_body_east', units='fps')    # east velocity in local/body frame
+        self.mapping.add('v_wind_body_down', units='fps')    # down/vertical velocity in local/body
+
+        # Accelerations
+        self.mapping.add('A_X_pilot', units='fpss')	# X accel in body frame ft/sec^2
+        self.mapping.add('A_Y_pilot', units='fpss')	# Y accel in body frame ft/sec^2
+        self.mapping.add('A_Z_pilot', units='fpss')	# Z accel in body frame ft/sec^2
+
+        # Stall
+        self.mapping.add('stall_warning')               # 0.0 - 1.0 indicating the amount of stall
+        self.mapping.add('slip_deg', units='degrees')	# slip ball deflection
+
+        # Engine status
+        self.mapping.add('num_engines')	                    # Number of valid engines
+        self.mapping.add('eng_state', self.FG_MAX_ENGINES)  # Engine state (off, cranking, running)
+        self.mapping.add('rpm',       self.FG_MAX_ENGINES)  # Engine RPM rev/min
+        self.mapping.add('fuel_flow', self.FG_MAX_ENGINES)  # Fuel flow gallons/hr
+        self.mapping.add('fuel_px',   self.FG_MAX_ENGINES)  # Fuel pressure psi
+        self.mapping.add('egt',       self.FG_MAX_ENGINES)  # Exhuast gas temp deg F
+        self.mapping.add('cht',       self.FG_MAX_ENGINES)  # Cylinder head temp deg F
+        self.mapping.add('mp_osi',    self.FG_MAX_ENGINES)  # Manifold pressure
+        self.mapping.add('tit',       self.FG_MAX_ENGINES)  # Turbine Inlet Temperature
+        self.mapping.add('oil_temp',  self.FG_MAX_ENGINES)  # Oil temp deg F
+        self.mapping.add('oil_px',    self.FG_MAX_ENGINES)  # Oil pressure psi
+            
+        # Consumables
+        self.mapping.add('num_tanks')		            # Max number of fuel tanks
+        self.mapping.add('fuel_quantity', self.FG_MAX_TANKS)
+
+        # Gear status
+        self.mapping.add('num_wheels')
+        self.mapping.add('wow',              self.FG_MAX_WHEELS)
+        self.mapping.add('gear_pos',         self.FG_MAX_WHEELS)
+        self.mapping.add('gear_steer',       self.FG_MAX_WHEELS)
+        self.mapping.add('gear_compression', self.FG_MAX_WHEELS)
+
+        # Environment
+        self.mapping.add('cur_time', units='seconds')       # current unix time
+        self.mapping.add('warp',     units='seconds')       # offset in seconds to unix time
+        self.mapping.add('visibility', units='meters')      # visibility in meters (for env. effects)
+
+        # Control surface positions (normalized values)
+        self.mapping.add('elevator')
+        self.mapping.add('elevator_trim_tab')
+        self.mapping.add('left_flap')
+        self.mapping.add('right_flap')
+        self.mapping.add('left_aileron')
+        self.mapping.add('right_aileron')
+        self.mapping.add('rudder')
+        self.mapping.add('nose_wheel')
+        self.mapping.add('speedbrake')
+        self.mapping.add('spoilers')
+
+        self._packet_size = struct.calcsize(self.pack_string)
+
+        self.set('version', self.FG_NET_FDM_VERSION)
+
+        if len(self.values) != self.mapping._nextidx:
+            raise fgFDMError('Invalid variable list in initialisation')
+
+    def packet_size(self):
+        '''return expected size of FG FDM packets'''
+        return self._packet_size
+
+    def convert(self, value, fromunits, tounits):
+        '''convert a value from one set of units to another'''
+        if fromunits == tounits:
+            return value
+        if (fromunits,tounits) in self.unitmap:
+            return value * self.unitmap[(fromunits,tounits)]
+        if (tounits,fromunits) in self.unitmap:
+            return value / self.unitmap[(tounits,fromunits)]
+        raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits))
+
+
+    def units(self, varname):
+        '''return the default units of a variable'''
+        if not varname in self.mapping.vars:
+            raise fgFDMError('Unknown variable %s' % varname)
+        return self.mapping.vars[varname].units
+
+
+    def variables(self):
+        '''return a list of available variables'''
+        return sorted(self.mapping.vars.keys(),
+                      key = lambda v : self.mapping.vars[v].index)
+
+
+    def get(self, varname, idx=0, units=None):
+        '''get a variable value'''
+        if not varname in self.mapping.vars:
+            raise fgFDMError('Unknown variable %s' % varname)
+        if idx >= self.mapping.vars[varname].arraylength:
+            raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
+                varname, idx, self.mapping.vars[varname].arraylength))
+        value = self.values[self.mapping.vars[varname].index + idx]
+        if units:
+            value = self.convert(value, self.mapping.vars[varname].units, units)
+        return value
+
+    def set(self, varname, value, idx=0, units=None):
+        '''set a variable value'''
+        if not varname in self.mapping.vars:
+            raise fgFDMError('Unknown variable %s' % varname)
+        if idx >= self.mapping.vars[varname].arraylength:
+            raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
+                varname, idx, self.mapping.vars[varname].arraylength))
+        if units:
+            value = self.convert(value, units, self.mapping.vars[varname].units)
+        self.values[self.mapping.vars[varname].index + idx] = value
+
+    def parse(self, buf):
+        '''parse a FD FDM buffer'''
+        try:
+            t = struct.unpack(self.pack_string, buf)
+        except struct.error, msg:
+            raise fgFDMError('unable to parse - %s' % msg)
+        self.values = list(t)
+
+    def pack(self):
+        '''pack a FD FDM buffer from current values'''
+        for i in range(len(self.values)):
+            if math.isnan(self.values[i]):
+                self.values[i] = 0
+        return struct.pack(self.pack_string, *self.values)
diff --git a/mavlink/share/pyshared/pymavlink/generator/.gitignore b/mavlink/share/pyshared/pymavlink/generator/.gitignore
new file mode 100644
index 000000000..0d20b6487
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/.gitignore
@@ -0,0 +1 @@
+*.pyc
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h
new file mode 100644
index 000000000..b70991f5a
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h
@@ -0,0 +1,89 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+
+/**
+ *
+ *  CALCULATE THE CHECKSUM
+ *
+ */
+
+#define X25_INIT_CRC 0xffff
+#define X25_VALIDATE_CRC 0xf0b8
+
+/**
+ * @brief Accumulate the X.25 CRC by adding one char at a time.
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new char to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
+{
+        /*Accumulate one byte of data into the CRC*/
+        uint8_t tmp;
+
+        tmp = data ^ (uint8_t)(*crcAccum &0xff);
+        tmp ^= (tmp<<4);
+        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
+}
+
+/**
+ * @brief Initiliaze the buffer for the X.25 CRC
+ *
+ * @param crcAccum the 16 bit X.25 CRC
+ */
+static inline void crc_init(uint16_t* crcAccum)
+{
+        *crcAccum = X25_INIT_CRC;
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a byte buffer
+ *
+ * @param  pBuffer buffer containing the byte array to hash
+ * @param  length  length of the byte array
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
+{
+        uint16_t crcTmp;
+        crc_init(&crcTmp);
+	while (length--) {
+                crc_accumulate(*pBuffer++, &crcTmp);
+        }
+        return crcTmp;
+}
+
+/**
+ * @brief Accumulate the X.25 CRC by adding an array of bytes
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new bytes to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
+{
+	const uint8_t *p = (const uint8_t *)pBuffer;
+	while (length--) {
+                crc_accumulate(*p++, crcAccum);
+        }
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h
new file mode 100644
index 000000000..98250e1ac
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h
@@ -0,0 +1,488 @@
+#ifndef  _MAVLINK_HELPERS_H_
+#define  _MAVLINK_HELPERS_H_
+
+#include "string.h"
+#include "checksum.h"
+#include "mavlink_types.h"
+
+#ifndef MAVLINK_HELPER
+#define MAVLINK_HELPER
+#endif
+
+/*
+  internal function to give access to the channel status for each channel
+ */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+{
+	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_status[chan];
+}
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set. This function
+ * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
+ * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
+ *
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length)
+#endif
+{
+	// This code part is the same for all messages;
+	uint16_t checksum;
+	msg->magic = MAVLINK_STX;
+	msg->len = length;
+	msg->sysid = system_id;
+	msg->compid = component_id;
+	// One sequence number per component
+	msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
+	mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
+	checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
+#if MAVLINK_CRC_EXTRA
+	crc_accumulate(crc_extra, &checksum);
+#endif
+	mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
+	mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
+
+	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+
+/**
+ * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length, uint8_t crc_extra)
+{
+	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
+}
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length)
+{
+	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
+}
+#endif
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment and send
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
+						    uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
+#endif
+{
+	uint16_t checksum;
+	uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
+	uint8_t ck[2];
+	mavlink_status_t *status = mavlink_get_channel_status(chan);
+	buf[0] = MAVLINK_STX;
+	buf[1] = length;
+	buf[2] = status->current_tx_seq;
+	buf[3] = mavlink_system.sysid;
+	buf[4] = mavlink_system.compid;
+	buf[5] = msgid;
+	status->current_tx_seq++;
+	checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
+	crc_accumulate_buffer(&checksum, packet, length);
+#if MAVLINK_CRC_EXTRA
+	crc_accumulate(crc_extra, &checksum);
+#endif
+	ck[0] = (uint8_t)(checksum & 0xFF);
+	ck[1] = (uint8_t)(checksum >> 8);
+
+	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+	_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
+	_mavlink_send_uart(chan, packet, length);
+	_mavlink_send_uart(chan, (const char *)ck, 2);
+	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+/**
+ * @brief Pack a message to send it over a serial byte stream
+ */
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
+{
+	memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
+	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
+}
+
+union __mavlink_bitfield {
+	uint8_t uint8;
+	int8_t int8;
+	uint16_t uint16;
+	int16_t int16;
+	uint32_t uint32;
+	int32_t int32;
+};
+
+
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
+{
+	crc_init(&msg->checksum);
+}
+
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
+{
+	crc_accumulate(c, &msg->checksum);
+}
+
+/**
+ * This is a convenience function which handles the complete MAVLink parsing.
+ * the function will parse one byte at a time and return the complete packet once
+ * it could be successfully decoded. Checksum and other failures will be silently
+ * ignored.
+ *
+ * @param chan     ID of the current channel. This allows to parse different channels with this function.
+ *                 a channel is not a physical message channel like a serial port, but a logic partition of
+ *                 the communication streams in this case. COMM_NB is the limit for the number of channels
+ *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
+ * @param c        The char to barse
+ *
+ * @param returnMsg NULL if no message could be decoded, the message data else
+ * @return 0 if no message could be decoded, 1 else
+ *
+ * A typical use scenario of this function call is:
+ *
+ * @code
+ * #include <inttypes.h> // For fixed-width uint8_t type
+ *
+ * mavlink_message_t msg;
+ * int chan = 0;
+ *
+ *
+ * while(serial.bytesAvailable > 0)
+ * {
+ *   uint8_t byte = serial.getNextByte();
+ *   if (mavlink_parse_char(chan, byte, &msg))
+ *     {
+ *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
+ *     }
+ * }
+ *
+ *
+ * @endcode
+ */
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
+{
+	static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
+
+        /*
+	  default message crc function. You can override this per-system to
+	  put this data in a different memory segment
+	*/
+#if MAVLINK_CRC_EXTRA
+#ifndef MAVLINK_MESSAGE_CRC
+	static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
+#endif
+#endif
+
+	mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
+	mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
+	int bufferIndex = 0;
+
+	status->msg_received = 0;
+
+	switch (status->parse_state)
+	{
+	case MAVLINK_PARSE_STATE_UNINIT:
+	case MAVLINK_PARSE_STATE_IDLE:
+		if (c == MAVLINK_STX)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+			rxmsg->len = 0;
+			mavlink_start_checksum(rxmsg);
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_STX:
+			if (status->msg_received 
+			/* Support shorter buffers than the
+			 default maximum packet size */
+#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
+				|| c > MAVLINK_MAX_PAYLOAD_LEN
+#endif
+				)
+		{
+			status->buffer_overrun++;
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+		}
+		else
+		{
+			// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
+			rxmsg->len = c;
+			status->packet_idx = 0;
+			mavlink_update_checksum(rxmsg, c);
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_LENGTH:
+		rxmsg->seq = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_SEQ:
+		rxmsg->sysid = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_SYSID:
+		rxmsg->compid = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_COMPID:
+		rxmsg->msgid = c;
+		mavlink_update_checksum(rxmsg, c);
+		if (rxmsg->len == 0)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+		}
+		else
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_MSGID:
+		_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
+		mavlink_update_checksum(rxmsg, c);
+		if (status->packet_idx == rxmsg->len)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
+#if MAVLINK_CRC_EXTRA
+		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
+#endif
+		if (c != (rxmsg->checksum & 0xFF)) {
+			// Check first checksum byte
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			if (c == MAVLINK_STX)
+			{
+				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+				rxmsg->len = 0;
+				mavlink_start_checksum(rxmsg);
+			}
+		}
+		else
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_CRC1:
+		if (c != (rxmsg->checksum >> 8)) {
+			// Check second checksum byte
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			if (c == MAVLINK_STX)
+			{
+				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+				rxmsg->len = 0;
+				mavlink_start_checksum(rxmsg);
+			}
+		}
+		else
+		{
+			// Successfully got message
+			status->msg_received = 1;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
+		}
+		break;
+	}
+
+	bufferIndex++;
+	// If a message has been sucessfully decoded, check index
+	if (status->msg_received == 1)
+	{
+		//while(status->current_seq != rxmsg->seq)
+		//{
+		//	status->packet_rx_drop_count++;
+		//               status->current_seq++;
+		//}
+		status->current_rx_seq = rxmsg->seq;
+		// Initial condition: If no packet has been received so far, drop count is undefined
+		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+		// Count this packet as received
+		status->packet_rx_success_count++;
+	}
+
+	r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
+	r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
+	r_mavlink_status->packet_rx_drop_count = status->parse_error;
+	status->parse_error = 0;
+	return status->msg_received;
+}
+
+/**
+ * @brief Put a bitfield of length 1-32 bit into the buffer
+ *
+ * @param b the value to add, will be encoded in the bitfield
+ * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
+ * @param packet_index the position in the packet (the index of the first byte to use)
+ * @param bit_index the position in the byte (the index of the first bit to use)
+ * @param buffer packet buffer to write into
+ * @return new position of the last used byte in the buffer
+ */
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
+{
+	uint16_t bits_remain = bits;
+	// Transform number into network order
+	int32_t v;
+	uint8_t i_bit_index, i_byte_index, curr_bits_n;
+#if MAVLINK_NEED_BYTE_SWAP
+	union {
+		int32_t i;
+		uint8_t b[4];
+	} bin, bout;
+	bin.i = b;
+	bout.b[0] = bin.b[3];
+	bout.b[1] = bin.b[2];
+	bout.b[2] = bin.b[1];
+	bout.b[3] = bin.b[0];
+	v = bout.i;
+#else
+	v = b;
+#endif
+
+	// buffer in
+	// 01100000 01000000 00000000 11110001
+	// buffer out
+	// 11110001 00000000 01000000 01100000
+
+	// Existing partly filled byte (four free slots)
+	// 0111xxxx
+
+	// Mask n free bits
+	// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
+	// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
+
+	// Shift n bits into the right position
+	// out = in >> n;
+
+	// Mask and shift bytes
+	i_bit_index = bit_index;
+	i_byte_index = packet_index;
+	if (bit_index > 0)
+	{
+		// If bits were available at start, they were available
+		// in the byte before the current index
+		i_byte_index--;
+	}
+
+	// While bits have not been packed yet
+	while (bits_remain > 0)
+	{
+		// Bits still have to be packed
+		// there can be more than 8 bits, so
+		// we might have to pack them into more than one byte
+
+		// First pack everything we can into the current 'open' byte
+		//curr_bits_n = bits_remain << 3; // Equals  bits_remain mod 8
+		//FIXME
+		if (bits_remain <= (uint8_t)(8 - i_bit_index))
+		{
+			// Enough space
+			curr_bits_n = (uint8_t)bits_remain;
+		}
+		else
+		{
+			curr_bits_n = (8 - i_bit_index);
+		}
+		
+		// Pack these n bits into the current byte
+		// Mask out whatever was at that position with ones (xxx11111)
+		buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
+		// Put content to this position, by masking out the non-used part
+		buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
+		
+		// Increment the bit index
+		i_bit_index += curr_bits_n;
+
+		// Now proceed to the next byte, if necessary
+		bits_remain -= curr_bits_n;
+		if (bits_remain > 0)
+		{
+			// Offer another 8 bits / one byte
+			i_byte_index++;
+			i_bit_index = 0;
+		}
+	}
+	
+	*r_bit_index = i_bit_index;
+	// If a partly filled byte is present, mark this as consumed
+	if (i_bit_index != 7) i_byte_index++;
+	return i_byte_index - packet_index;
+}
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// To make MAVLink work on your MCU, define comm_send_ch() if you wish
+// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
+// whole packet at a time
+
+/*
+
+#include "mavlink_types.h"
+
+void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+    if (chan == MAVLINK_COMM_0)
+    {
+        uart0_transmit(ch);
+    }
+    if (chan == MAVLINK_COMM_1)
+    {
+    	uart1_transmit(ch);
+    }
+}
+ */
+
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
+{
+#ifdef MAVLINK_SEND_UART_BYTES
+	/* this is the more efficient approach, if the platform
+	   defines it */
+	MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
+#else
+	/* fallback to one byte at a time */
+	uint16_t i;
+	for (i = 0; i < len; i++) {
+		comm_send_ch(chan, (uint8_t)buf[i]);
+	}
+#endif
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h
new file mode 100644
index 000000000..630cb84b7
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h
@@ -0,0 +1,300 @@
+#ifndef MAVLINK_TYPES_H_
+#define MAVLINK_TYPES_H_
+
+#include "inttypes.h"
+
+enum MAV_CLASS
+{
+    MAV_CLASS_GENERIC = 0,        ///< Generic autopilot, full support for everything
+    MAV_CLASS_PIXHAWK = 1,        ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
+    MAV_CLASS_SLUGS = 2,          ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
+    MAV_CLASS_ARDUPILOTMEGA = 3,  ///< ArduPilotMega / ArduCopter, http://diydrones.com
+    MAV_CLASS_OPENPILOT = 4,      ///< OpenPilot, http://openpilot.org
+    MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5,  ///< Generic autopilot only supporting simple waypoints
+    MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
+    MAV_CLASS_GENERIC_MISSION_FULL = 7,            ///< Generic autopilot supporting the full mission command set
+    MAV_CLASS_NONE = 8,           ///< No valid autopilot
+    MAV_CLASS_NB                  ///< Number of autopilot classes
+};
+
+enum MAV_ACTION
+{
+    MAV_ACTION_HOLD = 0,
+    MAV_ACTION_MOTORS_START = 1,
+    MAV_ACTION_LAUNCH = 2,
+    MAV_ACTION_RETURN = 3,
+    MAV_ACTION_EMCY_LAND = 4,
+    MAV_ACTION_EMCY_KILL = 5,
+    MAV_ACTION_CONFIRM_KILL = 6,
+    MAV_ACTION_CONTINUE = 7,
+    MAV_ACTION_MOTORS_STOP = 8,
+    MAV_ACTION_HALT = 9,
+    MAV_ACTION_SHUTDOWN = 10,
+    MAV_ACTION_REBOOT = 11,
+    MAV_ACTION_SET_MANUAL = 12,
+    MAV_ACTION_SET_AUTO = 13,
+    MAV_ACTION_STORAGE_READ = 14,
+    MAV_ACTION_STORAGE_WRITE = 15,
+    MAV_ACTION_CALIBRATE_RC = 16,
+    MAV_ACTION_CALIBRATE_GYRO = 17,
+    MAV_ACTION_CALIBRATE_MAG = 18,
+    MAV_ACTION_CALIBRATE_ACC = 19,
+    MAV_ACTION_CALIBRATE_PRESSURE = 20,
+    MAV_ACTION_REC_START = 21,
+    MAV_ACTION_REC_PAUSE = 22,
+    MAV_ACTION_REC_STOP = 23,
+    MAV_ACTION_TAKEOFF = 24,
+    MAV_ACTION_NAVIGATE = 25,
+    MAV_ACTION_LAND = 26,
+    MAV_ACTION_LOITER = 27,
+    MAV_ACTION_SET_ORIGIN = 28,
+    MAV_ACTION_RELAY_ON = 29,
+    MAV_ACTION_RELAY_OFF = 30,
+    MAV_ACTION_GET_IMAGE = 31,
+    MAV_ACTION_VIDEO_START = 32,
+    MAV_ACTION_VIDEO_STOP = 33,
+    MAV_ACTION_RESET_MAP = 34,
+    MAV_ACTION_RESET_PLAN = 35,
+    MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
+    MAV_ACTION_ASCEND_AT_RATE = 37,
+    MAV_ACTION_CHANGE_MODE = 38,
+    MAV_ACTION_LOITER_MAX_TURNS = 39,
+    MAV_ACTION_LOITER_MAX_TIME = 40,
+    MAV_ACTION_START_HILSIM = 41,
+    MAV_ACTION_STOP_HILSIM = 42,    
+    MAV_ACTION_NB        ///< Number of MAV actions
+};
+
+enum MAV_MODE
+{
+    MAV_MODE_UNINIT = 0,     ///< System is in undefined state
+    MAV_MODE_LOCKED = 1,     ///< Motors are blocked, system is safe
+    MAV_MODE_MANUAL = 2,     ///< System is allowed to be active, under manual (RC) control
+    MAV_MODE_GUIDED = 3,     ///< System is allowed to be active, under autonomous control, manual setpoint
+    MAV_MODE_AUTO =   4,     ///< System is allowed to be active, under autonomous control and navigation
+    MAV_MODE_TEST1 =  5,     ///< Generic test mode, for custom use
+    MAV_MODE_TEST2 =  6,     ///< Generic test mode, for custom use
+    MAV_MODE_TEST3 =  7,     ///< Generic test mode, for custom use
+    MAV_MODE_READY =  8,     ///< System is ready, motors are unblocked, but controllers are inactive
+    MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
+};
+
+enum MAV_STATE
+{
+    MAV_STATE_UNINIT = 0,
+    MAV_STATE_BOOT,
+    MAV_STATE_CALIBRATING,
+    MAV_STATE_STANDBY,
+    MAV_STATE_ACTIVE,
+    MAV_STATE_CRITICAL,
+    MAV_STATE_EMERGENCY,
+    MAV_STATE_HILSIM,
+    MAV_STATE_POWEROFF
+};
+
+enum MAV_NAV
+{
+    MAV_NAV_GROUNDED = 0,
+    MAV_NAV_LIFTOFF,
+    MAV_NAV_HOLD,
+    MAV_NAV_WAYPOINT,
+    MAV_NAV_VECTOR,
+    MAV_NAV_RETURNING,
+    MAV_NAV_LANDING,
+    MAV_NAV_LOST,
+    MAV_NAV_LOITER,
+    MAV_NAV_FREE_DRIFT
+};
+
+enum MAV_TYPE
+{
+    MAV_GENERIC = 0,
+    MAV_FIXED_WING = 1,
+    MAV_QUADROTOR = 2,
+    MAV_COAXIAL = 3,
+    MAV_HELICOPTER = 4,
+    MAV_GROUND = 5,
+    OCU = 6,
+    MAV_AIRSHIP = 7,
+    MAV_FREE_BALLOON = 8,
+    MAV_ROCKET = 9,
+    UGV_GROUND_ROVER = 10,
+    UGV_SURFACE_SHIP = 11
+};
+
+enum MAV_AUTOPILOT_TYPE
+{
+    MAV_AUTOPILOT_GENERIC = 0,
+    MAV_AUTOPILOT_PIXHAWK = 1,
+    MAV_AUTOPILOT_SLUGS = 2,
+    MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
+    MAV_AUTOPILOT_NONE = 4
+};
+
+enum MAV_COMPONENT
+{
+    MAV_COMP_ID_GPS,
+    MAV_COMP_ID_WAYPOINTPLANNER,
+    MAV_COMP_ID_BLOBTRACKER,
+    MAV_COMP_ID_PATHPLANNER,
+    MAV_COMP_ID_AIRSLAM,
+    MAV_COMP_ID_MAPPER,
+    MAV_COMP_ID_CAMERA,
+    MAV_COMP_ID_RADIO = 68,
+    MAV_COMP_ID_IMU = 200,
+    MAV_COMP_ID_IMU_2 = 201,
+    MAV_COMP_ID_IMU_3 = 202,
+    MAV_COMP_ID_UDP_BRIDGE = 240,
+    MAV_COMP_ID_UART_BRIDGE = 241,
+    MAV_COMP_ID_SYSTEM_CONTROL = 250
+};
+
+enum MAV_FRAME
+{
+    MAV_FRAME_GLOBAL = 0,
+    MAV_FRAME_LOCAL = 1,
+    MAV_FRAME_MISSION = 2,
+    MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
+    MAV_FRAME_LOCAL_ENU = 4
+};
+
+enum MAVLINK_DATA_STREAM_TYPE
+{
+    MAVLINK_DATA_STREAM_IMG_JPEG,
+    MAVLINK_DATA_STREAM_IMG_BMP,
+    MAVLINK_DATA_STREAM_IMG_RAW8U,
+    MAVLINK_DATA_STREAM_IMG_RAW32U,
+    MAVLINK_DATA_STREAM_IMG_PGM,
+    MAVLINK_DATA_STREAM_IMG_PNG
+};
+
+#ifndef MAVLINK_MAX_PAYLOAD_LEN
+// it is possible to override this, but be careful!
+#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
+#endif
+
+#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
+#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
+#define MAVLINK_NUM_CHECKSUM_BYTES 2
+#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
+
+#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
+
+typedef struct param_union {
+	union {
+    float param_float;
+    int32_t param_int32;
+    uint32_t param_uint32;
+	};
+	uint8_t type;
+} mavlink_param_union_t;
+
+typedef struct __mavlink_system {
+    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
+    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
+    uint8_t type;    ///< Unused, can be used by user to store the system's type
+    uint8_t state;   ///< Unused, can be used by user to store the system's state
+    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
+    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
+} mavlink_system_t;
+
+typedef struct __mavlink_message {
+	uint16_t checksum; /// sent at end of packet
+	uint8_t magic;   ///< protocol magic marker
+	uint8_t len;     ///< Length of payload
+	uint8_t seq;     ///< Sequence of packet
+	uint8_t sysid;   ///< ID of message sender system/aircraft
+	uint8_t compid;  ///< ID of the message sender component
+	uint8_t msgid;   ///< ID of message in payload
+	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
+} mavlink_message_t;
+
+typedef enum {
+	MAVLINK_TYPE_CHAR     = 0,
+	MAVLINK_TYPE_UINT8_T  = 1,
+	MAVLINK_TYPE_INT8_T   = 2,
+	MAVLINK_TYPE_UINT16_T = 3,
+	MAVLINK_TYPE_INT16_T  = 4,
+	MAVLINK_TYPE_UINT32_T = 5,
+	MAVLINK_TYPE_INT32_T  = 6,
+	MAVLINK_TYPE_UINT64_T = 7,
+	MAVLINK_TYPE_INT64_T  = 8,
+	MAVLINK_TYPE_FLOAT    = 9,
+	MAVLINK_TYPE_DOUBLE   = 10
+} mavlink_message_type_t;
+
+#define MAVLINK_MAX_FIELDS 64
+
+typedef struct __mavlink_field_info {
+	const char *name;             // name of this field
+	const char *print_format;     // printing format hint, or NULL
+	mavlink_message_type_t type;  // type of this field
+	unsigned array_length;        // if non-zero, field is an array
+	unsigned wire_offset;         // offset of each field in the payload
+	unsigned structure_offset;    // offset in a C structure
+} mavlink_field_info_t;
+
+// note that in this structure the order of fields is the order
+// in the XML file, not necessary the wire order
+typedef struct __mavlink_message_info {
+	const char *name;                                      // name of the message
+	unsigned num_fields;                                   // how many fields in this message
+	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
+} mavlink_message_info_t;
+
+#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
+#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
+
+// checksum is immediately after the payload bytes
+#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
+#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
+
+typedef enum {
+    MAVLINK_COMM_0,
+    MAVLINK_COMM_1,
+    MAVLINK_COMM_2,
+    MAVLINK_COMM_3
+} mavlink_channel_t;
+
+/*
+ * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
+ * of buffers they will use. If more are used, then the result will be
+ * a stack overrun
+ */
+#ifndef MAVLINK_COMM_NUM_BUFFERS
+#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+# define MAVLINK_COMM_NUM_BUFFERS 16
+#else
+# define MAVLINK_COMM_NUM_BUFFERS 4
+#endif
+#endif
+
+typedef enum {
+    MAVLINK_PARSE_STATE_UNINIT=0,
+    MAVLINK_PARSE_STATE_IDLE,
+    MAVLINK_PARSE_STATE_GOT_STX,
+    MAVLINK_PARSE_STATE_GOT_SEQ,
+    MAVLINK_PARSE_STATE_GOT_LENGTH,
+    MAVLINK_PARSE_STATE_GOT_SYSID,
+    MAVLINK_PARSE_STATE_GOT_COMPID,
+    MAVLINK_PARSE_STATE_GOT_MSGID,
+    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
+    MAVLINK_PARSE_STATE_GOT_CRC1
+} mavlink_parse_state_t; ///< The state machine for the comm parser
+
+typedef struct __mavlink_status {
+    uint8_t msg_received;               ///< Number of received messages
+    uint8_t buffer_overrun;             ///< Number of buffer overruns
+    uint8_t parse_error;                ///< Number of parse errors
+    mavlink_parse_state_t parse_state;  ///< Parsing state machine
+    uint8_t packet_idx;                 ///< Index in current packet
+    uint8_t current_rx_seq;             ///< Sequence number of last packet received
+    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
+    uint16_t packet_rx_success_count;   ///< Received packets
+    uint16_t packet_rx_drop_count;      ///< Number of packet drops
+} mavlink_status_t;
+
+#define MAVLINK_BIG_ENDIAN 0
+#define MAVLINK_LITTLE_ENDIAN 1
+
+#endif /* MAVLINK_TYPES_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h
new file mode 100644
index 000000000..05195c369
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h
@@ -0,0 +1,319 @@
+#ifndef  _MAVLINK_PROTOCOL_H_
+#define  _MAVLINK_PROTOCOL_H_
+
+#include "string.h"
+#include "mavlink_types.h"
+
+/* 
+   If you want MAVLink on a system that is native big-endian,
+   you need to define NATIVE_BIG_ENDIAN
+*/
+#ifdef NATIVE_BIG_ENDIAN
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
+#else
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
+#endif
+
+#ifndef MAVLINK_STACK_BUFFER
+#define MAVLINK_STACK_BUFFER 0
+#endif
+
+#ifndef MAVLINK_AVOID_GCC_STACK_BUG
+# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
+#endif
+
+#ifndef MAVLINK_ASSERT
+#define MAVLINK_ASSERT(x)
+#endif
+
+#ifndef MAVLINK_START_UART_SEND
+#define MAVLINK_START_UART_SEND(chan, length)
+#endif
+
+#ifndef MAVLINK_END_UART_SEND
+#define MAVLINK_END_UART_SEND(chan, length)
+#endif
+
+#ifdef MAVLINK_SEPARATE_HELPERS
+#define MAVLINK_HELPER
+#else
+#define MAVLINK_HELPER static inline
+#include "mavlink_helpers.h"
+#endif // MAVLINK_SEPARATE_HELPERS
+
+/* always include the prototypes to ensure we don't get out of sync */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length, uint8_t crc_extra);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length, uint8_t crc_extra);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
+						    uint8_t length, uint8_t crc_extra);
+#endif
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length);
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
+#endif // MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, 
+					       uint8_t* r_bit_index, uint8_t* buffer);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+#endif
+
+/**
+ * @brief Get the required buffer size for this message
+ */
+static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
+{
+	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+static inline void byte_swap_2(char *dst, const char *src)
+{
+	dst[0] = src[1];
+	dst[1] = src[0];
+}
+static inline void byte_swap_4(char *dst, const char *src)
+{
+	dst[0] = src[3];
+	dst[1] = src[2];
+	dst[2] = src[1];
+	dst[3] = src[0];
+}
+static inline void byte_swap_8(char *dst, const char *src)
+{
+	dst[0] = src[7];
+	dst[1] = src[6];
+	dst[2] = src[5];
+	dst[3] = src[4];
+	dst[4] = src[3];
+	dst[5] = src[2];
+	dst[6] = src[1];
+	dst[7] = src[0];
+}
+#elif !MAVLINK_ALIGNED_FIELDS
+static inline void byte_copy_2(char *dst, const char *src)
+{
+	dst[0] = src[0];
+	dst[1] = src[1];
+}
+static inline void byte_copy_4(char *dst, const char *src)
+{
+	dst[0] = src[0];
+	dst[1] = src[1];
+	dst[2] = src[2];
+	dst[3] = src[3];
+}
+static inline void byte_copy_8(char *dst, const char *src)
+{
+	memcpy(dst, src, 8);
+}
+#endif
+
+#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
+#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b
+#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&buf[wire_offset], (const char *)&b)
+#else
+#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
+#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&buf[wire_offset] = b
+#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
+#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&buf[wire_offset] = b
+#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
+#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&buf[wire_offset] = b
+#define _mav_put_float(buf, wire_offset, b)    *(float *)&buf[wire_offset] = b
+#define _mav_put_double(buf, wire_offset, b)   *(double *)&buf[wire_offset] = b
+#endif
+
+/*
+  like memcpy(), but if src is NULL, do a memset to zero
+ */
+static void mav_array_memcpy(void *dest, const void *src, size_t n)
+{
+	if (src == NULL) {
+		memset(dest, 0, n);
+	} else {
+		memcpy(dest, src, n);
+	}
+}
+
+/*
+ * Place a char array into a buffer
+ */
+static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+}
+
+/*
+ * Place a uint8_t array into a buffer
+ */
+static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+}
+
+/*
+ * Place a int8_t array into a buffer
+ */
+static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+	if (b == NULL) { \
+		memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
+	} else { \
+		uint16_t i; \
+		for (i=0; i<array_length; i++) { \
+			_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
+		} \
+	} \
+}
+#else
+#define _MAV_PUT_ARRAY(TYPE, V)					\
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+	mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE));	\
+}
+#endif
+
+_MAV_PUT_ARRAY(uint16_t, u16)
+_MAV_PUT_ARRAY(uint32_t, u32)
+_MAV_PUT_ARRAY(uint64_t, u64)
+_MAV_PUT_ARRAY(int16_t,  i16)
+_MAV_PUT_ARRAY(int32_t,  i32)
+_MAV_PUT_ARRAY(int64_t,  i64)
+_MAV_PUT_ARRAY(float,    f)
+_MAV_PUT_ARRAY(double,   d)
+
+#define _MAV_RETURN_char(msg, wire_offset)             _MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_int8_t(msg, wire_offset)   (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t,  2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t,  4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t,  8)
+_MAV_MSG_RETURN_TYPE(float,    4)
+_MAV_MSG_RETURN_TYPE(double,   8)
+
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t,  2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t,  4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t,  8)
+_MAV_MSG_RETURN_TYPE(float,    4)
+_MAV_MSG_RETURN_TYPE(double,   8)
+#else // nicely aligned, no swap
+#define _MAV_MSG_RETURN_TYPE(TYPE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
+
+_MAV_MSG_RETURN_TYPE(uint16_t)
+_MAV_MSG_RETURN_TYPE(int16_t)
+_MAV_MSG_RETURN_TYPE(uint32_t)
+_MAV_MSG_RETURN_TYPE(int32_t)
+_MAV_MSG_RETURN_TYPE(uint64_t)
+_MAV_MSG_RETURN_TYPE(int64_t)
+_MAV_MSG_RETURN_TYPE(float)
+_MAV_MSG_RETURN_TYPE(double)
+#endif // MAVLINK_NEED_BYTE_SWAP
+
+static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, 
+						     uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, 
+							uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, 
+						       uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+							 uint8_t array_length, uint8_t wire_offset) \
+{ \
+	uint16_t i; \
+	for (i=0; i<array_length; i++) { \
+		value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
+	} \
+	return array_length*sizeof(value[0]); \
+}
+#else
+#define _MAV_RETURN_ARRAY(TYPE, V)					\
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+							 uint8_t array_length, uint8_t wire_offset) \
+{ \
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
+	return array_length*sizeof(TYPE); \
+}
+#endif
+
+_MAV_RETURN_ARRAY(uint16_t, u16)
+_MAV_RETURN_ARRAY(uint32_t, u32)
+_MAV_RETURN_ARRAY(uint64_t, u64)
+_MAV_RETURN_ARRAY(int16_t,  i16)
+_MAV_RETURN_ARRAY(int32_t,  i32)
+_MAV_RETURN_ARRAY(int64_t,  i64)
+_MAV_RETURN_ARRAY(float,    f)
+_MAV_RETURN_ARRAY(double,   d)
+
+#endif // _MAVLINK_PROTOCOL_H_
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h
new file mode 100644
index 000000000..5b91bfe2d
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h
@@ -0,0 +1,27 @@
+/** @file
+ *	@brief MAVLink comm protocol built from test.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 85
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 0
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 0
+#endif
+
+#include "version.h"
+#include "test.h"
+
+#endif // MAVLINK_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
new file mode 100644
index 000000000..50b4fd6bc
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
@@ -0,0 +1,610 @@
+// MESSAGE TEST_TYPES PACKING
+
+#define MAVLINK_MSG_ID_TEST_TYPES 0
+
+typedef struct __mavlink_test_types_t
+{
+ char c; ///< char
+ char s[10]; ///< string
+ uint8_t u8; ///< uint8_t
+ uint16_t u16; ///< uint16_t
+ uint32_t u32; ///< uint32_t
+ uint64_t u64; ///< uint64_t
+ int8_t s8; ///< int8_t
+ int16_t s16; ///< int16_t
+ int32_t s32; ///< int32_t
+ int64_t s64; ///< int64_t
+ float f; ///< float
+ double d; ///< double
+ uint8_t u8_array[3]; ///< uint8_t_array
+ uint16_t u16_array[3]; ///< uint16_t_array
+ uint32_t u32_array[3]; ///< uint32_t_array
+ uint64_t u64_array[3]; ///< uint64_t_array
+ int8_t s8_array[3]; ///< int8_t_array
+ int16_t s16_array[3]; ///< int16_t_array
+ int32_t s32_array[3]; ///< int32_t_array
+ int64_t s64_array[3]; ///< int64_t_array
+ float f_array[3]; ///< float_array
+ double d_array[3]; ///< double_array
+} mavlink_test_types_t;
+
+#define MAVLINK_MSG_ID_TEST_TYPES_LEN 179
+#define MAVLINK_MSG_ID_0_LEN 179
+
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S_LEN 10
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U8_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U16_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U32_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U64_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S8_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S16_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S32_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S64_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_F_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_D_ARRAY_LEN 3
+
+#define MAVLINK_MESSAGE_INFO_TEST_TYPES { \
+	"TEST_TYPES", \
+	22, \
+	{  { "c", NULL, MAVLINK_TYPE_CHAR, 0, 0, offsetof(mavlink_test_types_t, c) }, \
+         { "s", NULL, MAVLINK_TYPE_CHAR, 10, 1, offsetof(mavlink_test_types_t, s) }, \
+         { "u8", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_test_types_t, u8) }, \
+         { "u16", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_test_types_t, u16) }, \
+         { "u32", "0x%08x", MAVLINK_TYPE_UINT32_T, 0, 14, offsetof(mavlink_test_types_t, u32) }, \
+         { "u64", NULL, MAVLINK_TYPE_UINT64_T, 0, 18, offsetof(mavlink_test_types_t, u64) }, \
+         { "s8", NULL, MAVLINK_TYPE_INT8_T, 0, 26, offsetof(mavlink_test_types_t, s8) }, \
+         { "s16", NULL, MAVLINK_TYPE_INT16_T, 0, 27, offsetof(mavlink_test_types_t, s16) }, \
+         { "s32", NULL, MAVLINK_TYPE_INT32_T, 0, 29, offsetof(mavlink_test_types_t, s32) }, \
+         { "s64", NULL, MAVLINK_TYPE_INT64_T, 0, 33, offsetof(mavlink_test_types_t, s64) }, \
+         { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 41, offsetof(mavlink_test_types_t, f) }, \
+         { "d", NULL, MAVLINK_TYPE_DOUBLE, 0, 45, offsetof(mavlink_test_types_t, d) }, \
+         { "u8_array", NULL, MAVLINK_TYPE_UINT8_T, 3, 53, offsetof(mavlink_test_types_t, u8_array) }, \
+         { "u16_array", NULL, MAVLINK_TYPE_UINT16_T, 3, 56, offsetof(mavlink_test_types_t, u16_array) }, \
+         { "u32_array", NULL, MAVLINK_TYPE_UINT32_T, 3, 62, offsetof(mavlink_test_types_t, u32_array) }, \
+         { "u64_array", NULL, MAVLINK_TYPE_UINT64_T, 3, 74, offsetof(mavlink_test_types_t, u64_array) }, \
+         { "s8_array", NULL, MAVLINK_TYPE_INT8_T, 3, 98, offsetof(mavlink_test_types_t, s8_array) }, \
+         { "s16_array", NULL, MAVLINK_TYPE_INT16_T, 3, 101, offsetof(mavlink_test_types_t, s16_array) }, \
+         { "s32_array", NULL, MAVLINK_TYPE_INT32_T, 3, 107, offsetof(mavlink_test_types_t, s32_array) }, \
+         { "s64_array", NULL, MAVLINK_TYPE_INT64_T, 3, 119, offsetof(mavlink_test_types_t, s64_array) }, \
+         { "f_array", NULL, MAVLINK_TYPE_FLOAT, 3, 143, offsetof(mavlink_test_types_t, f_array) }, \
+         { "d_array", NULL, MAVLINK_TYPE_DOUBLE, 3, 155, offsetof(mavlink_test_types_t, d_array) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a test_types message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_char(buf, 0, c);
+	_mav_put_uint8_t(buf, 11, u8);
+	_mav_put_uint16_t(buf, 12, u16);
+	_mav_put_uint32_t(buf, 14, u32);
+	_mav_put_uint64_t(buf, 18, u64);
+	_mav_put_int8_t(buf, 26, s8);
+	_mav_put_int16_t(buf, 27, s16);
+	_mav_put_int32_t(buf, 29, s32);
+	_mav_put_int64_t(buf, 33, s64);
+	_mav_put_float(buf, 41, f);
+	_mav_put_double(buf, 45, d);
+	_mav_put_char_array(buf, 1, s, 10);
+	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
+	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
+	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
+	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
+	_mav_put_int8_t_array(buf, 98, s8_array, 3);
+	_mav_put_int16_t_array(buf, 101, s16_array, 3);
+	_mav_put_int32_t_array(buf, 107, s32_array, 3);
+	_mav_put_int64_t_array(buf, 119, s64_array, 3);
+	_mav_put_float_array(buf, 143, f_array, 3);
+	_mav_put_double_array(buf, 155, d_array, 3);
+        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+#else
+	mavlink_test_types_t packet;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.u16 = u16;
+	packet.u32 = u32;
+	packet.u64 = u64;
+	packet.s8 = s8;
+	packet.s16 = s16;
+	packet.s32 = s32;
+	packet.s64 = s64;
+	packet.f = f;
+	packet.d = d;
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
+	return mavlink_finalize_message(msg, system_id, component_id, 179);
+}
+
+/**
+ * @brief Pack a test_types message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_char(buf, 0, c);
+	_mav_put_uint8_t(buf, 11, u8);
+	_mav_put_uint16_t(buf, 12, u16);
+	_mav_put_uint32_t(buf, 14, u32);
+	_mav_put_uint64_t(buf, 18, u64);
+	_mav_put_int8_t(buf, 26, s8);
+	_mav_put_int16_t(buf, 27, s16);
+	_mav_put_int32_t(buf, 29, s32);
+	_mav_put_int64_t(buf, 33, s64);
+	_mav_put_float(buf, 41, f);
+	_mav_put_double(buf, 45, d);
+	_mav_put_char_array(buf, 1, s, 10);
+	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
+	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
+	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
+	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
+	_mav_put_int8_t_array(buf, 98, s8_array, 3);
+	_mav_put_int16_t_array(buf, 101, s16_array, 3);
+	_mav_put_int32_t_array(buf, 107, s32_array, 3);
+	_mav_put_int64_t_array(buf, 119, s64_array, 3);
+	_mav_put_float_array(buf, 143, f_array, 3);
+	_mav_put_double_array(buf, 155, d_array, 3);
+        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+#else
+	mavlink_test_types_t packet;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.u16 = u16;
+	packet.u32 = u32;
+	packet.u64 = u64;
+	packet.s8 = s8;
+	packet.s16 = s16;
+	packet.s32 = s32;
+	packet.s64 = s64;
+	packet.f = f;
+	packet.d = d;
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179);
+}
+
+/**
+ * @brief Encode a test_types struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param test_types C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types)
+{
+	return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array);
+}
+
+/**
+ * @brief Send a test_types message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_char(buf, 0, c);
+	_mav_put_uint8_t(buf, 11, u8);
+	_mav_put_uint16_t(buf, 12, u16);
+	_mav_put_uint32_t(buf, 14, u32);
+	_mav_put_uint64_t(buf, 18, u64);
+	_mav_put_int8_t(buf, 26, s8);
+	_mav_put_int16_t(buf, 27, s16);
+	_mav_put_int32_t(buf, 29, s32);
+	_mav_put_int64_t(buf, 33, s64);
+	_mav_put_float(buf, 41, f);
+	_mav_put_double(buf, 45, d);
+	_mav_put_char_array(buf, 1, s, 10);
+	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
+	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
+	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
+	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
+	_mav_put_int8_t_array(buf, 98, s8_array, 3);
+	_mav_put_int16_t_array(buf, 101, s16_array, 3);
+	_mav_put_int32_t_array(buf, 107, s32_array, 3);
+	_mav_put_int64_t_array(buf, 119, s64_array, 3);
+	_mav_put_float_array(buf, 143, f_array, 3);
+	_mav_put_double_array(buf, 155, d_array, 3);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179);
+#else
+	mavlink_test_types_t packet;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.u16 = u16;
+	packet.u32 = u32;
+	packet.u64 = u64;
+	packet.s8 = s8;
+	packet.s16 = s16;
+	packet.s32 = s32;
+	packet.s64 = s64;
+	packet.f = f;
+	packet.d = d;
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179);
+#endif
+}
+
+#endif
+
+// MESSAGE TEST_TYPES UNPACKING
+
+
+/**
+ * @brief Get field c from test_types message
+ *
+ * @return char
+ */
+static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_char(msg,  0);
+}
+
+/**
+ * @brief Get field s from test_types message
+ *
+ * @return string
+ */
+static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s)
+{
+	return _MAV_RETURN_char_array(msg, s, 10,  1);
+}
+
+/**
+ * @brief Get field u8 from test_types message
+ *
+ * @return uint8_t
+ */
+static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  11);
+}
+
+/**
+ * @brief Get field u16 from test_types message
+ *
+ * @return uint16_t
+ */
+static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  12);
+}
+
+/**
+ * @brief Get field u32 from test_types message
+ *
+ * @return uint32_t
+ */
+static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  14);
+}
+
+/**
+ * @brief Get field u64 from test_types message
+ *
+ * @return uint64_t
+ */
+static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  18);
+}
+
+/**
+ * @brief Get field s8 from test_types message
+ *
+ * @return int8_t
+ */
+static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int8_t(msg,  26);
+}
+
+/**
+ * @brief Get field s16 from test_types message
+ *
+ * @return int16_t
+ */
+static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  27);
+}
+
+/**
+ * @brief Get field s32 from test_types message
+ *
+ * @return int32_t
+ */
+static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  29);
+}
+
+/**
+ * @brief Get field s64 from test_types message
+ *
+ * @return int64_t
+ */
+static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int64_t(msg,  33);
+}
+
+/**
+ * @brief Get field f from test_types message
+ *
+ * @return float
+ */
+static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  41);
+}
+
+/**
+ * @brief Get field d from test_types message
+ *
+ * @return double
+ */
+static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_double(msg,  45);
+}
+
+/**
+ * @brief Get field u8_array from test_types message
+ *
+ * @return uint8_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array)
+{
+	return _MAV_RETURN_uint8_t_array(msg, u8_array, 3,  53);
+}
+
+/**
+ * @brief Get field u16_array from test_types message
+ *
+ * @return uint16_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array)
+{
+	return _MAV_RETURN_uint16_t_array(msg, u16_array, 3,  56);
+}
+
+/**
+ * @brief Get field u32_array from test_types message
+ *
+ * @return uint32_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array)
+{
+	return _MAV_RETURN_uint32_t_array(msg, u32_array, 3,  62);
+}
+
+/**
+ * @brief Get field u64_array from test_types message
+ *
+ * @return uint64_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array)
+{
+	return _MAV_RETURN_uint64_t_array(msg, u64_array, 3,  74);
+}
+
+/**
+ * @brief Get field s8_array from test_types message
+ *
+ * @return int8_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array)
+{
+	return _MAV_RETURN_int8_t_array(msg, s8_array, 3,  98);
+}
+
+/**
+ * @brief Get field s16_array from test_types message
+ *
+ * @return int16_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array)
+{
+	return _MAV_RETURN_int16_t_array(msg, s16_array, 3,  101);
+}
+
+/**
+ * @brief Get field s32_array from test_types message
+ *
+ * @return int32_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array)
+{
+	return _MAV_RETURN_int32_t_array(msg, s32_array, 3,  107);
+}
+
+/**
+ * @brief Get field s64_array from test_types message
+ *
+ * @return int64_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array)
+{
+	return _MAV_RETURN_int64_t_array(msg, s64_array, 3,  119);
+}
+
+/**
+ * @brief Get field f_array from test_types message
+ *
+ * @return float_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array)
+{
+	return _MAV_RETURN_float_array(msg, f_array, 3,  143);
+}
+
+/**
+ * @brief Get field d_array from test_types message
+ *
+ * @return double_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array)
+{
+	return _MAV_RETURN_double_array(msg, d_array, 3,  155);
+}
+
+/**
+ * @brief Decode a test_types message into a struct
+ *
+ * @param msg The message to decode
+ * @param test_types C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	test_types->c = mavlink_msg_test_types_get_c(msg);
+	mavlink_msg_test_types_get_s(msg, test_types->s);
+	test_types->u8 = mavlink_msg_test_types_get_u8(msg);
+	test_types->u16 = mavlink_msg_test_types_get_u16(msg);
+	test_types->u32 = mavlink_msg_test_types_get_u32(msg);
+	test_types->u64 = mavlink_msg_test_types_get_u64(msg);
+	test_types->s8 = mavlink_msg_test_types_get_s8(msg);
+	test_types->s16 = mavlink_msg_test_types_get_s16(msg);
+	test_types->s32 = mavlink_msg_test_types_get_s32(msg);
+	test_types->s64 = mavlink_msg_test_types_get_s64(msg);
+	test_types->f = mavlink_msg_test_types_get_f(msg);
+	test_types->d = mavlink_msg_test_types_get_d(msg);
+	mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array);
+	mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array);
+	mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array);
+	mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array);
+	mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array);
+	mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array);
+	mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array);
+	mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array);
+	mavlink_msg_test_types_get_f_array(msg, test_types->f_array);
+	mavlink_msg_test_types_get_d_array(msg, test_types->d_array);
+#else
+	memcpy(test_types, _MAV_PAYLOAD(msg), 179);
+#endif
+}
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h
new file mode 100644
index 000000000..23ee65986
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h
@@ -0,0 +1,53 @@
+/** @file
+ *	@brief MAVLink comm protocol generated from test.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef TEST_H
+#define TEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_INFO
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_TEST
+
+
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+// ENUM DEFINITIONS
+
+
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_test_types.h"
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // TEST_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h
new file mode 100644
index 000000000..9b0fc041b
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h
@@ -0,0 +1,120 @@
+/** @file
+ *	@brief MAVLink comm protocol testsuite generated from test.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef TEST_TESTSUITE_H
+#define TEST_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+
+static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+
+	mavlink_test_test(system_id, component_id, last_msg);
+}
+#endif
+
+
+
+
+static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_test_types_t packet_in = {
+		'A',
+	"BCDEFGHIJ",
+	230,
+	17859,
+	963498192,
+	93372036854776941ULL,
+	211,
+	18639,
+	963498972,
+	93372036854777886LL,
+	304.0,
+	438.0,
+	{ 228, 229, 230 },
+	{ 20147, 20148, 20149 },
+	{ 963500688, 963500689, 963500690 },
+	{ 93372036854780469, 93372036854780470, 93372036854780471 },
+	{ 171, 172, 173 },
+	{ 22487, 22488, 22489 },
+	{ 963503028, 963503029, 963503030 },
+	{ 93372036854783304, 93372036854783305, 93372036854783306 },
+	{ 1018.0, 1019.0, 1020.0 },
+	{ 1208.0, 1209.0, 1210.0 },
+	};
+	mavlink_test_types_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.c = packet_in.c;
+        	packet1.u8 = packet_in.u8;
+        	packet1.u16 = packet_in.u16;
+        	packet1.u32 = packet_in.u32;
+        	packet1.u64 = packet_in.u64;
+        	packet1.s8 = packet_in.s8;
+        	packet1.s16 = packet_in.s16;
+        	packet1.s32 = packet_in.s32;
+        	packet1.s64 = packet_in.s64;
+        	packet1.f = packet_in.f;
+        	packet1.d = packet_in.d;
+        
+        	mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
+        	mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
+        	mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
+        	mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
+        	mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
+        	mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
+        	mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
+        	mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
+        	mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
+        	mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
+        	mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_test_types_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_test_test_types(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // TEST_TESTSUITE_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h
new file mode 100644
index 000000000..64ca0cb38
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h
@@ -0,0 +1,12 @@
+/** @file
+ *	@brief MAVLink comm protocol built from test.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:54 2012"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
+ 
+#endif // MAVLINK_VERSION_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h
new file mode 100644
index 000000000..4f4cce02f
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h
@@ -0,0 +1,89 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+
+/**
+ *
+ *  CALCULATE THE CHECKSUM
+ *
+ */
+
+#define X25_INIT_CRC 0xffff
+#define X25_VALIDATE_CRC 0xf0b8
+
+/**
+ * @brief Accumulate the X.25 CRC by adding one char at a time.
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new char to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
+{
+        /*Accumulate one byte of data into the CRC*/
+        uint8_t tmp;
+
+        tmp = data ^ (uint8_t)(*crcAccum &0xff);
+        tmp ^= (tmp<<4);
+        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
+}
+
+/**
+ * @brief Initiliaze the buffer for the X.25 CRC
+ *
+ * @param crcAccum the 16 bit X.25 CRC
+ */
+static inline void crc_init(uint16_t* crcAccum)
+{
+        *crcAccum = X25_INIT_CRC;
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a byte buffer
+ *
+ * @param  pBuffer buffer containing the byte array to hash
+ * @param  length  length of the byte array
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
+{
+        uint16_t crcTmp;
+        crc_init(&crcTmp);
+	while (length--) {
+                crc_accumulate(*pBuffer++, &crcTmp);
+        }
+        return crcTmp;
+}
+
+/**
+ * @brief Accumulate the X.25 CRC by adding an array of bytes
+ *
+ * The checksum function adds the hash of one char at a time to the
+ * 16 bit checksum (uint16_t).
+ *
+ * @param data new bytes to hash
+ * @param crcAccum the already accumulated checksum
+ **/
+static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
+{
+	const uint8_t *p = (const uint8_t *)pBuffer;
+	while (length--) {
+                crc_accumulate(*p++, crcAccum);
+        }
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h
new file mode 100644
index 000000000..39d6930e5
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h
@@ -0,0 +1,507 @@
+#ifndef  _MAVLINK_HELPERS_H_
+#define  _MAVLINK_HELPERS_H_
+
+#include "string.h"
+#include "checksum.h"
+#include "mavlink_types.h"
+
+#ifndef MAVLINK_HELPER
+#define MAVLINK_HELPER
+#endif
+
+/*
+  internal function to give access to the channel status for each channel
+ */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+{
+	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_status[chan];
+}
+
+/*
+ internal function to give access to the channel buffer for each channel
+ */
+MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
+{
+	
+#if MAVLINK_EXTERNAL_RX_BUFFER
+	// No m_mavlink_message array defined in function,
+	// has to be defined externally
+#ifndef m_mavlink_message
+#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
+#endif
+#else
+	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
+#endif
+	return &m_mavlink_buffer[chan];
+}
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set. This function
+ * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
+ * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
+ *
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length)
+#endif
+{
+	// This code part is the same for all messages;
+	uint16_t checksum;
+	msg->magic = MAVLINK_STX;
+	msg->len = length;
+	msg->sysid = system_id;
+	msg->compid = component_id;
+	// One sequence number per component
+	msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
+	mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
+	checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
+#if MAVLINK_CRC_EXTRA
+	crc_accumulate(crc_extra, &checksum);
+#endif
+	mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
+	mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
+
+	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+
+/**
+ * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length, uint8_t crc_extra)
+{
+	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
+}
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length)
+{
+	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
+}
+#endif
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment and send
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
+						    uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
+#endif
+{
+	uint16_t checksum;
+	uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
+	uint8_t ck[2];
+	mavlink_status_t *status = mavlink_get_channel_status(chan);
+	buf[0] = MAVLINK_STX;
+	buf[1] = length;
+	buf[2] = status->current_tx_seq;
+	buf[3] = mavlink_system.sysid;
+	buf[4] = mavlink_system.compid;
+	buf[5] = msgid;
+	status->current_tx_seq++;
+	checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
+	crc_accumulate_buffer(&checksum, packet, length);
+#if MAVLINK_CRC_EXTRA
+	crc_accumulate(crc_extra, &checksum);
+#endif
+	ck[0] = (uint8_t)(checksum & 0xFF);
+	ck[1] = (uint8_t)(checksum >> 8);
+
+	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+	_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
+	_mavlink_send_uart(chan, packet, length);
+	_mavlink_send_uart(chan, (const char *)ck, 2);
+	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+/**
+ * @brief Pack a message to send it over a serial byte stream
+ */
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
+{
+	memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
+	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
+}
+
+union __mavlink_bitfield {
+	uint8_t uint8;
+	int8_t int8;
+	uint16_t uint16;
+	int16_t int16;
+	uint32_t uint32;
+	int32_t int32;
+};
+
+
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
+{
+	crc_init(&msg->checksum);
+}
+
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
+{
+	crc_accumulate(c, &msg->checksum);
+}
+
+/**
+ * This is a convenience function which handles the complete MAVLink parsing.
+ * the function will parse one byte at a time and return the complete packet once
+ * it could be successfully decoded. Checksum and other failures will be silently
+ * ignored.
+ *
+ * @param chan     ID of the current channel. This allows to parse different channels with this function.
+ *                 a channel is not a physical message channel like a serial port, but a logic partition of
+ *                 the communication streams in this case. COMM_NB is the limit for the number of channels
+ *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
+ * @param c        The char to barse
+ *
+ * @param returnMsg NULL if no message could be decoded, the message data else
+ * @return 0 if no message could be decoded, 1 else
+ *
+ * A typical use scenario of this function call is:
+ *
+ * @code
+ * #include <inttypes.h> // For fixed-width uint8_t type
+ *
+ * mavlink_message_t msg;
+ * int chan = 0;
+ *
+ *
+ * while(serial.bytesAvailable > 0)
+ * {
+ *   uint8_t byte = serial.getNextByte();
+ *   if (mavlink_parse_char(chan, byte, &msg))
+ *     {
+ *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
+ *     }
+ * }
+ *
+ *
+ * @endcode
+ */
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
+{
+        /*
+	  default message crc function. You can override this per-system to
+	  put this data in a different memory segment
+	*/
+#if MAVLINK_CRC_EXTRA
+#ifndef MAVLINK_MESSAGE_CRC
+	static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
+#endif
+#endif
+
+	mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
+	mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
+	int bufferIndex = 0;
+
+	status->msg_received = 0;
+
+	switch (status->parse_state)
+	{
+	case MAVLINK_PARSE_STATE_UNINIT:
+	case MAVLINK_PARSE_STATE_IDLE:
+		if (c == MAVLINK_STX)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+			rxmsg->len = 0;
+			rxmsg->magic = c;
+			mavlink_start_checksum(rxmsg);
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_STX:
+			if (status->msg_received 
+/* Support shorter buffers than the
+   default maximum packet size */
+#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
+				|| c > MAVLINK_MAX_PAYLOAD_LEN
+#endif
+				)
+		{
+			status->buffer_overrun++;
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+		}
+		else
+		{
+			// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
+			rxmsg->len = c;
+			status->packet_idx = 0;
+			mavlink_update_checksum(rxmsg, c);
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_LENGTH:
+		rxmsg->seq = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_SEQ:
+		rxmsg->sysid = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_SYSID:
+		rxmsg->compid = c;
+		mavlink_update_checksum(rxmsg, c);
+		status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_COMPID:
+		rxmsg->msgid = c;
+		mavlink_update_checksum(rxmsg, c);
+		if (rxmsg->len == 0)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+		}
+		else
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_MSGID:
+		_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
+		mavlink_update_checksum(rxmsg, c);
+		if (status->packet_idx == rxmsg->len)
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
+#if MAVLINK_CRC_EXTRA
+		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
+#endif
+		if (c != (rxmsg->checksum & 0xFF)) {
+			// Check first checksum byte
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			if (c == MAVLINK_STX)
+			{
+				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+				rxmsg->len = 0;
+				mavlink_start_checksum(rxmsg);
+			}
+		}
+		else
+		{
+			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
+			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
+		}
+		break;
+
+	case MAVLINK_PARSE_STATE_GOT_CRC1:
+		if (c != (rxmsg->checksum >> 8)) {
+			// Check second checksum byte
+			status->parse_error++;
+			status->msg_received = 0;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			if (c == MAVLINK_STX)
+			{
+				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+				rxmsg->len = 0;
+				mavlink_start_checksum(rxmsg);
+			}
+		}
+		else
+		{
+			// Successfully got message
+			status->msg_received = 1;
+			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
+			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
+		}
+		break;
+	}
+
+	bufferIndex++;
+	// If a message has been sucessfully decoded, check index
+	if (status->msg_received == 1)
+	{
+		//while(status->current_seq != rxmsg->seq)
+		//{
+		//	status->packet_rx_drop_count++;
+		//               status->current_seq++;
+		//}
+		status->current_rx_seq = rxmsg->seq;
+		// Initial condition: If no packet has been received so far, drop count is undefined
+		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+		// Count this packet as received
+		status->packet_rx_success_count++;
+	}
+
+	r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
+	r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
+	r_mavlink_status->packet_rx_drop_count = status->parse_error;
+	status->parse_error = 0;
+	return status->msg_received;
+}
+
+/**
+ * @brief Put a bitfield of length 1-32 bit into the buffer
+ *
+ * @param b the value to add, will be encoded in the bitfield
+ * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
+ * @param packet_index the position in the packet (the index of the first byte to use)
+ * @param bit_index the position in the byte (the index of the first bit to use)
+ * @param buffer packet buffer to write into
+ * @return new position of the last used byte in the buffer
+ */
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
+{
+	uint16_t bits_remain = bits;
+	// Transform number into network order
+	int32_t v;
+	uint8_t i_bit_index, i_byte_index, curr_bits_n;
+#if MAVLINK_NEED_BYTE_SWAP
+	union {
+		int32_t i;
+		uint8_t b[4];
+	} bin, bout;
+	bin.i = b;
+	bout.b[0] = bin.b[3];
+	bout.b[1] = bin.b[2];
+	bout.b[2] = bin.b[1];
+	bout.b[3] = bin.b[0];
+	v = bout.i;
+#else
+	v = b;
+#endif
+
+	// buffer in
+	// 01100000 01000000 00000000 11110001
+	// buffer out
+	// 11110001 00000000 01000000 01100000
+
+	// Existing partly filled byte (four free slots)
+	// 0111xxxx
+
+	// Mask n free bits
+	// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
+	// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
+
+	// Shift n bits into the right position
+	// out = in >> n;
+
+	// Mask and shift bytes
+	i_bit_index = bit_index;
+	i_byte_index = packet_index;
+	if (bit_index > 0)
+	{
+		// If bits were available at start, they were available
+		// in the byte before the current index
+		i_byte_index--;
+	}
+
+	// While bits have not been packed yet
+	while (bits_remain > 0)
+	{
+		// Bits still have to be packed
+		// there can be more than 8 bits, so
+		// we might have to pack them into more than one byte
+
+		// First pack everything we can into the current 'open' byte
+		//curr_bits_n = bits_remain << 3; // Equals  bits_remain mod 8
+		//FIXME
+		if (bits_remain <= (uint8_t)(8 - i_bit_index))
+		{
+			// Enough space
+			curr_bits_n = (uint8_t)bits_remain;
+		}
+		else
+		{
+			curr_bits_n = (8 - i_bit_index);
+		}
+		
+		// Pack these n bits into the current byte
+		// Mask out whatever was at that position with ones (xxx11111)
+		buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
+		// Put content to this position, by masking out the non-used part
+		buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
+		
+		// Increment the bit index
+		i_bit_index += curr_bits_n;
+
+		// Now proceed to the next byte, if necessary
+		bits_remain -= curr_bits_n;
+		if (bits_remain > 0)
+		{
+			// Offer another 8 bits / one byte
+			i_byte_index++;
+			i_bit_index = 0;
+		}
+	}
+	
+	*r_bit_index = i_bit_index;
+	// If a partly filled byte is present, mark this as consumed
+	if (i_bit_index != 7) i_byte_index++;
+	return i_byte_index - packet_index;
+}
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// To make MAVLink work on your MCU, define comm_send_ch() if you wish
+// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
+// whole packet at a time
+
+/*
+
+#include "mavlink_types.h"
+
+void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+    if (chan == MAVLINK_COMM_0)
+    {
+        uart0_transmit(ch);
+    }
+    if (chan == MAVLINK_COMM_1)
+    {
+    	uart1_transmit(ch);
+    }
+}
+ */
+
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
+{
+#ifdef MAVLINK_SEND_UART_BYTES
+	/* this is the more efficient approach, if the platform
+	   defines it */
+	MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
+#else
+	/* fallback to one byte at a time */
+	uint16_t i;
+	for (i = 0; i < len; i++) {
+		comm_send_ch(chan, (uint8_t)buf[i]);
+	}
+#endif
+}
+#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp
new file mode 100644
index 000000000..fd3ddd026
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp
@@ -0,0 +1,377 @@
+#ifndef MAVLINKPROTOBUFMANAGER_HPP
+#define MAVLINKPROTOBUFMANAGER_HPP
+
+#include <deque>
+#include <google/protobuf/message.h>
+#include <iostream>
+#include <tr1/memory>
+
+#include <checksum.h>
+#include <common/mavlink.h>
+#include <mavlink_types.h>
+#include <pixhawk/pixhawk.pb.h>
+
+namespace mavlink
+{
+
+class ProtobufManager
+{
+public:
+	ProtobufManager()
+	 : mRegisteredTypeCount(0)
+	 , mStreamID(0)
+	 , mVerbose(false)
+	 , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
+	 , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
+	{
+		// register GLOverlay
+		{
+			std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
+			registerType(msg);
+		}
+
+		// register ObstacleList
+		{
+			std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
+			registerType(msg);
+		}
+
+		// register ObstacleMap
+		{
+			std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
+			registerType(msg);
+		}
+
+		// register Path
+		{
+			std::tr1::shared_ptr<px::Path> msg(new px::Path);
+                        registerType(msg);
+		}
+
+		// register PointCloudXYZI
+		{
+			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
+			registerType(msg);
+		}
+
+		// register PointCloudXYZRGB
+		{
+			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
+			registerType(msg);
+		}
+
+		// register RGBDImage
+		{
+			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+			registerType(msg);
+		}
+
+		srand(time(NULL));
+		mStreamID = rand() + 1;
+	}
+
+	bool fragmentMessage(uint8_t system_id, uint8_t component_id,
+						 uint8_t target_system, uint8_t target_component,
+						 const google::protobuf::Message& protobuf_msg,
+						 std::vector<mavlink_extended_message_t>& fragments) const
+	{
+		TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
+		if (it == mTypeMap.end())
+		{
+			std::cout << "# WARNING: Protobuf message with type "
+					  << protobuf_msg.GetTypeName() << " is not registered."
+					  << std::endl;
+			return false;
+		}
+
+		uint8_t typecode = it->second;
+
+		std::string data = protobuf_msg.SerializeAsString();
+
+		int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
+		unsigned int offset = 0;
+
+		for (int i = 0; i < fragmentCount; ++i)
+		{
+			mavlink_extended_message_t fragment;			
+
+			// write extended header data
+			uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
+			unsigned int length = 0;
+			uint8_t flags = 0;
+
+			if (i < fragmentCount - 1)
+			{
+				length = kExtendedPayloadMaxSize;
+				flags |= 0x1;
+			}
+			else
+			{
+				length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
+			}
+
+			memcpy(payload, &target_system, 1);
+			memcpy(payload + 1, &target_component, 1);
+			memcpy(payload + 2, &typecode, 1);
+			memcpy(payload + 3, &length, 4);
+			memcpy(payload + 7, &mStreamID, 2);
+			memcpy(payload + 9, &offset, 4);
+			memcpy(payload + 13, &flags, 1);
+
+			fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+			mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
+			
+			// write extended payload data
+			fragment.extended_payload_len = length;
+			memcpy(fragment.extended_payload, &data[offset], length);
+
+			fragments.push_back(fragment);
+			offset += length;
+		}
+
+		if (mVerbose)
+		{
+			std::cerr << "# INFO: Split extended message with size "
+					  << protobuf_msg.ByteSize() << " into "
+					  << fragmentCount << " fragments." << std::endl;
+		}
+
+		return true;
+	}
+
+	bool cacheFragment(mavlink_extended_message_t& msg)
+	{
+		if (!validFragment(msg))
+		{
+			if (mVerbose)
+			{
+				std::cerr << "# WARNING: Message is not a valid fragment. "
+						  << "Dropping message..." << std::endl;
+			}
+			return false;
+		}
+
+		// read extended header
+		uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
+		uint8_t typecode = 0;
+		unsigned int length = 0;
+		unsigned short streamID = 0;
+		unsigned int offset = 0;
+		uint8_t flags = 0;
+
+		memcpy(&typecode, payload + 2, 1);
+		memcpy(&length, payload + 3, 4);
+		memcpy(&streamID, payload + 7, 2);
+		memcpy(&offset, payload + 9, 4);
+		memcpy(&flags, payload + 13, 1);
+
+		if (typecode >= mTypeMap.size())
+		{
+			std::cout << "# WARNING: Protobuf message with type code "
+					  << static_cast<int>(typecode) << " is not registered." << std::endl;
+			return false;
+		}
+
+		bool reassemble = false;
+
+		FragmentQueue::iterator it = mFragmentQueue.find(streamID);
+		if (it == mFragmentQueue.end())
+		{
+			if (offset == 0)
+			{
+				mFragmentQueue[streamID].push_back(msg);
+
+				if ((flags & 0x1) != 0x1)
+				{
+					reassemble = true;
+				}
+
+				if (mVerbose)
+				{
+					std::cerr << "# INFO: Added fragment to new queue."
+							  << std::endl;
+				}
+			}
+			else
+			{
+				if (mVerbose)
+				{
+					std::cerr << "# WARNING: Message is not a valid fragment. "
+							  << "Dropping message..." << std::endl;
+				}
+			}
+		}
+		else
+		{
+			std::deque<mavlink_extended_message_t>& queue = it->second;
+
+			if (queue.empty())
+			{
+				if (offset == 0)
+				{
+					queue.push_back(msg);
+
+					if ((flags & 0x1) != 0x1)
+					{
+						reassemble = true;
+					}
+				}
+				else
+				{
+					if (mVerbose)
+					{
+						std::cerr << "# WARNING: Message is not a valid fragment. "
+								  << "Dropping message..." << std::endl;
+					}
+				}
+			}
+			else
+			{
+				if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
+				{
+					if (mVerbose)
+					{
+						std::cerr << "# WARNING: Previous fragment(s) have been lost. "
+								  << "Dropping message and clearing queue..." << std::endl;
+					}
+					queue.clear();
+				}
+				else
+				{
+					queue.push_back(msg);
+
+					if ((flags & 0x1) != 0x1)
+					{
+						reassemble = true;
+					}
+				}
+			}
+		}
+
+		if (reassemble)
+		{
+			std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
+
+			std::string data;
+			for (size_t i = 0; i < queue.size(); ++i)
+			{
+				mavlink_extended_message_t& mavlink_msg = queue.at(i);
+
+				data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
+							static_cast<size_t>(mavlink_msg.extended_payload_len));
+			}
+
+			mMessages.at(typecode)->ParseFromString(data);
+
+			mMessageAvailable.at(typecode) = true;
+
+			queue.clear();
+
+			if (mVerbose)
+			{
+				std::cerr << "# INFO: Reassembled fragments for message with typename "
+						  << mMessages.at(typecode)->GetTypeName() << " and size "
+						  << mMessages.at(typecode)->ByteSize()
+						  << "." << std::endl;
+			}
+		}
+
+		return true;
+	}
+
+	bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
+	{
+		for (size_t i = 0; i < mMessageAvailable.size(); ++i)
+		{
+			if (mMessageAvailable.at(i))
+			{
+				msg = mMessages.at(i);
+				mMessageAvailable.at(i) = false;
+
+				return true;
+			}
+		}
+
+		return false;
+	}
+
+private:
+	void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
+	{
+		mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
+		++mRegisteredTypeCount;
+		mMessages.push_back(msg);
+		mMessageAvailable.push_back(false);
+	}
+
+	bool validFragment(const mavlink_extended_message_t& msg) const
+	{
+		if (msg.base_msg.magic != MAVLINK_STX ||
+			msg.base_msg.len != kExtendedHeaderSize ||
+			msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
+		{
+			return false;
+		}
+
+		uint16_t checksum;
+		checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
+		crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
+#if MAVLINK_CRC_EXTRA
+		static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+		crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
+#endif
+
+		if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
+		    mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
+		{
+			return false;
+		}
+
+		return true;
+	}
+
+	unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
+	{
+		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+		return *(reinterpret_cast<const unsigned int*>(payload + 3));
+	}
+
+	unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
+	{
+		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+		return *(reinterpret_cast<const unsigned int*>(payload + 9));
+	}
+
+	int mRegisteredTypeCount;
+	unsigned short mStreamID;
+	bool mVerbose;
+
+	typedef std::map<std::string, uint8_t> TypeMap;
+	TypeMap mTypeMap;
+	std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
+	std::vector<bool> mMessageAvailable;
+
+	typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
+	FragmentQueue mFragmentQueue;
+
+	const int kExtendedHeaderSize;
+	/**
+	 * Extended header structure
+	 * =========================
+	 *   byte 0 - target_system
+	 *   byte 1 - target_component
+	 *   byte 2 - extended message id (type code)
+	 *   bytes 3-6 - extended payload size in bytes
+	 *   byte 7-8 - stream ID
+	 *   byte 9-12 - fragment offset
+	 *   byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
+	 */
+
+	const int kExtendedPayloadMaxSize;
+};
+
+}
+
+#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h
new file mode 100644
index 000000000..5fbde97f7
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h
@@ -0,0 +1,158 @@
+#ifndef MAVLINK_TYPES_H_
+#define MAVLINK_TYPES_H_
+
+#include <inttypes.h>
+
+#ifndef MAVLINK_MAX_PAYLOAD_LEN
+// it is possible to override this, but be careful!
+#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
+#endif
+
+#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
+#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
+#define MAVLINK_NUM_CHECKSUM_BYTES 2
+#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
+
+#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
+
+#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
+#define MAVLINK_EXTENDED_HEADER_LEN 14
+
+#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
+  /* full fledged 32bit++ OS */
+  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
+#else
+  /* small microcontrollers */
+  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
+#endif
+
+#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
+
+typedef struct param_union {
+	union {
+		float param_float;
+		int32_t param_int32;
+		uint32_t param_uint32;
+		uint8_t param_uint8;
+		uint8_t bytes[4];
+	};
+	uint8_t type;
+} mavlink_param_union_t;
+
+typedef struct __mavlink_system {
+    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
+    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
+    uint8_t type;    ///< Unused, can be used by user to store the system's type
+    uint8_t state;   ///< Unused, can be used by user to store the system's state
+    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
+    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
+} mavlink_system_t;
+
+typedef struct __mavlink_message {
+	uint16_t checksum; /// sent at end of packet
+	uint8_t magic;   ///< protocol magic marker
+	uint8_t len;     ///< Length of payload
+	uint8_t seq;     ///< Sequence of packet
+	uint8_t sysid;   ///< ID of message sender system/aircraft
+	uint8_t compid;  ///< ID of the message sender component
+	uint8_t msgid;   ///< ID of message in payload
+	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
+} mavlink_message_t;
+
+
+typedef struct __mavlink_extended_message {
+       mavlink_message_t base_msg;
+       int32_t extended_payload_len;   ///< Length of extended payload if any
+       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
+} mavlink_extended_message_t;
+
+
+typedef enum {
+	MAVLINK_TYPE_CHAR     = 0,
+	MAVLINK_TYPE_UINT8_T  = 1,
+	MAVLINK_TYPE_INT8_T   = 2,
+	MAVLINK_TYPE_UINT16_T = 3,
+	MAVLINK_TYPE_INT16_T  = 4,
+	MAVLINK_TYPE_UINT32_T = 5,
+	MAVLINK_TYPE_INT32_T  = 6,
+	MAVLINK_TYPE_UINT64_T = 7,
+	MAVLINK_TYPE_INT64_T  = 8,
+	MAVLINK_TYPE_FLOAT    = 9,
+	MAVLINK_TYPE_DOUBLE   = 10
+} mavlink_message_type_t;
+
+#define MAVLINK_MAX_FIELDS 64
+
+typedef struct __mavlink_field_info {
+        const char *name;                 // name of this field
+        const char *print_format;         // printing format hint, or NULL
+        mavlink_message_type_t type;      // type of this field
+        unsigned int array_length;        // if non-zero, field is an array
+        unsigned int wire_offset;         // offset of each field in the payload
+        unsigned int structure_offset;    // offset in a C structure
+} mavlink_field_info_t;
+
+// note that in this structure the order of fields is the order
+// in the XML file, not necessary the wire order
+typedef struct __mavlink_message_info {
+	const char *name;                                      // name of the message
+	unsigned num_fields;                                   // how many fields in this message
+	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
+} mavlink_message_info_t;
+
+#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
+#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
+
+// checksum is immediately after the payload bytes
+#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
+#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
+
+typedef enum {
+    MAVLINK_COMM_0,
+    MAVLINK_COMM_1,
+    MAVLINK_COMM_2,
+    MAVLINK_COMM_3
+} mavlink_channel_t;
+
+/*
+ * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
+ * of buffers they will use. If more are used, then the result will be
+ * a stack overrun
+ */
+#ifndef MAVLINK_COMM_NUM_BUFFERS
+#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
+# define MAVLINK_COMM_NUM_BUFFERS 16
+#else
+# define MAVLINK_COMM_NUM_BUFFERS 4
+#endif
+#endif
+
+typedef enum {
+    MAVLINK_PARSE_STATE_UNINIT=0,
+    MAVLINK_PARSE_STATE_IDLE,
+    MAVLINK_PARSE_STATE_GOT_STX,
+    MAVLINK_PARSE_STATE_GOT_SEQ,
+    MAVLINK_PARSE_STATE_GOT_LENGTH,
+    MAVLINK_PARSE_STATE_GOT_SYSID,
+    MAVLINK_PARSE_STATE_GOT_COMPID,
+    MAVLINK_PARSE_STATE_GOT_MSGID,
+    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
+    MAVLINK_PARSE_STATE_GOT_CRC1
+} mavlink_parse_state_t; ///< The state machine for the comm parser
+
+typedef struct __mavlink_status {
+    uint8_t msg_received;               ///< Number of received messages
+    uint8_t buffer_overrun;             ///< Number of buffer overruns
+    uint8_t parse_error;                ///< Number of parse errors
+    mavlink_parse_state_t parse_state;  ///< Parsing state machine
+    uint8_t packet_idx;                 ///< Index in current packet
+    uint8_t current_rx_seq;             ///< Sequence number of last packet received
+    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
+    uint16_t packet_rx_success_count;   ///< Received packets
+    uint16_t packet_rx_drop_count;      ///< Number of packet drops
+} mavlink_status_t;
+
+#define MAVLINK_BIG_ENDIAN 0
+#define MAVLINK_LITTLE_ENDIAN 1
+
+#endif /* MAVLINK_TYPES_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h
new file mode 100644
index 000000000..7556606e9
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h
@@ -0,0 +1,3663 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: pixhawk.proto
+
+#ifndef PROTOBUF_pixhawk_2eproto__INCLUDED
+#define PROTOBUF_pixhawk_2eproto__INCLUDED
+
+#include <string>
+
+#include <google/protobuf/stubs/common.h>
+
+#if GOOGLE_PROTOBUF_VERSION < 2004000
+#error This file was generated by a newer version of protoc which is
+#error incompatible with your Protocol Buffer headers.  Please update
+#error your headers.
+#endif
+#if 2004001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
+#error This file was generated by an older version of protoc which is
+#error incompatible with your Protocol Buffer headers.  Please
+#error regenerate this file with a newer version of protoc.
+#endif
+
+#include <google/protobuf/generated_message_util.h>
+#include <google/protobuf/repeated_field.h>
+#include <google/protobuf/extension_set.h>
+#include <google/protobuf/generated_message_reflection.h>
+// @@protoc_insertion_point(includes)
+
+namespace px {
+
+// Internal implementation detail -- do not call these.
+void  protobuf_AddDesc_pixhawk_2eproto();
+void protobuf_AssignDesc_pixhawk_2eproto();
+void protobuf_ShutdownFile_pixhawk_2eproto();
+
+class HeaderInfo;
+class GLOverlay;
+class Obstacle;
+class ObstacleList;
+class ObstacleMap;
+class Path;
+class PointCloudXYZI;
+class PointCloudXYZI_PointXYZI;
+class PointCloudXYZRGB;
+class PointCloudXYZRGB_PointXYZRGB;
+class RGBDImage;
+class Waypoint;
+
+enum GLOverlay_CoordinateFrameType {
+  GLOverlay_CoordinateFrameType_GLOBAL = 0,
+  GLOverlay_CoordinateFrameType_LOCAL = 1
+};
+bool GLOverlay_CoordinateFrameType_IsValid(int value);
+const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN = GLOverlay_CoordinateFrameType_GLOBAL;
+const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX = GLOverlay_CoordinateFrameType_LOCAL;
+const int GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE = GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX + 1;
+
+const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor();
+inline const ::std::string& GLOverlay_CoordinateFrameType_Name(GLOverlay_CoordinateFrameType value) {
+  return ::google::protobuf::internal::NameOfEnum(
+    GLOverlay_CoordinateFrameType_descriptor(), value);
+}
+inline bool GLOverlay_CoordinateFrameType_Parse(
+    const ::std::string& name, GLOverlay_CoordinateFrameType* value) {
+  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_CoordinateFrameType>(
+    GLOverlay_CoordinateFrameType_descriptor(), name, value);
+}
+enum GLOverlay_Mode {
+  GLOverlay_Mode_POINTS = 0,
+  GLOverlay_Mode_LINES = 1,
+  GLOverlay_Mode_LINE_STRIP = 2,
+  GLOverlay_Mode_LINE_LOOP = 3,
+  GLOverlay_Mode_TRIANGLES = 4,
+  GLOverlay_Mode_TRIANGLE_STRIP = 5,
+  GLOverlay_Mode_TRIANGLE_FAN = 6,
+  GLOverlay_Mode_QUADS = 7,
+  GLOverlay_Mode_QUAD_STRIP = 8,
+  GLOverlay_Mode_POLYGON = 9,
+  GLOverlay_Mode_SOLID_CIRCLE = 10,
+  GLOverlay_Mode_WIRE_CIRCLE = 11,
+  GLOverlay_Mode_SOLID_CUBE = 12,
+  GLOverlay_Mode_WIRE_CUBE = 13
+};
+bool GLOverlay_Mode_IsValid(int value);
+const GLOverlay_Mode GLOverlay_Mode_Mode_MIN = GLOverlay_Mode_POINTS;
+const GLOverlay_Mode GLOverlay_Mode_Mode_MAX = GLOverlay_Mode_WIRE_CUBE;
+const int GLOverlay_Mode_Mode_ARRAYSIZE = GLOverlay_Mode_Mode_MAX + 1;
+
+const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor();
+inline const ::std::string& GLOverlay_Mode_Name(GLOverlay_Mode value) {
+  return ::google::protobuf::internal::NameOfEnum(
+    GLOverlay_Mode_descriptor(), value);
+}
+inline bool GLOverlay_Mode_Parse(
+    const ::std::string& name, GLOverlay_Mode* value) {
+  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Mode>(
+    GLOverlay_Mode_descriptor(), name, value);
+}
+enum GLOverlay_Identifier {
+  GLOverlay_Identifier_END = 14,
+  GLOverlay_Identifier_VERTEX2F = 15,
+  GLOverlay_Identifier_VERTEX3F = 16,
+  GLOverlay_Identifier_ROTATEF = 17,
+  GLOverlay_Identifier_TRANSLATEF = 18,
+  GLOverlay_Identifier_SCALEF = 19,
+  GLOverlay_Identifier_PUSH_MATRIX = 20,
+  GLOverlay_Identifier_POP_MATRIX = 21,
+  GLOverlay_Identifier_COLOR3F = 22,
+  GLOverlay_Identifier_COLOR4F = 23,
+  GLOverlay_Identifier_POINTSIZE = 24,
+  GLOverlay_Identifier_LINEWIDTH = 25
+};
+bool GLOverlay_Identifier_IsValid(int value);
+const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MIN = GLOverlay_Identifier_END;
+const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MAX = GLOverlay_Identifier_LINEWIDTH;
+const int GLOverlay_Identifier_Identifier_ARRAYSIZE = GLOverlay_Identifier_Identifier_MAX + 1;
+
+const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor();
+inline const ::std::string& GLOverlay_Identifier_Name(GLOverlay_Identifier value) {
+  return ::google::protobuf::internal::NameOfEnum(
+    GLOverlay_Identifier_descriptor(), value);
+}
+inline bool GLOverlay_Identifier_Parse(
+    const ::std::string& name, GLOverlay_Identifier* value) {
+  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Identifier>(
+    GLOverlay_Identifier_descriptor(), name, value);
+}
+// ===================================================================
+
+class HeaderInfo : public ::google::protobuf::Message {
+ public:
+  HeaderInfo();
+  virtual ~HeaderInfo();
+  
+  HeaderInfo(const HeaderInfo& from);
+  
+  inline HeaderInfo& operator=(const HeaderInfo& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const HeaderInfo& default_instance();
+  
+  void Swap(HeaderInfo* other);
+  
+  // implements Message ----------------------------------------------
+  
+  HeaderInfo* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const HeaderInfo& from);
+  void MergeFrom(const HeaderInfo& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required int32 source_sysid = 1;
+  inline bool has_source_sysid() const;
+  inline void clear_source_sysid();
+  static const int kSourceSysidFieldNumber = 1;
+  inline ::google::protobuf::int32 source_sysid() const;
+  inline void set_source_sysid(::google::protobuf::int32 value);
+  
+  // required int32 source_compid = 2;
+  inline bool has_source_compid() const;
+  inline void clear_source_compid();
+  static const int kSourceCompidFieldNumber = 2;
+  inline ::google::protobuf::int32 source_compid() const;
+  inline void set_source_compid(::google::protobuf::int32 value);
+  
+  // required double timestamp = 3;
+  inline bool has_timestamp() const;
+  inline void clear_timestamp();
+  static const int kTimestampFieldNumber = 3;
+  inline double timestamp() const;
+  inline void set_timestamp(double value);
+  
+  // @@protoc_insertion_point(class_scope:px.HeaderInfo)
+ private:
+  inline void set_has_source_sysid();
+  inline void clear_has_source_sysid();
+  inline void set_has_source_compid();
+  inline void clear_has_source_compid();
+  inline void set_has_timestamp();
+  inline void clear_has_timestamp();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::google::protobuf::int32 source_sysid_;
+  ::google::protobuf::int32 source_compid_;
+  double timestamp_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(3 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static HeaderInfo* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class GLOverlay : public ::google::protobuf::Message {
+ public:
+  GLOverlay();
+  virtual ~GLOverlay();
+  
+  GLOverlay(const GLOverlay& from);
+  
+  inline GLOverlay& operator=(const GLOverlay& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const GLOverlay& default_instance();
+  
+  void Swap(GLOverlay* other);
+  
+  // implements Message ----------------------------------------------
+  
+  GLOverlay* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const GLOverlay& from);
+  void MergeFrom(const GLOverlay& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  typedef GLOverlay_CoordinateFrameType CoordinateFrameType;
+  static const CoordinateFrameType GLOBAL = GLOverlay_CoordinateFrameType_GLOBAL;
+  static const CoordinateFrameType LOCAL = GLOverlay_CoordinateFrameType_LOCAL;
+  static inline bool CoordinateFrameType_IsValid(int value) {
+    return GLOverlay_CoordinateFrameType_IsValid(value);
+  }
+  static const CoordinateFrameType CoordinateFrameType_MIN =
+    GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN;
+  static const CoordinateFrameType CoordinateFrameType_MAX =
+    GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX;
+  static const int CoordinateFrameType_ARRAYSIZE =
+    GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE;
+  static inline const ::google::protobuf::EnumDescriptor*
+  CoordinateFrameType_descriptor() {
+    return GLOverlay_CoordinateFrameType_descriptor();
+  }
+  static inline const ::std::string& CoordinateFrameType_Name(CoordinateFrameType value) {
+    return GLOverlay_CoordinateFrameType_Name(value);
+  }
+  static inline bool CoordinateFrameType_Parse(const ::std::string& name,
+      CoordinateFrameType* value) {
+    return GLOverlay_CoordinateFrameType_Parse(name, value);
+  }
+  
+  typedef GLOverlay_Mode Mode;
+  static const Mode POINTS = GLOverlay_Mode_POINTS;
+  static const Mode LINES = GLOverlay_Mode_LINES;
+  static const Mode LINE_STRIP = GLOverlay_Mode_LINE_STRIP;
+  static const Mode LINE_LOOP = GLOverlay_Mode_LINE_LOOP;
+  static const Mode TRIANGLES = GLOverlay_Mode_TRIANGLES;
+  static const Mode TRIANGLE_STRIP = GLOverlay_Mode_TRIANGLE_STRIP;
+  static const Mode TRIANGLE_FAN = GLOverlay_Mode_TRIANGLE_FAN;
+  static const Mode QUADS = GLOverlay_Mode_QUADS;
+  static const Mode QUAD_STRIP = GLOverlay_Mode_QUAD_STRIP;
+  static const Mode POLYGON = GLOverlay_Mode_POLYGON;
+  static const Mode SOLID_CIRCLE = GLOverlay_Mode_SOLID_CIRCLE;
+  static const Mode WIRE_CIRCLE = GLOverlay_Mode_WIRE_CIRCLE;
+  static const Mode SOLID_CUBE = GLOverlay_Mode_SOLID_CUBE;
+  static const Mode WIRE_CUBE = GLOverlay_Mode_WIRE_CUBE;
+  static inline bool Mode_IsValid(int value) {
+    return GLOverlay_Mode_IsValid(value);
+  }
+  static const Mode Mode_MIN =
+    GLOverlay_Mode_Mode_MIN;
+  static const Mode Mode_MAX =
+    GLOverlay_Mode_Mode_MAX;
+  static const int Mode_ARRAYSIZE =
+    GLOverlay_Mode_Mode_ARRAYSIZE;
+  static inline const ::google::protobuf::EnumDescriptor*
+  Mode_descriptor() {
+    return GLOverlay_Mode_descriptor();
+  }
+  static inline const ::std::string& Mode_Name(Mode value) {
+    return GLOverlay_Mode_Name(value);
+  }
+  static inline bool Mode_Parse(const ::std::string& name,
+      Mode* value) {
+    return GLOverlay_Mode_Parse(name, value);
+  }
+  
+  typedef GLOverlay_Identifier Identifier;
+  static const Identifier END = GLOverlay_Identifier_END;
+  static const Identifier VERTEX2F = GLOverlay_Identifier_VERTEX2F;
+  static const Identifier VERTEX3F = GLOverlay_Identifier_VERTEX3F;
+  static const Identifier ROTATEF = GLOverlay_Identifier_ROTATEF;
+  static const Identifier TRANSLATEF = GLOverlay_Identifier_TRANSLATEF;
+  static const Identifier SCALEF = GLOverlay_Identifier_SCALEF;
+  static const Identifier PUSH_MATRIX = GLOverlay_Identifier_PUSH_MATRIX;
+  static const Identifier POP_MATRIX = GLOverlay_Identifier_POP_MATRIX;
+  static const Identifier COLOR3F = GLOverlay_Identifier_COLOR3F;
+  static const Identifier COLOR4F = GLOverlay_Identifier_COLOR4F;
+  static const Identifier POINTSIZE = GLOverlay_Identifier_POINTSIZE;
+  static const Identifier LINEWIDTH = GLOverlay_Identifier_LINEWIDTH;
+  static inline bool Identifier_IsValid(int value) {
+    return GLOverlay_Identifier_IsValid(value);
+  }
+  static const Identifier Identifier_MIN =
+    GLOverlay_Identifier_Identifier_MIN;
+  static const Identifier Identifier_MAX =
+    GLOverlay_Identifier_Identifier_MAX;
+  static const int Identifier_ARRAYSIZE =
+    GLOverlay_Identifier_Identifier_ARRAYSIZE;
+  static inline const ::google::protobuf::EnumDescriptor*
+  Identifier_descriptor() {
+    return GLOverlay_Identifier_descriptor();
+  }
+  static inline const ::std::string& Identifier_Name(Identifier value) {
+    return GLOverlay_Identifier_Name(value);
+  }
+  static inline bool Identifier_Parse(const ::std::string& name,
+      Identifier* value) {
+    return GLOverlay_Identifier_Parse(name, value);
+  }
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // optional string name = 2;
+  inline bool has_name() const;
+  inline void clear_name();
+  static const int kNameFieldNumber = 2;
+  inline const ::std::string& name() const;
+  inline void set_name(const ::std::string& value);
+  inline void set_name(const char* value);
+  inline void set_name(const char* value, size_t size);
+  inline ::std::string* mutable_name();
+  inline ::std::string* release_name();
+  
+  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+  inline bool has_coordinateframetype() const;
+  inline void clear_coordinateframetype();
+  static const int kCoordinateFrameTypeFieldNumber = 3;
+  inline ::px::GLOverlay_CoordinateFrameType coordinateframetype() const;
+  inline void set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value);
+  
+  // optional double origin_x = 4;
+  inline bool has_origin_x() const;
+  inline void clear_origin_x();
+  static const int kOriginXFieldNumber = 4;
+  inline double origin_x() const;
+  inline void set_origin_x(double value);
+  
+  // optional double origin_y = 5;
+  inline bool has_origin_y() const;
+  inline void clear_origin_y();
+  static const int kOriginYFieldNumber = 5;
+  inline double origin_y() const;
+  inline void set_origin_y(double value);
+  
+  // optional double origin_z = 6;
+  inline bool has_origin_z() const;
+  inline void clear_origin_z();
+  static const int kOriginZFieldNumber = 6;
+  inline double origin_z() const;
+  inline void set_origin_z(double value);
+  
+  // optional bytes data = 7;
+  inline bool has_data() const;
+  inline void clear_data();
+  static const int kDataFieldNumber = 7;
+  inline const ::std::string& data() const;
+  inline void set_data(const ::std::string& value);
+  inline void set_data(const char* value);
+  inline void set_data(const void* value, size_t size);
+  inline ::std::string* mutable_data();
+  inline ::std::string* release_data();
+  
+  // @@protoc_insertion_point(class_scope:px.GLOverlay)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  inline void set_has_name();
+  inline void clear_has_name();
+  inline void set_has_coordinateframetype();
+  inline void clear_has_coordinateframetype();
+  inline void set_has_origin_x();
+  inline void clear_has_origin_x();
+  inline void set_has_origin_y();
+  inline void clear_has_origin_y();
+  inline void set_has_origin_z();
+  inline void clear_has_origin_z();
+  inline void set_has_data();
+  inline void clear_has_data();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::std::string* name_;
+  double origin_x_;
+  double origin_y_;
+  double origin_z_;
+  ::std::string* data_;
+  int coordinateframetype_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(7 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static GLOverlay* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class Obstacle : public ::google::protobuf::Message {
+ public:
+  Obstacle();
+  virtual ~Obstacle();
+  
+  Obstacle(const Obstacle& from);
+  
+  inline Obstacle& operator=(const Obstacle& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const Obstacle& default_instance();
+  
+  void Swap(Obstacle* other);
+  
+  // implements Message ----------------------------------------------
+  
+  Obstacle* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const Obstacle& from);
+  void MergeFrom(const Obstacle& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // optional float x = 1;
+  inline bool has_x() const;
+  inline void clear_x();
+  static const int kXFieldNumber = 1;
+  inline float x() const;
+  inline void set_x(float value);
+  
+  // optional float y = 2;
+  inline bool has_y() const;
+  inline void clear_y();
+  static const int kYFieldNumber = 2;
+  inline float y() const;
+  inline void set_y(float value);
+  
+  // optional float z = 3;
+  inline bool has_z() const;
+  inline void clear_z();
+  static const int kZFieldNumber = 3;
+  inline float z() const;
+  inline void set_z(float value);
+  
+  // optional float length = 4;
+  inline bool has_length() const;
+  inline void clear_length();
+  static const int kLengthFieldNumber = 4;
+  inline float length() const;
+  inline void set_length(float value);
+  
+  // optional float width = 5;
+  inline bool has_width() const;
+  inline void clear_width();
+  static const int kWidthFieldNumber = 5;
+  inline float width() const;
+  inline void set_width(float value);
+  
+  // optional float height = 6;
+  inline bool has_height() const;
+  inline void clear_height();
+  static const int kHeightFieldNumber = 6;
+  inline float height() const;
+  inline void set_height(float value);
+  
+  // @@protoc_insertion_point(class_scope:px.Obstacle)
+ private:
+  inline void set_has_x();
+  inline void clear_has_x();
+  inline void set_has_y();
+  inline void clear_has_y();
+  inline void set_has_z();
+  inline void clear_has_z();
+  inline void set_has_length();
+  inline void clear_has_length();
+  inline void set_has_width();
+  inline void clear_has_width();
+  inline void set_has_height();
+  inline void clear_has_height();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  float x_;
+  float y_;
+  float z_;
+  float length_;
+  float width_;
+  float height_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static Obstacle* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class ObstacleList : public ::google::protobuf::Message {
+ public:
+  ObstacleList();
+  virtual ~ObstacleList();
+  
+  ObstacleList(const ObstacleList& from);
+  
+  inline ObstacleList& operator=(const ObstacleList& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const ObstacleList& default_instance();
+  
+  void Swap(ObstacleList* other);
+  
+  // implements Message ----------------------------------------------
+  
+  ObstacleList* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const ObstacleList& from);
+  void MergeFrom(const ObstacleList& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // repeated .px.Obstacle obstacles = 2;
+  inline int obstacles_size() const;
+  inline void clear_obstacles();
+  static const int kObstaclesFieldNumber = 2;
+  inline const ::px::Obstacle& obstacles(int index) const;
+  inline ::px::Obstacle* mutable_obstacles(int index);
+  inline ::px::Obstacle* add_obstacles();
+  inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
+      obstacles() const;
+  inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
+      mutable_obstacles();
+  
+  // @@protoc_insertion_point(class_scope:px.ObstacleList)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::RepeatedPtrField< ::px::Obstacle > obstacles_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static ObstacleList* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class ObstacleMap : public ::google::protobuf::Message {
+ public:
+  ObstacleMap();
+  virtual ~ObstacleMap();
+  
+  ObstacleMap(const ObstacleMap& from);
+  
+  inline ObstacleMap& operator=(const ObstacleMap& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const ObstacleMap& default_instance();
+  
+  void Swap(ObstacleMap* other);
+  
+  // implements Message ----------------------------------------------
+  
+  ObstacleMap* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const ObstacleMap& from);
+  void MergeFrom(const ObstacleMap& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // required int32 type = 2;
+  inline bool has_type() const;
+  inline void clear_type();
+  static const int kTypeFieldNumber = 2;
+  inline ::google::protobuf::int32 type() const;
+  inline void set_type(::google::protobuf::int32 value);
+  
+  // optional float resolution = 3;
+  inline bool has_resolution() const;
+  inline void clear_resolution();
+  static const int kResolutionFieldNumber = 3;
+  inline float resolution() const;
+  inline void set_resolution(float value);
+  
+  // optional int32 rows = 4;
+  inline bool has_rows() const;
+  inline void clear_rows();
+  static const int kRowsFieldNumber = 4;
+  inline ::google::protobuf::int32 rows() const;
+  inline void set_rows(::google::protobuf::int32 value);
+  
+  // optional int32 cols = 5;
+  inline bool has_cols() const;
+  inline void clear_cols();
+  static const int kColsFieldNumber = 5;
+  inline ::google::protobuf::int32 cols() const;
+  inline void set_cols(::google::protobuf::int32 value);
+  
+  // optional int32 mapR0 = 6;
+  inline bool has_mapr0() const;
+  inline void clear_mapr0();
+  static const int kMapR0FieldNumber = 6;
+  inline ::google::protobuf::int32 mapr0() const;
+  inline void set_mapr0(::google::protobuf::int32 value);
+  
+  // optional int32 mapC0 = 7;
+  inline bool has_mapc0() const;
+  inline void clear_mapc0();
+  static const int kMapC0FieldNumber = 7;
+  inline ::google::protobuf::int32 mapc0() const;
+  inline void set_mapc0(::google::protobuf::int32 value);
+  
+  // optional int32 arrayR0 = 8;
+  inline bool has_arrayr0() const;
+  inline void clear_arrayr0();
+  static const int kArrayR0FieldNumber = 8;
+  inline ::google::protobuf::int32 arrayr0() const;
+  inline void set_arrayr0(::google::protobuf::int32 value);
+  
+  // optional int32 arrayC0 = 9;
+  inline bool has_arrayc0() const;
+  inline void clear_arrayc0();
+  static const int kArrayC0FieldNumber = 9;
+  inline ::google::protobuf::int32 arrayc0() const;
+  inline void set_arrayc0(::google::protobuf::int32 value);
+  
+  // optional bytes data = 10;
+  inline bool has_data() const;
+  inline void clear_data();
+  static const int kDataFieldNumber = 10;
+  inline const ::std::string& data() const;
+  inline void set_data(const ::std::string& value);
+  inline void set_data(const char* value);
+  inline void set_data(const void* value, size_t size);
+  inline ::std::string* mutable_data();
+  inline ::std::string* release_data();
+  
+  // @@protoc_insertion_point(class_scope:px.ObstacleMap)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  inline void set_has_type();
+  inline void clear_has_type();
+  inline void set_has_resolution();
+  inline void clear_has_resolution();
+  inline void set_has_rows();
+  inline void clear_has_rows();
+  inline void set_has_cols();
+  inline void clear_has_cols();
+  inline void set_has_mapr0();
+  inline void clear_has_mapr0();
+  inline void set_has_mapc0();
+  inline void clear_has_mapc0();
+  inline void set_has_arrayr0();
+  inline void clear_has_arrayr0();
+  inline void set_has_arrayc0();
+  inline void clear_has_arrayc0();
+  inline void set_has_data();
+  inline void clear_has_data();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::int32 type_;
+  float resolution_;
+  ::google::protobuf::int32 rows_;
+  ::google::protobuf::int32 cols_;
+  ::google::protobuf::int32 mapr0_;
+  ::google::protobuf::int32 mapc0_;
+  ::google::protobuf::int32 arrayr0_;
+  ::google::protobuf::int32 arrayc0_;
+  ::std::string* data_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(10 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static ObstacleMap* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class Path : public ::google::protobuf::Message {
+ public:
+  Path();
+  virtual ~Path();
+  
+  Path(const Path& from);
+  
+  inline Path& operator=(const Path& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const Path& default_instance();
+  
+  void Swap(Path* other);
+  
+  // implements Message ----------------------------------------------
+  
+  Path* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const Path& from);
+  void MergeFrom(const Path& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // repeated .px.Waypoint waypoints = 2;
+  inline int waypoints_size() const;
+  inline void clear_waypoints();
+  static const int kWaypointsFieldNumber = 2;
+  inline const ::px::Waypoint& waypoints(int index) const;
+  inline ::px::Waypoint* mutable_waypoints(int index);
+  inline ::px::Waypoint* add_waypoints();
+  inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
+      waypoints() const;
+  inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
+      mutable_waypoints();
+  
+  // @@protoc_insertion_point(class_scope:px.Path)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::RepeatedPtrField< ::px::Waypoint > waypoints_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static Path* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class PointCloudXYZI_PointXYZI : public ::google::protobuf::Message {
+ public:
+  PointCloudXYZI_PointXYZI();
+  virtual ~PointCloudXYZI_PointXYZI();
+  
+  PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from);
+  
+  inline PointCloudXYZI_PointXYZI& operator=(const PointCloudXYZI_PointXYZI& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const PointCloudXYZI_PointXYZI& default_instance();
+  
+  void Swap(PointCloudXYZI_PointXYZI* other);
+  
+  // implements Message ----------------------------------------------
+  
+  PointCloudXYZI_PointXYZI* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const PointCloudXYZI_PointXYZI& from);
+  void MergeFrom(const PointCloudXYZI_PointXYZI& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required float x = 1;
+  inline bool has_x() const;
+  inline void clear_x();
+  static const int kXFieldNumber = 1;
+  inline float x() const;
+  inline void set_x(float value);
+  
+  // required float y = 2;
+  inline bool has_y() const;
+  inline void clear_y();
+  static const int kYFieldNumber = 2;
+  inline float y() const;
+  inline void set_y(float value);
+  
+  // required float z = 3;
+  inline bool has_z() const;
+  inline void clear_z();
+  static const int kZFieldNumber = 3;
+  inline float z() const;
+  inline void set_z(float value);
+  
+  // required float intensity = 4;
+  inline bool has_intensity() const;
+  inline void clear_intensity();
+  static const int kIntensityFieldNumber = 4;
+  inline float intensity() const;
+  inline void set_intensity(float value);
+  
+  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI.PointXYZI)
+ private:
+  inline void set_has_x();
+  inline void clear_has_x();
+  inline void set_has_y();
+  inline void clear_has_y();
+  inline void set_has_z();
+  inline void clear_has_z();
+  inline void set_has_intensity();
+  inline void clear_has_intensity();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  float x_;
+  float y_;
+  float z_;
+  float intensity_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static PointCloudXYZI_PointXYZI* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class PointCloudXYZI : public ::google::protobuf::Message {
+ public:
+  PointCloudXYZI();
+  virtual ~PointCloudXYZI();
+  
+  PointCloudXYZI(const PointCloudXYZI& from);
+  
+  inline PointCloudXYZI& operator=(const PointCloudXYZI& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const PointCloudXYZI& default_instance();
+  
+  void Swap(PointCloudXYZI* other);
+  
+  // implements Message ----------------------------------------------
+  
+  PointCloudXYZI* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const PointCloudXYZI& from);
+  void MergeFrom(const PointCloudXYZI& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  typedef PointCloudXYZI_PointXYZI PointXYZI;
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  inline int points_size() const;
+  inline void clear_points();
+  static const int kPointsFieldNumber = 2;
+  inline const ::px::PointCloudXYZI_PointXYZI& points(int index) const;
+  inline ::px::PointCloudXYZI_PointXYZI* mutable_points(int index);
+  inline ::px::PointCloudXYZI_PointXYZI* add_points();
+  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
+      points() const;
+  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
+      mutable_points();
+  
+  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI > points_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static PointCloudXYZI* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class PointCloudXYZRGB_PointXYZRGB : public ::google::protobuf::Message {
+ public:
+  PointCloudXYZRGB_PointXYZRGB();
+  virtual ~PointCloudXYZRGB_PointXYZRGB();
+  
+  PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from);
+  
+  inline PointCloudXYZRGB_PointXYZRGB& operator=(const PointCloudXYZRGB_PointXYZRGB& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const PointCloudXYZRGB_PointXYZRGB& default_instance();
+  
+  void Swap(PointCloudXYZRGB_PointXYZRGB* other);
+  
+  // implements Message ----------------------------------------------
+  
+  PointCloudXYZRGB_PointXYZRGB* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from);
+  void MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required float x = 1;
+  inline bool has_x() const;
+  inline void clear_x();
+  static const int kXFieldNumber = 1;
+  inline float x() const;
+  inline void set_x(float value);
+  
+  // required float y = 2;
+  inline bool has_y() const;
+  inline void clear_y();
+  static const int kYFieldNumber = 2;
+  inline float y() const;
+  inline void set_y(float value);
+  
+  // required float z = 3;
+  inline bool has_z() const;
+  inline void clear_z();
+  static const int kZFieldNumber = 3;
+  inline float z() const;
+  inline void set_z(float value);
+  
+  // required float rgb = 4;
+  inline bool has_rgb() const;
+  inline void clear_rgb();
+  static const int kRgbFieldNumber = 4;
+  inline float rgb() const;
+  inline void set_rgb(float value);
+  
+  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB.PointXYZRGB)
+ private:
+  inline void set_has_x();
+  inline void clear_has_x();
+  inline void set_has_y();
+  inline void clear_has_y();
+  inline void set_has_z();
+  inline void clear_has_z();
+  inline void set_has_rgb();
+  inline void clear_has_rgb();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  float x_;
+  float y_;
+  float z_;
+  float rgb_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static PointCloudXYZRGB_PointXYZRGB* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class PointCloudXYZRGB : public ::google::protobuf::Message {
+ public:
+  PointCloudXYZRGB();
+  virtual ~PointCloudXYZRGB();
+  
+  PointCloudXYZRGB(const PointCloudXYZRGB& from);
+  
+  inline PointCloudXYZRGB& operator=(const PointCloudXYZRGB& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const PointCloudXYZRGB& default_instance();
+  
+  void Swap(PointCloudXYZRGB* other);
+  
+  // implements Message ----------------------------------------------
+  
+  PointCloudXYZRGB* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const PointCloudXYZRGB& from);
+  void MergeFrom(const PointCloudXYZRGB& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  typedef PointCloudXYZRGB_PointXYZRGB PointXYZRGB;
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  inline int points_size() const;
+  inline void clear_points();
+  static const int kPointsFieldNumber = 2;
+  inline const ::px::PointCloudXYZRGB_PointXYZRGB& points(int index) const;
+  inline ::px::PointCloudXYZRGB_PointXYZRGB* mutable_points(int index);
+  inline ::px::PointCloudXYZRGB_PointXYZRGB* add_points();
+  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
+      points() const;
+  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
+      mutable_points();
+  
+  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB > points_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static PointCloudXYZRGB* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class RGBDImage : public ::google::protobuf::Message {
+ public:
+  RGBDImage();
+  virtual ~RGBDImage();
+  
+  RGBDImage(const RGBDImage& from);
+  
+  inline RGBDImage& operator=(const RGBDImage& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const RGBDImage& default_instance();
+  
+  void Swap(RGBDImage* other);
+  
+  // implements Message ----------------------------------------------
+  
+  RGBDImage* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const RGBDImage& from);
+  void MergeFrom(const RGBDImage& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required .px.HeaderInfo header = 1;
+  inline bool has_header() const;
+  inline void clear_header();
+  static const int kHeaderFieldNumber = 1;
+  inline const ::px::HeaderInfo& header() const;
+  inline ::px::HeaderInfo* mutable_header();
+  inline ::px::HeaderInfo* release_header();
+  
+  // required uint32 cols = 2;
+  inline bool has_cols() const;
+  inline void clear_cols();
+  static const int kColsFieldNumber = 2;
+  inline ::google::protobuf::uint32 cols() const;
+  inline void set_cols(::google::protobuf::uint32 value);
+  
+  // required uint32 rows = 3;
+  inline bool has_rows() const;
+  inline void clear_rows();
+  static const int kRowsFieldNumber = 3;
+  inline ::google::protobuf::uint32 rows() const;
+  inline void set_rows(::google::protobuf::uint32 value);
+  
+  // required uint32 step1 = 4;
+  inline bool has_step1() const;
+  inline void clear_step1();
+  static const int kStep1FieldNumber = 4;
+  inline ::google::protobuf::uint32 step1() const;
+  inline void set_step1(::google::protobuf::uint32 value);
+  
+  // required uint32 type1 = 5;
+  inline bool has_type1() const;
+  inline void clear_type1();
+  static const int kType1FieldNumber = 5;
+  inline ::google::protobuf::uint32 type1() const;
+  inline void set_type1(::google::protobuf::uint32 value);
+  
+  // required bytes imageData1 = 6;
+  inline bool has_imagedata1() const;
+  inline void clear_imagedata1();
+  static const int kImageData1FieldNumber = 6;
+  inline const ::std::string& imagedata1() const;
+  inline void set_imagedata1(const ::std::string& value);
+  inline void set_imagedata1(const char* value);
+  inline void set_imagedata1(const void* value, size_t size);
+  inline ::std::string* mutable_imagedata1();
+  inline ::std::string* release_imagedata1();
+  
+  // required uint32 step2 = 7;
+  inline bool has_step2() const;
+  inline void clear_step2();
+  static const int kStep2FieldNumber = 7;
+  inline ::google::protobuf::uint32 step2() const;
+  inline void set_step2(::google::protobuf::uint32 value);
+  
+  // required uint32 type2 = 8;
+  inline bool has_type2() const;
+  inline void clear_type2();
+  static const int kType2FieldNumber = 8;
+  inline ::google::protobuf::uint32 type2() const;
+  inline void set_type2(::google::protobuf::uint32 value);
+  
+  // required bytes imageData2 = 9;
+  inline bool has_imagedata2() const;
+  inline void clear_imagedata2();
+  static const int kImageData2FieldNumber = 9;
+  inline const ::std::string& imagedata2() const;
+  inline void set_imagedata2(const ::std::string& value);
+  inline void set_imagedata2(const char* value);
+  inline void set_imagedata2(const void* value, size_t size);
+  inline ::std::string* mutable_imagedata2();
+  inline ::std::string* release_imagedata2();
+  
+  // optional uint32 camera_config = 10;
+  inline bool has_camera_config() const;
+  inline void clear_camera_config();
+  static const int kCameraConfigFieldNumber = 10;
+  inline ::google::protobuf::uint32 camera_config() const;
+  inline void set_camera_config(::google::protobuf::uint32 value);
+  
+  // optional uint32 camera_type = 11;
+  inline bool has_camera_type() const;
+  inline void clear_camera_type();
+  static const int kCameraTypeFieldNumber = 11;
+  inline ::google::protobuf::uint32 camera_type() const;
+  inline void set_camera_type(::google::protobuf::uint32 value);
+  
+  // optional float roll = 12;
+  inline bool has_roll() const;
+  inline void clear_roll();
+  static const int kRollFieldNumber = 12;
+  inline float roll() const;
+  inline void set_roll(float value);
+  
+  // optional float pitch = 13;
+  inline bool has_pitch() const;
+  inline void clear_pitch();
+  static const int kPitchFieldNumber = 13;
+  inline float pitch() const;
+  inline void set_pitch(float value);
+  
+  // optional float yaw = 14;
+  inline bool has_yaw() const;
+  inline void clear_yaw();
+  static const int kYawFieldNumber = 14;
+  inline float yaw() const;
+  inline void set_yaw(float value);
+  
+  // optional float lon = 15;
+  inline bool has_lon() const;
+  inline void clear_lon();
+  static const int kLonFieldNumber = 15;
+  inline float lon() const;
+  inline void set_lon(float value);
+  
+  // optional float lat = 16;
+  inline bool has_lat() const;
+  inline void clear_lat();
+  static const int kLatFieldNumber = 16;
+  inline float lat() const;
+  inline void set_lat(float value);
+  
+  // optional float alt = 17;
+  inline bool has_alt() const;
+  inline void clear_alt();
+  static const int kAltFieldNumber = 17;
+  inline float alt() const;
+  inline void set_alt(float value);
+  
+  // optional float ground_x = 18;
+  inline bool has_ground_x() const;
+  inline void clear_ground_x();
+  static const int kGroundXFieldNumber = 18;
+  inline float ground_x() const;
+  inline void set_ground_x(float value);
+  
+  // optional float ground_y = 19;
+  inline bool has_ground_y() const;
+  inline void clear_ground_y();
+  static const int kGroundYFieldNumber = 19;
+  inline float ground_y() const;
+  inline void set_ground_y(float value);
+  
+  // optional float ground_z = 20;
+  inline bool has_ground_z() const;
+  inline void clear_ground_z();
+  static const int kGroundZFieldNumber = 20;
+  inline float ground_z() const;
+  inline void set_ground_z(float value);
+  
+  // repeated float camera_matrix = 21;
+  inline int camera_matrix_size() const;
+  inline void clear_camera_matrix();
+  static const int kCameraMatrixFieldNumber = 21;
+  inline float camera_matrix(int index) const;
+  inline void set_camera_matrix(int index, float value);
+  inline void add_camera_matrix(float value);
+  inline const ::google::protobuf::RepeatedField< float >&
+      camera_matrix() const;
+  inline ::google::protobuf::RepeatedField< float >*
+      mutable_camera_matrix();
+  
+  // @@protoc_insertion_point(class_scope:px.RGBDImage)
+ private:
+  inline void set_has_header();
+  inline void clear_has_header();
+  inline void set_has_cols();
+  inline void clear_has_cols();
+  inline void set_has_rows();
+  inline void clear_has_rows();
+  inline void set_has_step1();
+  inline void clear_has_step1();
+  inline void set_has_type1();
+  inline void clear_has_type1();
+  inline void set_has_imagedata1();
+  inline void clear_has_imagedata1();
+  inline void set_has_step2();
+  inline void clear_has_step2();
+  inline void set_has_type2();
+  inline void clear_has_type2();
+  inline void set_has_imagedata2();
+  inline void clear_has_imagedata2();
+  inline void set_has_camera_config();
+  inline void clear_has_camera_config();
+  inline void set_has_camera_type();
+  inline void clear_has_camera_type();
+  inline void set_has_roll();
+  inline void clear_has_roll();
+  inline void set_has_pitch();
+  inline void clear_has_pitch();
+  inline void set_has_yaw();
+  inline void clear_has_yaw();
+  inline void set_has_lon();
+  inline void clear_has_lon();
+  inline void set_has_lat();
+  inline void clear_has_lat();
+  inline void set_has_alt();
+  inline void clear_has_alt();
+  inline void set_has_ground_x();
+  inline void clear_has_ground_x();
+  inline void set_has_ground_y();
+  inline void clear_has_ground_y();
+  inline void set_has_ground_z();
+  inline void clear_has_ground_z();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  ::px::HeaderInfo* header_;
+  ::google::protobuf::uint32 cols_;
+  ::google::protobuf::uint32 rows_;
+  ::google::protobuf::uint32 step1_;
+  ::google::protobuf::uint32 type1_;
+  ::std::string* imagedata1_;
+  ::google::protobuf::uint32 step2_;
+  ::google::protobuf::uint32 type2_;
+  ::std::string* imagedata2_;
+  ::google::protobuf::uint32 camera_config_;
+  ::google::protobuf::uint32 camera_type_;
+  float roll_;
+  float pitch_;
+  float yaw_;
+  float lon_;
+  float lat_;
+  float alt_;
+  float ground_x_;
+  float ground_y_;
+  ::google::protobuf::RepeatedField< float > camera_matrix_;
+  float ground_z_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(21 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static RGBDImage* default_instance_;
+};
+// -------------------------------------------------------------------
+
+class Waypoint : public ::google::protobuf::Message {
+ public:
+  Waypoint();
+  virtual ~Waypoint();
+  
+  Waypoint(const Waypoint& from);
+  
+  inline Waypoint& operator=(const Waypoint& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  
+  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
+    return _unknown_fields_;
+  }
+  
+  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
+    return &_unknown_fields_;
+  }
+  
+  static const ::google::protobuf::Descriptor* descriptor();
+  static const Waypoint& default_instance();
+  
+  void Swap(Waypoint* other);
+  
+  // implements Message ----------------------------------------------
+  
+  Waypoint* New() const;
+  void CopyFrom(const ::google::protobuf::Message& from);
+  void MergeFrom(const ::google::protobuf::Message& from);
+  void CopyFrom(const Waypoint& from);
+  void MergeFrom(const Waypoint& from);
+  void Clear();
+  bool IsInitialized() const;
+  
+  int ByteSize() const;
+  bool MergePartialFromCodedStream(
+      ::google::protobuf::io::CodedInputStream* input);
+  void SerializeWithCachedSizes(
+      ::google::protobuf::io::CodedOutputStream* output) const;
+  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
+  int GetCachedSize() const { return _cached_size_; }
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const;
+  public:
+  
+  ::google::protobuf::Metadata GetMetadata() const;
+  
+  // nested types ----------------------------------------------------
+  
+  // accessors -------------------------------------------------------
+  
+  // required double x = 1;
+  inline bool has_x() const;
+  inline void clear_x();
+  static const int kXFieldNumber = 1;
+  inline double x() const;
+  inline void set_x(double value);
+  
+  // required double y = 2;
+  inline bool has_y() const;
+  inline void clear_y();
+  static const int kYFieldNumber = 2;
+  inline double y() const;
+  inline void set_y(double value);
+  
+  // optional double z = 3;
+  inline bool has_z() const;
+  inline void clear_z();
+  static const int kZFieldNumber = 3;
+  inline double z() const;
+  inline void set_z(double value);
+  
+  // optional double roll = 4;
+  inline bool has_roll() const;
+  inline void clear_roll();
+  static const int kRollFieldNumber = 4;
+  inline double roll() const;
+  inline void set_roll(double value);
+  
+  // optional double pitch = 5;
+  inline bool has_pitch() const;
+  inline void clear_pitch();
+  static const int kPitchFieldNumber = 5;
+  inline double pitch() const;
+  inline void set_pitch(double value);
+  
+  // optional double yaw = 6;
+  inline bool has_yaw() const;
+  inline void clear_yaw();
+  static const int kYawFieldNumber = 6;
+  inline double yaw() const;
+  inline void set_yaw(double value);
+  
+  // @@protoc_insertion_point(class_scope:px.Waypoint)
+ private:
+  inline void set_has_x();
+  inline void clear_has_x();
+  inline void set_has_y();
+  inline void clear_has_y();
+  inline void set_has_z();
+  inline void clear_has_z();
+  inline void set_has_roll();
+  inline void clear_has_roll();
+  inline void set_has_pitch();
+  inline void clear_has_pitch();
+  inline void set_has_yaw();
+  inline void clear_has_yaw();
+  
+  ::google::protobuf::UnknownFieldSet _unknown_fields_;
+  
+  double x_;
+  double y_;
+  double z_;
+  double roll_;
+  double pitch_;
+  double yaw_;
+  
+  mutable int _cached_size_;
+  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
+  
+  friend void  protobuf_AddDesc_pixhawk_2eproto();
+  friend void protobuf_AssignDesc_pixhawk_2eproto();
+  friend void protobuf_ShutdownFile_pixhawk_2eproto();
+  
+  void InitAsDefaultInstance();
+  static Waypoint* default_instance_;
+};
+// ===================================================================
+
+
+// ===================================================================
+
+// HeaderInfo
+
+// required int32 source_sysid = 1;
+inline bool HeaderInfo::has_source_sysid() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void HeaderInfo::set_has_source_sysid() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void HeaderInfo::clear_has_source_sysid() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void HeaderInfo::clear_source_sysid() {
+  source_sysid_ = 0;
+  clear_has_source_sysid();
+}
+inline ::google::protobuf::int32 HeaderInfo::source_sysid() const {
+  return source_sysid_;
+}
+inline void HeaderInfo::set_source_sysid(::google::protobuf::int32 value) {
+  set_has_source_sysid();
+  source_sysid_ = value;
+}
+
+// required int32 source_compid = 2;
+inline bool HeaderInfo::has_source_compid() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void HeaderInfo::set_has_source_compid() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void HeaderInfo::clear_has_source_compid() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void HeaderInfo::clear_source_compid() {
+  source_compid_ = 0;
+  clear_has_source_compid();
+}
+inline ::google::protobuf::int32 HeaderInfo::source_compid() const {
+  return source_compid_;
+}
+inline void HeaderInfo::set_source_compid(::google::protobuf::int32 value) {
+  set_has_source_compid();
+  source_compid_ = value;
+}
+
+// required double timestamp = 3;
+inline bool HeaderInfo::has_timestamp() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void HeaderInfo::set_has_timestamp() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void HeaderInfo::clear_has_timestamp() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void HeaderInfo::clear_timestamp() {
+  timestamp_ = 0;
+  clear_has_timestamp();
+}
+inline double HeaderInfo::timestamp() const {
+  return timestamp_;
+}
+inline void HeaderInfo::set_timestamp(double value) {
+  set_has_timestamp();
+  timestamp_ = value;
+}
+
+// -------------------------------------------------------------------
+
+// GLOverlay
+
+// required .px.HeaderInfo header = 1;
+inline bool GLOverlay::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void GLOverlay::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void GLOverlay::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void GLOverlay::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& GLOverlay::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* GLOverlay::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* GLOverlay::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// optional string name = 2;
+inline bool GLOverlay::has_name() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void GLOverlay::set_has_name() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void GLOverlay::clear_has_name() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void GLOverlay::clear_name() {
+  if (name_ != &::google::protobuf::internal::kEmptyString) {
+    name_->clear();
+  }
+  clear_has_name();
+}
+inline const ::std::string& GLOverlay::name() const {
+  return *name_;
+}
+inline void GLOverlay::set_name(const ::std::string& value) {
+  set_has_name();
+  if (name_ == &::google::protobuf::internal::kEmptyString) {
+    name_ = new ::std::string;
+  }
+  name_->assign(value);
+}
+inline void GLOverlay::set_name(const char* value) {
+  set_has_name();
+  if (name_ == &::google::protobuf::internal::kEmptyString) {
+    name_ = new ::std::string;
+  }
+  name_->assign(value);
+}
+inline void GLOverlay::set_name(const char* value, size_t size) {
+  set_has_name();
+  if (name_ == &::google::protobuf::internal::kEmptyString) {
+    name_ = new ::std::string;
+  }
+  name_->assign(reinterpret_cast<const char*>(value), size);
+}
+inline ::std::string* GLOverlay::mutable_name() {
+  set_has_name();
+  if (name_ == &::google::protobuf::internal::kEmptyString) {
+    name_ = new ::std::string;
+  }
+  return name_;
+}
+inline ::std::string* GLOverlay::release_name() {
+  clear_has_name();
+  if (name_ == &::google::protobuf::internal::kEmptyString) {
+    return NULL;
+  } else {
+    ::std::string* temp = name_;
+    name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+    return temp;
+  }
+}
+
+// optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+inline bool GLOverlay::has_coordinateframetype() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void GLOverlay::set_has_coordinateframetype() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void GLOverlay::clear_has_coordinateframetype() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void GLOverlay::clear_coordinateframetype() {
+  coordinateframetype_ = 0;
+  clear_has_coordinateframetype();
+}
+inline ::px::GLOverlay_CoordinateFrameType GLOverlay::coordinateframetype() const {
+  return static_cast< ::px::GLOverlay_CoordinateFrameType >(coordinateframetype_);
+}
+inline void GLOverlay::set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value) {
+  GOOGLE_DCHECK(::px::GLOverlay_CoordinateFrameType_IsValid(value));
+  set_has_coordinateframetype();
+  coordinateframetype_ = value;
+}
+
+// optional double origin_x = 4;
+inline bool GLOverlay::has_origin_x() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void GLOverlay::set_has_origin_x() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void GLOverlay::clear_has_origin_x() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void GLOverlay::clear_origin_x() {
+  origin_x_ = 0;
+  clear_has_origin_x();
+}
+inline double GLOverlay::origin_x() const {
+  return origin_x_;
+}
+inline void GLOverlay::set_origin_x(double value) {
+  set_has_origin_x();
+  origin_x_ = value;
+}
+
+// optional double origin_y = 5;
+inline bool GLOverlay::has_origin_y() const {
+  return (_has_bits_[0] & 0x00000010u) != 0;
+}
+inline void GLOverlay::set_has_origin_y() {
+  _has_bits_[0] |= 0x00000010u;
+}
+inline void GLOverlay::clear_has_origin_y() {
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline void GLOverlay::clear_origin_y() {
+  origin_y_ = 0;
+  clear_has_origin_y();
+}
+inline double GLOverlay::origin_y() const {
+  return origin_y_;
+}
+inline void GLOverlay::set_origin_y(double value) {
+  set_has_origin_y();
+  origin_y_ = value;
+}
+
+// optional double origin_z = 6;
+inline bool GLOverlay::has_origin_z() const {
+  return (_has_bits_[0] & 0x00000020u) != 0;
+}
+inline void GLOverlay::set_has_origin_z() {
+  _has_bits_[0] |= 0x00000020u;
+}
+inline void GLOverlay::clear_has_origin_z() {
+  _has_bits_[0] &= ~0x00000020u;
+}
+inline void GLOverlay::clear_origin_z() {
+  origin_z_ = 0;
+  clear_has_origin_z();
+}
+inline double GLOverlay::origin_z() const {
+  return origin_z_;
+}
+inline void GLOverlay::set_origin_z(double value) {
+  set_has_origin_z();
+  origin_z_ = value;
+}
+
+// optional bytes data = 7;
+inline bool GLOverlay::has_data() const {
+  return (_has_bits_[0] & 0x00000040u) != 0;
+}
+inline void GLOverlay::set_has_data() {
+  _has_bits_[0] |= 0x00000040u;
+}
+inline void GLOverlay::clear_has_data() {
+  _has_bits_[0] &= ~0x00000040u;
+}
+inline void GLOverlay::clear_data() {
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    data_->clear();
+  }
+  clear_has_data();
+}
+inline const ::std::string& GLOverlay::data() const {
+  return *data_;
+}
+inline void GLOverlay::set_data(const ::std::string& value) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(value);
+}
+inline void GLOverlay::set_data(const char* value) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(value);
+}
+inline void GLOverlay::set_data(const void* value, size_t size) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(reinterpret_cast<const char*>(value), size);
+}
+inline ::std::string* GLOverlay::mutable_data() {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  return data_;
+}
+inline ::std::string* GLOverlay::release_data() {
+  clear_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    return NULL;
+  } else {
+    ::std::string* temp = data_;
+    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+    return temp;
+  }
+}
+
+// -------------------------------------------------------------------
+
+// Obstacle
+
+// optional float x = 1;
+inline bool Obstacle::has_x() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void Obstacle::set_has_x() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void Obstacle::clear_has_x() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void Obstacle::clear_x() {
+  x_ = 0;
+  clear_has_x();
+}
+inline float Obstacle::x() const {
+  return x_;
+}
+inline void Obstacle::set_x(float value) {
+  set_has_x();
+  x_ = value;
+}
+
+// optional float y = 2;
+inline bool Obstacle::has_y() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void Obstacle::set_has_y() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void Obstacle::clear_has_y() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void Obstacle::clear_y() {
+  y_ = 0;
+  clear_has_y();
+}
+inline float Obstacle::y() const {
+  return y_;
+}
+inline void Obstacle::set_y(float value) {
+  set_has_y();
+  y_ = value;
+}
+
+// optional float z = 3;
+inline bool Obstacle::has_z() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void Obstacle::set_has_z() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void Obstacle::clear_has_z() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void Obstacle::clear_z() {
+  z_ = 0;
+  clear_has_z();
+}
+inline float Obstacle::z() const {
+  return z_;
+}
+inline void Obstacle::set_z(float value) {
+  set_has_z();
+  z_ = value;
+}
+
+// optional float length = 4;
+inline bool Obstacle::has_length() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void Obstacle::set_has_length() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void Obstacle::clear_has_length() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void Obstacle::clear_length() {
+  length_ = 0;
+  clear_has_length();
+}
+inline float Obstacle::length() const {
+  return length_;
+}
+inline void Obstacle::set_length(float value) {
+  set_has_length();
+  length_ = value;
+}
+
+// optional float width = 5;
+inline bool Obstacle::has_width() const {
+  return (_has_bits_[0] & 0x00000010u) != 0;
+}
+inline void Obstacle::set_has_width() {
+  _has_bits_[0] |= 0x00000010u;
+}
+inline void Obstacle::clear_has_width() {
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline void Obstacle::clear_width() {
+  width_ = 0;
+  clear_has_width();
+}
+inline float Obstacle::width() const {
+  return width_;
+}
+inline void Obstacle::set_width(float value) {
+  set_has_width();
+  width_ = value;
+}
+
+// optional float height = 6;
+inline bool Obstacle::has_height() const {
+  return (_has_bits_[0] & 0x00000020u) != 0;
+}
+inline void Obstacle::set_has_height() {
+  _has_bits_[0] |= 0x00000020u;
+}
+inline void Obstacle::clear_has_height() {
+  _has_bits_[0] &= ~0x00000020u;
+}
+inline void Obstacle::clear_height() {
+  height_ = 0;
+  clear_has_height();
+}
+inline float Obstacle::height() const {
+  return height_;
+}
+inline void Obstacle::set_height(float value) {
+  set_has_height();
+  height_ = value;
+}
+
+// -------------------------------------------------------------------
+
+// ObstacleList
+
+// required .px.HeaderInfo header = 1;
+inline bool ObstacleList::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void ObstacleList::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void ObstacleList::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void ObstacleList::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& ObstacleList::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* ObstacleList::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* ObstacleList::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// repeated .px.Obstacle obstacles = 2;
+inline int ObstacleList::obstacles_size() const {
+  return obstacles_.size();
+}
+inline void ObstacleList::clear_obstacles() {
+  obstacles_.Clear();
+}
+inline const ::px::Obstacle& ObstacleList::obstacles(int index) const {
+  return obstacles_.Get(index);
+}
+inline ::px::Obstacle* ObstacleList::mutable_obstacles(int index) {
+  return obstacles_.Mutable(index);
+}
+inline ::px::Obstacle* ObstacleList::add_obstacles() {
+  return obstacles_.Add();
+}
+inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
+ObstacleList::obstacles() const {
+  return obstacles_;
+}
+inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
+ObstacleList::mutable_obstacles() {
+  return &obstacles_;
+}
+
+// -------------------------------------------------------------------
+
+// ObstacleMap
+
+// required .px.HeaderInfo header = 1;
+inline bool ObstacleMap::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void ObstacleMap::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void ObstacleMap::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void ObstacleMap::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& ObstacleMap::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* ObstacleMap::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* ObstacleMap::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// required int32 type = 2;
+inline bool ObstacleMap::has_type() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void ObstacleMap::set_has_type() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void ObstacleMap::clear_has_type() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void ObstacleMap::clear_type() {
+  type_ = 0;
+  clear_has_type();
+}
+inline ::google::protobuf::int32 ObstacleMap::type() const {
+  return type_;
+}
+inline void ObstacleMap::set_type(::google::protobuf::int32 value) {
+  set_has_type();
+  type_ = value;
+}
+
+// optional float resolution = 3;
+inline bool ObstacleMap::has_resolution() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void ObstacleMap::set_has_resolution() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void ObstacleMap::clear_has_resolution() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void ObstacleMap::clear_resolution() {
+  resolution_ = 0;
+  clear_has_resolution();
+}
+inline float ObstacleMap::resolution() const {
+  return resolution_;
+}
+inline void ObstacleMap::set_resolution(float value) {
+  set_has_resolution();
+  resolution_ = value;
+}
+
+// optional int32 rows = 4;
+inline bool ObstacleMap::has_rows() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void ObstacleMap::set_has_rows() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void ObstacleMap::clear_has_rows() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void ObstacleMap::clear_rows() {
+  rows_ = 0;
+  clear_has_rows();
+}
+inline ::google::protobuf::int32 ObstacleMap::rows() const {
+  return rows_;
+}
+inline void ObstacleMap::set_rows(::google::protobuf::int32 value) {
+  set_has_rows();
+  rows_ = value;
+}
+
+// optional int32 cols = 5;
+inline bool ObstacleMap::has_cols() const {
+  return (_has_bits_[0] & 0x00000010u) != 0;
+}
+inline void ObstacleMap::set_has_cols() {
+  _has_bits_[0] |= 0x00000010u;
+}
+inline void ObstacleMap::clear_has_cols() {
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline void ObstacleMap::clear_cols() {
+  cols_ = 0;
+  clear_has_cols();
+}
+inline ::google::protobuf::int32 ObstacleMap::cols() const {
+  return cols_;
+}
+inline void ObstacleMap::set_cols(::google::protobuf::int32 value) {
+  set_has_cols();
+  cols_ = value;
+}
+
+// optional int32 mapR0 = 6;
+inline bool ObstacleMap::has_mapr0() const {
+  return (_has_bits_[0] & 0x00000020u) != 0;
+}
+inline void ObstacleMap::set_has_mapr0() {
+  _has_bits_[0] |= 0x00000020u;
+}
+inline void ObstacleMap::clear_has_mapr0() {
+  _has_bits_[0] &= ~0x00000020u;
+}
+inline void ObstacleMap::clear_mapr0() {
+  mapr0_ = 0;
+  clear_has_mapr0();
+}
+inline ::google::protobuf::int32 ObstacleMap::mapr0() const {
+  return mapr0_;
+}
+inline void ObstacleMap::set_mapr0(::google::protobuf::int32 value) {
+  set_has_mapr0();
+  mapr0_ = value;
+}
+
+// optional int32 mapC0 = 7;
+inline bool ObstacleMap::has_mapc0() const {
+  return (_has_bits_[0] & 0x00000040u) != 0;
+}
+inline void ObstacleMap::set_has_mapc0() {
+  _has_bits_[0] |= 0x00000040u;
+}
+inline void ObstacleMap::clear_has_mapc0() {
+  _has_bits_[0] &= ~0x00000040u;
+}
+inline void ObstacleMap::clear_mapc0() {
+  mapc0_ = 0;
+  clear_has_mapc0();
+}
+inline ::google::protobuf::int32 ObstacleMap::mapc0() const {
+  return mapc0_;
+}
+inline void ObstacleMap::set_mapc0(::google::protobuf::int32 value) {
+  set_has_mapc0();
+  mapc0_ = value;
+}
+
+// optional int32 arrayR0 = 8;
+inline bool ObstacleMap::has_arrayr0() const {
+  return (_has_bits_[0] & 0x00000080u) != 0;
+}
+inline void ObstacleMap::set_has_arrayr0() {
+  _has_bits_[0] |= 0x00000080u;
+}
+inline void ObstacleMap::clear_has_arrayr0() {
+  _has_bits_[0] &= ~0x00000080u;
+}
+inline void ObstacleMap::clear_arrayr0() {
+  arrayr0_ = 0;
+  clear_has_arrayr0();
+}
+inline ::google::protobuf::int32 ObstacleMap::arrayr0() const {
+  return arrayr0_;
+}
+inline void ObstacleMap::set_arrayr0(::google::protobuf::int32 value) {
+  set_has_arrayr0();
+  arrayr0_ = value;
+}
+
+// optional int32 arrayC0 = 9;
+inline bool ObstacleMap::has_arrayc0() const {
+  return (_has_bits_[0] & 0x00000100u) != 0;
+}
+inline void ObstacleMap::set_has_arrayc0() {
+  _has_bits_[0] |= 0x00000100u;
+}
+inline void ObstacleMap::clear_has_arrayc0() {
+  _has_bits_[0] &= ~0x00000100u;
+}
+inline void ObstacleMap::clear_arrayc0() {
+  arrayc0_ = 0;
+  clear_has_arrayc0();
+}
+inline ::google::protobuf::int32 ObstacleMap::arrayc0() const {
+  return arrayc0_;
+}
+inline void ObstacleMap::set_arrayc0(::google::protobuf::int32 value) {
+  set_has_arrayc0();
+  arrayc0_ = value;
+}
+
+// optional bytes data = 10;
+inline bool ObstacleMap::has_data() const {
+  return (_has_bits_[0] & 0x00000200u) != 0;
+}
+inline void ObstacleMap::set_has_data() {
+  _has_bits_[0] |= 0x00000200u;
+}
+inline void ObstacleMap::clear_has_data() {
+  _has_bits_[0] &= ~0x00000200u;
+}
+inline void ObstacleMap::clear_data() {
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    data_->clear();
+  }
+  clear_has_data();
+}
+inline const ::std::string& ObstacleMap::data() const {
+  return *data_;
+}
+inline void ObstacleMap::set_data(const ::std::string& value) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(value);
+}
+inline void ObstacleMap::set_data(const char* value) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(value);
+}
+inline void ObstacleMap::set_data(const void* value, size_t size) {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  data_->assign(reinterpret_cast<const char*>(value), size);
+}
+inline ::std::string* ObstacleMap::mutable_data() {
+  set_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    data_ = new ::std::string;
+  }
+  return data_;
+}
+inline ::std::string* ObstacleMap::release_data() {
+  clear_has_data();
+  if (data_ == &::google::protobuf::internal::kEmptyString) {
+    return NULL;
+  } else {
+    ::std::string* temp = data_;
+    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+    return temp;
+  }
+}
+
+// -------------------------------------------------------------------
+
+// Path
+
+// required .px.HeaderInfo header = 1;
+inline bool Path::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void Path::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void Path::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void Path::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& Path::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* Path::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* Path::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// repeated .px.Waypoint waypoints = 2;
+inline int Path::waypoints_size() const {
+  return waypoints_.size();
+}
+inline void Path::clear_waypoints() {
+  waypoints_.Clear();
+}
+inline const ::px::Waypoint& Path::waypoints(int index) const {
+  return waypoints_.Get(index);
+}
+inline ::px::Waypoint* Path::mutable_waypoints(int index) {
+  return waypoints_.Mutable(index);
+}
+inline ::px::Waypoint* Path::add_waypoints() {
+  return waypoints_.Add();
+}
+inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
+Path::waypoints() const {
+  return waypoints_;
+}
+inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
+Path::mutable_waypoints() {
+  return &waypoints_;
+}
+
+// -------------------------------------------------------------------
+
+// PointCloudXYZI_PointXYZI
+
+// required float x = 1;
+inline bool PointCloudXYZI_PointXYZI::has_x() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void PointCloudXYZI_PointXYZI::set_has_x() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_has_x() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_x() {
+  x_ = 0;
+  clear_has_x();
+}
+inline float PointCloudXYZI_PointXYZI::x() const {
+  return x_;
+}
+inline void PointCloudXYZI_PointXYZI::set_x(float value) {
+  set_has_x();
+  x_ = value;
+}
+
+// required float y = 2;
+inline bool PointCloudXYZI_PointXYZI::has_y() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void PointCloudXYZI_PointXYZI::set_has_y() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_has_y() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_y() {
+  y_ = 0;
+  clear_has_y();
+}
+inline float PointCloudXYZI_PointXYZI::y() const {
+  return y_;
+}
+inline void PointCloudXYZI_PointXYZI::set_y(float value) {
+  set_has_y();
+  y_ = value;
+}
+
+// required float z = 3;
+inline bool PointCloudXYZI_PointXYZI::has_z() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void PointCloudXYZI_PointXYZI::set_has_z() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_has_z() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_z() {
+  z_ = 0;
+  clear_has_z();
+}
+inline float PointCloudXYZI_PointXYZI::z() const {
+  return z_;
+}
+inline void PointCloudXYZI_PointXYZI::set_z(float value) {
+  set_has_z();
+  z_ = value;
+}
+
+// required float intensity = 4;
+inline bool PointCloudXYZI_PointXYZI::has_intensity() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void PointCloudXYZI_PointXYZI::set_has_intensity() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_has_intensity() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void PointCloudXYZI_PointXYZI::clear_intensity() {
+  intensity_ = 0;
+  clear_has_intensity();
+}
+inline float PointCloudXYZI_PointXYZI::intensity() const {
+  return intensity_;
+}
+inline void PointCloudXYZI_PointXYZI::set_intensity(float value) {
+  set_has_intensity();
+  intensity_ = value;
+}
+
+// -------------------------------------------------------------------
+
+// PointCloudXYZI
+
+// required .px.HeaderInfo header = 1;
+inline bool PointCloudXYZI::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void PointCloudXYZI::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void PointCloudXYZI::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void PointCloudXYZI::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& PointCloudXYZI::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* PointCloudXYZI::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* PointCloudXYZI::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// repeated .px.PointCloudXYZI.PointXYZI points = 2;
+inline int PointCloudXYZI::points_size() const {
+  return points_.size();
+}
+inline void PointCloudXYZI::clear_points() {
+  points_.Clear();
+}
+inline const ::px::PointCloudXYZI_PointXYZI& PointCloudXYZI::points(int index) const {
+  return points_.Get(index);
+}
+inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::mutable_points(int index) {
+  return points_.Mutable(index);
+}
+inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::add_points() {
+  return points_.Add();
+}
+inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
+PointCloudXYZI::points() const {
+  return points_;
+}
+inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
+PointCloudXYZI::mutable_points() {
+  return &points_;
+}
+
+// -------------------------------------------------------------------
+
+// PointCloudXYZRGB_PointXYZRGB
+
+// required float x = 1;
+inline bool PointCloudXYZRGB_PointXYZRGB::has_x() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_has_x() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_has_x() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_x() {
+  x_ = 0;
+  clear_has_x();
+}
+inline float PointCloudXYZRGB_PointXYZRGB::x() const {
+  return x_;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_x(float value) {
+  set_has_x();
+  x_ = value;
+}
+
+// required float y = 2;
+inline bool PointCloudXYZRGB_PointXYZRGB::has_y() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_has_y() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_has_y() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_y() {
+  y_ = 0;
+  clear_has_y();
+}
+inline float PointCloudXYZRGB_PointXYZRGB::y() const {
+  return y_;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_y(float value) {
+  set_has_y();
+  y_ = value;
+}
+
+// required float z = 3;
+inline bool PointCloudXYZRGB_PointXYZRGB::has_z() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_has_z() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_has_z() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_z() {
+  z_ = 0;
+  clear_has_z();
+}
+inline float PointCloudXYZRGB_PointXYZRGB::z() const {
+  return z_;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_z(float value) {
+  set_has_z();
+  z_ = value;
+}
+
+// required float rgb = 4;
+inline bool PointCloudXYZRGB_PointXYZRGB::has_rgb() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_has_rgb() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_has_rgb() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::clear_rgb() {
+  rgb_ = 0;
+  clear_has_rgb();
+}
+inline float PointCloudXYZRGB_PointXYZRGB::rgb() const {
+  return rgb_;
+}
+inline void PointCloudXYZRGB_PointXYZRGB::set_rgb(float value) {
+  set_has_rgb();
+  rgb_ = value;
+}
+
+// -------------------------------------------------------------------
+
+// PointCloudXYZRGB
+
+// required .px.HeaderInfo header = 1;
+inline bool PointCloudXYZRGB::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void PointCloudXYZRGB::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void PointCloudXYZRGB::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void PointCloudXYZRGB::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& PointCloudXYZRGB::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* PointCloudXYZRGB::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* PointCloudXYZRGB::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+inline int PointCloudXYZRGB::points_size() const {
+  return points_.size();
+}
+inline void PointCloudXYZRGB::clear_points() {
+  points_.Clear();
+}
+inline const ::px::PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB::points(int index) const {
+  return points_.Get(index);
+}
+inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::mutable_points(int index) {
+  return points_.Mutable(index);
+}
+inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::add_points() {
+  return points_.Add();
+}
+inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
+PointCloudXYZRGB::points() const {
+  return points_;
+}
+inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
+PointCloudXYZRGB::mutable_points() {
+  return &points_;
+}
+
+// -------------------------------------------------------------------
+
+// RGBDImage
+
+// required .px.HeaderInfo header = 1;
+inline bool RGBDImage::has_header() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void RGBDImage::set_has_header() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void RGBDImage::clear_has_header() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void RGBDImage::clear_header() {
+  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+  clear_has_header();
+}
+inline const ::px::HeaderInfo& RGBDImage::header() const {
+  return header_ != NULL ? *header_ : *default_instance_->header_;
+}
+inline ::px::HeaderInfo* RGBDImage::mutable_header() {
+  set_has_header();
+  if (header_ == NULL) header_ = new ::px::HeaderInfo;
+  return header_;
+}
+inline ::px::HeaderInfo* RGBDImage::release_header() {
+  clear_has_header();
+  ::px::HeaderInfo* temp = header_;
+  header_ = NULL;
+  return temp;
+}
+
+// required uint32 cols = 2;
+inline bool RGBDImage::has_cols() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void RGBDImage::set_has_cols() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void RGBDImage::clear_has_cols() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void RGBDImage::clear_cols() {
+  cols_ = 0u;
+  clear_has_cols();
+}
+inline ::google::protobuf::uint32 RGBDImage::cols() const {
+  return cols_;
+}
+inline void RGBDImage::set_cols(::google::protobuf::uint32 value) {
+  set_has_cols();
+  cols_ = value;
+}
+
+// required uint32 rows = 3;
+inline bool RGBDImage::has_rows() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void RGBDImage::set_has_rows() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void RGBDImage::clear_has_rows() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void RGBDImage::clear_rows() {
+  rows_ = 0u;
+  clear_has_rows();
+}
+inline ::google::protobuf::uint32 RGBDImage::rows() const {
+  return rows_;
+}
+inline void RGBDImage::set_rows(::google::protobuf::uint32 value) {
+  set_has_rows();
+  rows_ = value;
+}
+
+// required uint32 step1 = 4;
+inline bool RGBDImage::has_step1() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void RGBDImage::set_has_step1() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void RGBDImage::clear_has_step1() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void RGBDImage::clear_step1() {
+  step1_ = 0u;
+  clear_has_step1();
+}
+inline ::google::protobuf::uint32 RGBDImage::step1() const {
+  return step1_;
+}
+inline void RGBDImage::set_step1(::google::protobuf::uint32 value) {
+  set_has_step1();
+  step1_ = value;
+}
+
+// required uint32 type1 = 5;
+inline bool RGBDImage::has_type1() const {
+  return (_has_bits_[0] & 0x00000010u) != 0;
+}
+inline void RGBDImage::set_has_type1() {
+  _has_bits_[0] |= 0x00000010u;
+}
+inline void RGBDImage::clear_has_type1() {
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline void RGBDImage::clear_type1() {
+  type1_ = 0u;
+  clear_has_type1();
+}
+inline ::google::protobuf::uint32 RGBDImage::type1() const {
+  return type1_;
+}
+inline void RGBDImage::set_type1(::google::protobuf::uint32 value) {
+  set_has_type1();
+  type1_ = value;
+}
+
+// required bytes imageData1 = 6;
+inline bool RGBDImage::has_imagedata1() const {
+  return (_has_bits_[0] & 0x00000020u) != 0;
+}
+inline void RGBDImage::set_has_imagedata1() {
+  _has_bits_[0] |= 0x00000020u;
+}
+inline void RGBDImage::clear_has_imagedata1() {
+  _has_bits_[0] &= ~0x00000020u;
+}
+inline void RGBDImage::clear_imagedata1() {
+  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
+    imagedata1_->clear();
+  }
+  clear_has_imagedata1();
+}
+inline const ::std::string& RGBDImage::imagedata1() const {
+  return *imagedata1_;
+}
+inline void RGBDImage::set_imagedata1(const ::std::string& value) {
+  set_has_imagedata1();
+  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata1_ = new ::std::string;
+  }
+  imagedata1_->assign(value);
+}
+inline void RGBDImage::set_imagedata1(const char* value) {
+  set_has_imagedata1();
+  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata1_ = new ::std::string;
+  }
+  imagedata1_->assign(value);
+}
+inline void RGBDImage::set_imagedata1(const void* value, size_t size) {
+  set_has_imagedata1();
+  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata1_ = new ::std::string;
+  }
+  imagedata1_->assign(reinterpret_cast<const char*>(value), size);
+}
+inline ::std::string* RGBDImage::mutable_imagedata1() {
+  set_has_imagedata1();
+  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata1_ = new ::std::string;
+  }
+  return imagedata1_;
+}
+inline ::std::string* RGBDImage::release_imagedata1() {
+  clear_has_imagedata1();
+  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
+    return NULL;
+  } else {
+    ::std::string* temp = imagedata1_;
+    imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+    return temp;
+  }
+}
+
+// required uint32 step2 = 7;
+inline bool RGBDImage::has_step2() const {
+  return (_has_bits_[0] & 0x00000040u) != 0;
+}
+inline void RGBDImage::set_has_step2() {
+  _has_bits_[0] |= 0x00000040u;
+}
+inline void RGBDImage::clear_has_step2() {
+  _has_bits_[0] &= ~0x00000040u;
+}
+inline void RGBDImage::clear_step2() {
+  step2_ = 0u;
+  clear_has_step2();
+}
+inline ::google::protobuf::uint32 RGBDImage::step2() const {
+  return step2_;
+}
+inline void RGBDImage::set_step2(::google::protobuf::uint32 value) {
+  set_has_step2();
+  step2_ = value;
+}
+
+// required uint32 type2 = 8;
+inline bool RGBDImage::has_type2() const {
+  return (_has_bits_[0] & 0x00000080u) != 0;
+}
+inline void RGBDImage::set_has_type2() {
+  _has_bits_[0] |= 0x00000080u;
+}
+inline void RGBDImage::clear_has_type2() {
+  _has_bits_[0] &= ~0x00000080u;
+}
+inline void RGBDImage::clear_type2() {
+  type2_ = 0u;
+  clear_has_type2();
+}
+inline ::google::protobuf::uint32 RGBDImage::type2() const {
+  return type2_;
+}
+inline void RGBDImage::set_type2(::google::protobuf::uint32 value) {
+  set_has_type2();
+  type2_ = value;
+}
+
+// required bytes imageData2 = 9;
+inline bool RGBDImage::has_imagedata2() const {
+  return (_has_bits_[0] & 0x00000100u) != 0;
+}
+inline void RGBDImage::set_has_imagedata2() {
+  _has_bits_[0] |= 0x00000100u;
+}
+inline void RGBDImage::clear_has_imagedata2() {
+  _has_bits_[0] &= ~0x00000100u;
+}
+inline void RGBDImage::clear_imagedata2() {
+  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
+    imagedata2_->clear();
+  }
+  clear_has_imagedata2();
+}
+inline const ::std::string& RGBDImage::imagedata2() const {
+  return *imagedata2_;
+}
+inline void RGBDImage::set_imagedata2(const ::std::string& value) {
+  set_has_imagedata2();
+  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata2_ = new ::std::string;
+  }
+  imagedata2_->assign(value);
+}
+inline void RGBDImage::set_imagedata2(const char* value) {
+  set_has_imagedata2();
+  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata2_ = new ::std::string;
+  }
+  imagedata2_->assign(value);
+}
+inline void RGBDImage::set_imagedata2(const void* value, size_t size) {
+  set_has_imagedata2();
+  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata2_ = new ::std::string;
+  }
+  imagedata2_->assign(reinterpret_cast<const char*>(value), size);
+}
+inline ::std::string* RGBDImage::mutable_imagedata2() {
+  set_has_imagedata2();
+  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
+    imagedata2_ = new ::std::string;
+  }
+  return imagedata2_;
+}
+inline ::std::string* RGBDImage::release_imagedata2() {
+  clear_has_imagedata2();
+  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
+    return NULL;
+  } else {
+    ::std::string* temp = imagedata2_;
+    imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+    return temp;
+  }
+}
+
+// optional uint32 camera_config = 10;
+inline bool RGBDImage::has_camera_config() const {
+  return (_has_bits_[0] & 0x00000200u) != 0;
+}
+inline void RGBDImage::set_has_camera_config() {
+  _has_bits_[0] |= 0x00000200u;
+}
+inline void RGBDImage::clear_has_camera_config() {
+  _has_bits_[0] &= ~0x00000200u;
+}
+inline void RGBDImage::clear_camera_config() {
+  camera_config_ = 0u;
+  clear_has_camera_config();
+}
+inline ::google::protobuf::uint32 RGBDImage::camera_config() const {
+  return camera_config_;
+}
+inline void RGBDImage::set_camera_config(::google::protobuf::uint32 value) {
+  set_has_camera_config();
+  camera_config_ = value;
+}
+
+// optional uint32 camera_type = 11;
+inline bool RGBDImage::has_camera_type() const {
+  return (_has_bits_[0] & 0x00000400u) != 0;
+}
+inline void RGBDImage::set_has_camera_type() {
+  _has_bits_[0] |= 0x00000400u;
+}
+inline void RGBDImage::clear_has_camera_type() {
+  _has_bits_[0] &= ~0x00000400u;
+}
+inline void RGBDImage::clear_camera_type() {
+  camera_type_ = 0u;
+  clear_has_camera_type();
+}
+inline ::google::protobuf::uint32 RGBDImage::camera_type() const {
+  return camera_type_;
+}
+inline void RGBDImage::set_camera_type(::google::protobuf::uint32 value) {
+  set_has_camera_type();
+  camera_type_ = value;
+}
+
+// optional float roll = 12;
+inline bool RGBDImage::has_roll() const {
+  return (_has_bits_[0] & 0x00000800u) != 0;
+}
+inline void RGBDImage::set_has_roll() {
+  _has_bits_[0] |= 0x00000800u;
+}
+inline void RGBDImage::clear_has_roll() {
+  _has_bits_[0] &= ~0x00000800u;
+}
+inline void RGBDImage::clear_roll() {
+  roll_ = 0;
+  clear_has_roll();
+}
+inline float RGBDImage::roll() const {
+  return roll_;
+}
+inline void RGBDImage::set_roll(float value) {
+  set_has_roll();
+  roll_ = value;
+}
+
+// optional float pitch = 13;
+inline bool RGBDImage::has_pitch() const {
+  return (_has_bits_[0] & 0x00001000u) != 0;
+}
+inline void RGBDImage::set_has_pitch() {
+  _has_bits_[0] |= 0x00001000u;
+}
+inline void RGBDImage::clear_has_pitch() {
+  _has_bits_[0] &= ~0x00001000u;
+}
+inline void RGBDImage::clear_pitch() {
+  pitch_ = 0;
+  clear_has_pitch();
+}
+inline float RGBDImage::pitch() const {
+  return pitch_;
+}
+inline void RGBDImage::set_pitch(float value) {
+  set_has_pitch();
+  pitch_ = value;
+}
+
+// optional float yaw = 14;
+inline bool RGBDImage::has_yaw() const {
+  return (_has_bits_[0] & 0x00002000u) != 0;
+}
+inline void RGBDImage::set_has_yaw() {
+  _has_bits_[0] |= 0x00002000u;
+}
+inline void RGBDImage::clear_has_yaw() {
+  _has_bits_[0] &= ~0x00002000u;
+}
+inline void RGBDImage::clear_yaw() {
+  yaw_ = 0;
+  clear_has_yaw();
+}
+inline float RGBDImage::yaw() const {
+  return yaw_;
+}
+inline void RGBDImage::set_yaw(float value) {
+  set_has_yaw();
+  yaw_ = value;
+}
+
+// optional float lon = 15;
+inline bool RGBDImage::has_lon() const {
+  return (_has_bits_[0] & 0x00004000u) != 0;
+}
+inline void RGBDImage::set_has_lon() {
+  _has_bits_[0] |= 0x00004000u;
+}
+inline void RGBDImage::clear_has_lon() {
+  _has_bits_[0] &= ~0x00004000u;
+}
+inline void RGBDImage::clear_lon() {
+  lon_ = 0;
+  clear_has_lon();
+}
+inline float RGBDImage::lon() const {
+  return lon_;
+}
+inline void RGBDImage::set_lon(float value) {
+  set_has_lon();
+  lon_ = value;
+}
+
+// optional float lat = 16;
+inline bool RGBDImage::has_lat() const {
+  return (_has_bits_[0] & 0x00008000u) != 0;
+}
+inline void RGBDImage::set_has_lat() {
+  _has_bits_[0] |= 0x00008000u;
+}
+inline void RGBDImage::clear_has_lat() {
+  _has_bits_[0] &= ~0x00008000u;
+}
+inline void RGBDImage::clear_lat() {
+  lat_ = 0;
+  clear_has_lat();
+}
+inline float RGBDImage::lat() const {
+  return lat_;
+}
+inline void RGBDImage::set_lat(float value) {
+  set_has_lat();
+  lat_ = value;
+}
+
+// optional float alt = 17;
+inline bool RGBDImage::has_alt() const {
+  return (_has_bits_[0] & 0x00010000u) != 0;
+}
+inline void RGBDImage::set_has_alt() {
+  _has_bits_[0] |= 0x00010000u;
+}
+inline void RGBDImage::clear_has_alt() {
+  _has_bits_[0] &= ~0x00010000u;
+}
+inline void RGBDImage::clear_alt() {
+  alt_ = 0;
+  clear_has_alt();
+}
+inline float RGBDImage::alt() const {
+  return alt_;
+}
+inline void RGBDImage::set_alt(float value) {
+  set_has_alt();
+  alt_ = value;
+}
+
+// optional float ground_x = 18;
+inline bool RGBDImage::has_ground_x() const {
+  return (_has_bits_[0] & 0x00020000u) != 0;
+}
+inline void RGBDImage::set_has_ground_x() {
+  _has_bits_[0] |= 0x00020000u;
+}
+inline void RGBDImage::clear_has_ground_x() {
+  _has_bits_[0] &= ~0x00020000u;
+}
+inline void RGBDImage::clear_ground_x() {
+  ground_x_ = 0;
+  clear_has_ground_x();
+}
+inline float RGBDImage::ground_x() const {
+  return ground_x_;
+}
+inline void RGBDImage::set_ground_x(float value) {
+  set_has_ground_x();
+  ground_x_ = value;
+}
+
+// optional float ground_y = 19;
+inline bool RGBDImage::has_ground_y() const {
+  return (_has_bits_[0] & 0x00040000u) != 0;
+}
+inline void RGBDImage::set_has_ground_y() {
+  _has_bits_[0] |= 0x00040000u;
+}
+inline void RGBDImage::clear_has_ground_y() {
+  _has_bits_[0] &= ~0x00040000u;
+}
+inline void RGBDImage::clear_ground_y() {
+  ground_y_ = 0;
+  clear_has_ground_y();
+}
+inline float RGBDImage::ground_y() const {
+  return ground_y_;
+}
+inline void RGBDImage::set_ground_y(float value) {
+  set_has_ground_y();
+  ground_y_ = value;
+}
+
+// optional float ground_z = 20;
+inline bool RGBDImage::has_ground_z() const {
+  return (_has_bits_[0] & 0x00080000u) != 0;
+}
+inline void RGBDImage::set_has_ground_z() {
+  _has_bits_[0] |= 0x00080000u;
+}
+inline void RGBDImage::clear_has_ground_z() {
+  _has_bits_[0] &= ~0x00080000u;
+}
+inline void RGBDImage::clear_ground_z() {
+  ground_z_ = 0;
+  clear_has_ground_z();
+}
+inline float RGBDImage::ground_z() const {
+  return ground_z_;
+}
+inline void RGBDImage::set_ground_z(float value) {
+  set_has_ground_z();
+  ground_z_ = value;
+}
+
+// repeated float camera_matrix = 21;
+inline int RGBDImage::camera_matrix_size() const {
+  return camera_matrix_.size();
+}
+inline void RGBDImage::clear_camera_matrix() {
+  camera_matrix_.Clear();
+}
+inline float RGBDImage::camera_matrix(int index) const {
+  return camera_matrix_.Get(index);
+}
+inline void RGBDImage::set_camera_matrix(int index, float value) {
+  camera_matrix_.Set(index, value);
+}
+inline void RGBDImage::add_camera_matrix(float value) {
+  camera_matrix_.Add(value);
+}
+inline const ::google::protobuf::RepeatedField< float >&
+RGBDImage::camera_matrix() const {
+  return camera_matrix_;
+}
+inline ::google::protobuf::RepeatedField< float >*
+RGBDImage::mutable_camera_matrix() {
+  return &camera_matrix_;
+}
+
+// -------------------------------------------------------------------
+
+// Waypoint
+
+// required double x = 1;
+inline bool Waypoint::has_x() const {
+  return (_has_bits_[0] & 0x00000001u) != 0;
+}
+inline void Waypoint::set_has_x() {
+  _has_bits_[0] |= 0x00000001u;
+}
+inline void Waypoint::clear_has_x() {
+  _has_bits_[0] &= ~0x00000001u;
+}
+inline void Waypoint::clear_x() {
+  x_ = 0;
+  clear_has_x();
+}
+inline double Waypoint::x() const {
+  return x_;
+}
+inline void Waypoint::set_x(double value) {
+  set_has_x();
+  x_ = value;
+}
+
+// required double y = 2;
+inline bool Waypoint::has_y() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void Waypoint::set_has_y() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void Waypoint::clear_has_y() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void Waypoint::clear_y() {
+  y_ = 0;
+  clear_has_y();
+}
+inline double Waypoint::y() const {
+  return y_;
+}
+inline void Waypoint::set_y(double value) {
+  set_has_y();
+  y_ = value;
+}
+
+// optional double z = 3;
+inline bool Waypoint::has_z() const {
+  return (_has_bits_[0] & 0x00000004u) != 0;
+}
+inline void Waypoint::set_has_z() {
+  _has_bits_[0] |= 0x00000004u;
+}
+inline void Waypoint::clear_has_z() {
+  _has_bits_[0] &= ~0x00000004u;
+}
+inline void Waypoint::clear_z() {
+  z_ = 0;
+  clear_has_z();
+}
+inline double Waypoint::z() const {
+  return z_;
+}
+inline void Waypoint::set_z(double value) {
+  set_has_z();
+  z_ = value;
+}
+
+// optional double roll = 4;
+inline bool Waypoint::has_roll() const {
+  return (_has_bits_[0] & 0x00000008u) != 0;
+}
+inline void Waypoint::set_has_roll() {
+  _has_bits_[0] |= 0x00000008u;
+}
+inline void Waypoint::clear_has_roll() {
+  _has_bits_[0] &= ~0x00000008u;
+}
+inline void Waypoint::clear_roll() {
+  roll_ = 0;
+  clear_has_roll();
+}
+inline double Waypoint::roll() const {
+  return roll_;
+}
+inline void Waypoint::set_roll(double value) {
+  set_has_roll();
+  roll_ = value;
+}
+
+// optional double pitch = 5;
+inline bool Waypoint::has_pitch() const {
+  return (_has_bits_[0] & 0x00000010u) != 0;
+}
+inline void Waypoint::set_has_pitch() {
+  _has_bits_[0] |= 0x00000010u;
+}
+inline void Waypoint::clear_has_pitch() {
+  _has_bits_[0] &= ~0x00000010u;
+}
+inline void Waypoint::clear_pitch() {
+  pitch_ = 0;
+  clear_has_pitch();
+}
+inline double Waypoint::pitch() const {
+  return pitch_;
+}
+inline void Waypoint::set_pitch(double value) {
+  set_has_pitch();
+  pitch_ = value;
+}
+
+// optional double yaw = 6;
+inline bool Waypoint::has_yaw() const {
+  return (_has_bits_[0] & 0x00000020u) != 0;
+}
+inline void Waypoint::set_has_yaw() {
+  _has_bits_[0] |= 0x00000020u;
+}
+inline void Waypoint::clear_has_yaw() {
+  _has_bits_[0] &= ~0x00000020u;
+}
+inline void Waypoint::clear_yaw() {
+  yaw_ = 0;
+  clear_has_yaw();
+}
+inline double Waypoint::yaw() const {
+  return yaw_;
+}
+inline void Waypoint::set_yaw(double value) {
+  set_has_yaw();
+  yaw_ = value;
+}
+
+
+// @@protoc_insertion_point(namespace_scope)
+
+}  // namespace px
+
+#ifndef SWIG
+namespace google {
+namespace protobuf {
+
+template <>
+inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_CoordinateFrameType>() {
+  return ::px::GLOverlay_CoordinateFrameType_descriptor();
+}
+template <>
+inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Mode>() {
+  return ::px::GLOverlay_Mode_descriptor();
+}
+template <>
+inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Identifier>() {
+  return ::px::GLOverlay_Identifier_descriptor();
+}
+
+}  // namespace google
+}  // namespace protobuf
+#endif  // SWIG
+
+// @@protoc_insertion_point(global_scope)
+
+#endif  // PROTOBUF_pixhawk_2eproto__INCLUDED
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h
new file mode 100644
index 000000000..7b3e3c0bd
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h
@@ -0,0 +1,322 @@
+#ifndef  _MAVLINK_PROTOCOL_H_
+#define  _MAVLINK_PROTOCOL_H_
+
+#include "string.h"
+#include "mavlink_types.h"
+
+/* 
+   If you want MAVLink on a system that is native big-endian,
+   you need to define NATIVE_BIG_ENDIAN
+*/
+#ifdef NATIVE_BIG_ENDIAN
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
+#else
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
+#endif
+
+#ifndef MAVLINK_STACK_BUFFER
+#define MAVLINK_STACK_BUFFER 0
+#endif
+
+#ifndef MAVLINK_AVOID_GCC_STACK_BUG
+# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
+#endif
+
+#ifndef MAVLINK_ASSERT
+#define MAVLINK_ASSERT(x)
+#endif
+
+#ifndef MAVLINK_START_UART_SEND
+#define MAVLINK_START_UART_SEND(chan, length)
+#endif
+
+#ifndef MAVLINK_END_UART_SEND
+#define MAVLINK_END_UART_SEND(chan, length)
+#endif
+
+#ifdef MAVLINK_SEPARATE_HELPERS
+#define MAVLINK_HELPER
+#else
+#define MAVLINK_HELPER static inline
+#include "mavlink_helpers.h"
+#endif // MAVLINK_SEPARATE_HELPERS
+
+/* always include the prototypes to ensure we don't get out of sync */
+MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length, uint8_t crc_extra);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length, uint8_t crc_extra);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
+						    uint8_t length, uint8_t crc_extra);
+#endif
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						      uint8_t chan, uint8_t length);
+MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
+						 uint8_t length);
+MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
+#endif // MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
+MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
+MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
+MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
+MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, 
+					       uint8_t* r_bit_index, uint8_t* buffer);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+#endif
+
+/**
+ * @brief Get the required buffer size for this message
+ */
+static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
+{
+	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+static inline void byte_swap_2(char *dst, const char *src)
+{
+	dst[0] = src[1];
+	dst[1] = src[0];
+}
+static inline void byte_swap_4(char *dst, const char *src)
+{
+	dst[0] = src[3];
+	dst[1] = src[2];
+	dst[2] = src[1];
+	dst[3] = src[0];
+}
+static inline void byte_swap_8(char *dst, const char *src)
+{
+	dst[0] = src[7];
+	dst[1] = src[6];
+	dst[2] = src[5];
+	dst[3] = src[4];
+	dst[4] = src[3];
+	dst[5] = src[2];
+	dst[6] = src[1];
+	dst[7] = src[0];
+}
+#elif !MAVLINK_ALIGNED_FIELDS
+static inline void byte_copy_2(char *dst, const char *src)
+{
+	dst[0] = src[0];
+	dst[1] = src[1];
+}
+static inline void byte_copy_4(char *dst, const char *src)
+{
+	dst[0] = src[0];
+	dst[1] = src[1];
+	dst[2] = src[2];
+	dst[3] = src[3];
+}
+static inline void byte_copy_8(char *dst, const char *src)
+{
+	memcpy(dst, src, 8);
+}
+#endif
+
+#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
+#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b
+#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&buf[wire_offset], (const char *)&b)
+#else
+#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
+#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&buf[wire_offset] = b
+#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
+#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&buf[wire_offset] = b
+#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
+#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&buf[wire_offset] = b
+#define _mav_put_float(buf, wire_offset, b)    *(float *)&buf[wire_offset] = b
+#define _mav_put_double(buf, wire_offset, b)   *(double *)&buf[wire_offset] = b
+#endif
+
+/*
+  like memcpy(), but if src is NULL, do a memset to zero
+*/
+static void mav_array_memcpy(void *dest, const void *src, size_t n)
+{
+	if (src == NULL) {
+		memset(dest, 0, n);
+	} else {
+		memcpy(dest, src, n);
+	}
+}
+
+/*
+ * Place a char array into a buffer
+ */
+static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a uint8_t array into a buffer
+ */
+static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a int8_t array into a buffer
+ */
+static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
+{
+	mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+	if (b == NULL) { \
+		memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
+	} else { \
+		uint16_t i; \
+		for (i=0; i<array_length; i++) { \
+			_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
+		} \
+	} \
+}
+#else
+#define _MAV_PUT_ARRAY(TYPE, V)					\
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+	mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
+}
+#endif
+
+_MAV_PUT_ARRAY(uint16_t, u16)
+_MAV_PUT_ARRAY(uint32_t, u32)
+_MAV_PUT_ARRAY(uint64_t, u64)
+_MAV_PUT_ARRAY(int16_t,  i16)
+_MAV_PUT_ARRAY(int32_t,  i32)
+_MAV_PUT_ARRAY(int64_t,  i64)
+_MAV_PUT_ARRAY(float,    f)
+_MAV_PUT_ARRAY(double,   d)
+
+#define _MAV_RETURN_char(msg, wire_offset)             (const char)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_int8_t(msg, wire_offset)   (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t,  2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t,  4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t,  8)
+_MAV_MSG_RETURN_TYPE(float,    4)
+_MAV_MSG_RETURN_TYPE(double,   8)
+
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t,  2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t,  4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t,  8)
+_MAV_MSG_RETURN_TYPE(float,    4)
+_MAV_MSG_RETURN_TYPE(double,   8)
+#else // nicely aligned, no swap
+#define _MAV_MSG_RETURN_TYPE(TYPE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
+
+_MAV_MSG_RETURN_TYPE(uint16_t)
+_MAV_MSG_RETURN_TYPE(int16_t)
+_MAV_MSG_RETURN_TYPE(uint32_t)
+_MAV_MSG_RETURN_TYPE(int32_t)
+_MAV_MSG_RETURN_TYPE(uint64_t)
+_MAV_MSG_RETURN_TYPE(int64_t)
+_MAV_MSG_RETURN_TYPE(float)
+_MAV_MSG_RETURN_TYPE(double)
+#endif // MAVLINK_NEED_BYTE_SWAP
+
+static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, 
+						     uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, 
+							uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, 
+						       uint8_t array_length, uint8_t wire_offset)
+{
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+	return array_length;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+							 uint8_t array_length, uint8_t wire_offset) \
+{ \
+	uint16_t i; \
+	for (i=0; i<array_length; i++) { \
+		value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
+	} \
+	return array_length*sizeof(value[0]); \
+}
+#else
+#define _MAV_RETURN_ARRAY(TYPE, V)					\
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+							 uint8_t array_length, uint8_t wire_offset) \
+{ \
+	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
+	return array_length*sizeof(TYPE); \
+}
+#endif
+
+_MAV_RETURN_ARRAY(uint16_t, u16)
+_MAV_RETURN_ARRAY(uint32_t, u32)
+_MAV_RETURN_ARRAY(uint64_t, u64)
+_MAV_RETURN_ARRAY(int16_t,  i16)
+_MAV_RETURN_ARRAY(int32_t,  i32)
+_MAV_RETURN_ARRAY(int64_t,  i64)
+_MAV_RETURN_ARRAY(float,    f)
+_MAV_RETURN_ARRAY(double,   d)
+
+#endif // _MAVLINK_PROTOCOL_H_
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h
new file mode 100644
index 000000000..e596b8fba
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h
@@ -0,0 +1,27 @@
+/** @file
+ *	@brief MAVLink comm protocol built from test.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX 254
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS 1
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA 1
+#endif
+
+#include "version.h"
+#include "test.h"
+
+#endif // MAVLINK_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
new file mode 100644
index 000000000..2a3a89ff9
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
@@ -0,0 +1,610 @@
+// MESSAGE TEST_TYPES PACKING
+
+#define MAVLINK_MSG_ID_TEST_TYPES 0
+
+typedef struct __mavlink_test_types_t
+{
+ uint64_t u64; ///< uint64_t
+ int64_t s64; ///< int64_t
+ double d; ///< double
+ uint64_t u64_array[3]; ///< uint64_t_array
+ int64_t s64_array[3]; ///< int64_t_array
+ double d_array[3]; ///< double_array
+ uint32_t u32; ///< uint32_t
+ int32_t s32; ///< int32_t
+ float f; ///< float
+ uint32_t u32_array[3]; ///< uint32_t_array
+ int32_t s32_array[3]; ///< int32_t_array
+ float f_array[3]; ///< float_array
+ uint16_t u16; ///< uint16_t
+ int16_t s16; ///< int16_t
+ uint16_t u16_array[3]; ///< uint16_t_array
+ int16_t s16_array[3]; ///< int16_t_array
+ char c; ///< char
+ char s[10]; ///< string
+ uint8_t u8; ///< uint8_t
+ int8_t s8; ///< int8_t
+ uint8_t u8_array[3]; ///< uint8_t_array
+ int8_t s8_array[3]; ///< int8_t_array
+} mavlink_test_types_t;
+
+#define MAVLINK_MSG_ID_TEST_TYPES_LEN 179
+#define MAVLINK_MSG_ID_0_LEN 179
+
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U64_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S64_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_D_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U32_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S32_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_F_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U16_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S16_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S_LEN 10
+#define MAVLINK_MSG_TEST_TYPES_FIELD_U8_ARRAY_LEN 3
+#define MAVLINK_MSG_TEST_TYPES_FIELD_S8_ARRAY_LEN 3
+
+#define MAVLINK_MESSAGE_INFO_TEST_TYPES { \
+	"TEST_TYPES", \
+	22, \
+	{  { "u64", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_test_types_t, u64) }, \
+         { "s64", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_test_types_t, s64) }, \
+         { "d", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_test_types_t, d) }, \
+         { "u64_array", NULL, MAVLINK_TYPE_UINT64_T, 3, 24, offsetof(mavlink_test_types_t, u64_array) }, \
+         { "s64_array", NULL, MAVLINK_TYPE_INT64_T, 3, 48, offsetof(mavlink_test_types_t, s64_array) }, \
+         { "d_array", NULL, MAVLINK_TYPE_DOUBLE, 3, 72, offsetof(mavlink_test_types_t, d_array) }, \
+         { "u32", "0x%08x", MAVLINK_TYPE_UINT32_T, 0, 96, offsetof(mavlink_test_types_t, u32) }, \
+         { "s32", NULL, MAVLINK_TYPE_INT32_T, 0, 100, offsetof(mavlink_test_types_t, s32) }, \
+         { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 104, offsetof(mavlink_test_types_t, f) }, \
+         { "u32_array", NULL, MAVLINK_TYPE_UINT32_T, 3, 108, offsetof(mavlink_test_types_t, u32_array) }, \
+         { "s32_array", NULL, MAVLINK_TYPE_INT32_T, 3, 120, offsetof(mavlink_test_types_t, s32_array) }, \
+         { "f_array", NULL, MAVLINK_TYPE_FLOAT, 3, 132, offsetof(mavlink_test_types_t, f_array) }, \
+         { "u16", NULL, MAVLINK_TYPE_UINT16_T, 0, 144, offsetof(mavlink_test_types_t, u16) }, \
+         { "s16", NULL, MAVLINK_TYPE_INT16_T, 0, 146, offsetof(mavlink_test_types_t, s16) }, \
+         { "u16_array", NULL, MAVLINK_TYPE_UINT16_T, 3, 148, offsetof(mavlink_test_types_t, u16_array) }, \
+         { "s16_array", NULL, MAVLINK_TYPE_INT16_T, 3, 154, offsetof(mavlink_test_types_t, s16_array) }, \
+         { "c", NULL, MAVLINK_TYPE_CHAR, 0, 160, offsetof(mavlink_test_types_t, c) }, \
+         { "s", NULL, MAVLINK_TYPE_CHAR, 10, 161, offsetof(mavlink_test_types_t, s) }, \
+         { "u8", NULL, MAVLINK_TYPE_UINT8_T, 0, 171, offsetof(mavlink_test_types_t, u8) }, \
+         { "s8", NULL, MAVLINK_TYPE_INT8_T, 0, 172, offsetof(mavlink_test_types_t, s8) }, \
+         { "u8_array", NULL, MAVLINK_TYPE_UINT8_T, 3, 173, offsetof(mavlink_test_types_t, u8_array) }, \
+         { "s8_array", NULL, MAVLINK_TYPE_INT8_T, 3, 176, offsetof(mavlink_test_types_t, s8_array) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a test_types message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_uint64_t(buf, 0, u64);
+	_mav_put_int64_t(buf, 8, s64);
+	_mav_put_double(buf, 16, d);
+	_mav_put_uint32_t(buf, 96, u32);
+	_mav_put_int32_t(buf, 100, s32);
+	_mav_put_float(buf, 104, f);
+	_mav_put_uint16_t(buf, 144, u16);
+	_mav_put_int16_t(buf, 146, s16);
+	_mav_put_char(buf, 160, c);
+	_mav_put_uint8_t(buf, 171, u8);
+	_mav_put_int8_t(buf, 172, s8);
+	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
+	_mav_put_int64_t_array(buf, 48, s64_array, 3);
+	_mav_put_double_array(buf, 72, d_array, 3);
+	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
+	_mav_put_int32_t_array(buf, 120, s32_array, 3);
+	_mav_put_float_array(buf, 132, f_array, 3);
+	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
+	_mav_put_int16_t_array(buf, 154, s16_array, 3);
+	_mav_put_char_array(buf, 161, s, 10);
+	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
+	_mav_put_int8_t_array(buf, 176, s8_array, 3);
+        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+#else
+	mavlink_test_types_t packet;
+	packet.u64 = u64;
+	packet.s64 = s64;
+	packet.d = d;
+	packet.u32 = u32;
+	packet.s32 = s32;
+	packet.f = f;
+	packet.u16 = u16;
+	packet.s16 = s16;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.s8 = s8;
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
+	return mavlink_finalize_message(msg, system_id, component_id, 179, 103);
+}
+
+/**
+ * @brief Pack a test_types message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_uint64_t(buf, 0, u64);
+	_mav_put_int64_t(buf, 8, s64);
+	_mav_put_double(buf, 16, d);
+	_mav_put_uint32_t(buf, 96, u32);
+	_mav_put_int32_t(buf, 100, s32);
+	_mav_put_float(buf, 104, f);
+	_mav_put_uint16_t(buf, 144, u16);
+	_mav_put_int16_t(buf, 146, s16);
+	_mav_put_char(buf, 160, c);
+	_mav_put_uint8_t(buf, 171, u8);
+	_mav_put_int8_t(buf, 172, s8);
+	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
+	_mav_put_int64_t_array(buf, 48, s64_array, 3);
+	_mav_put_double_array(buf, 72, d_array, 3);
+	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
+	_mav_put_int32_t_array(buf, 120, s32_array, 3);
+	_mav_put_float_array(buf, 132, f_array, 3);
+	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
+	_mav_put_int16_t_array(buf, 154, s16_array, 3);
+	_mav_put_char_array(buf, 161, s, 10);
+	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
+	_mav_put_int8_t_array(buf, 176, s8_array, 3);
+        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+#else
+	mavlink_test_types_t packet;
+	packet.u64 = u64;
+	packet.s64 = s64;
+	packet.d = d;
+	packet.u32 = u32;
+	packet.s32 = s32;
+	packet.f = f;
+	packet.u16 = u16;
+	packet.s16 = s16;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.s8 = s8;
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179, 103);
+}
+
+/**
+ * @brief Encode a test_types struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param test_types C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types)
+{
+	return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array);
+}
+
+/**
+ * @brief Send a test_types message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param c char
+ * @param s string
+ * @param u8 uint8_t
+ * @param u16 uint16_t
+ * @param u32 uint32_t
+ * @param u64 uint64_t
+ * @param s8 int8_t
+ * @param s16 int16_t
+ * @param s32 int32_t
+ * @param s64 int64_t
+ * @param f float
+ * @param d double
+ * @param u8_array uint8_t_array
+ * @param u16_array uint16_t_array
+ * @param u32_array uint32_t_array
+ * @param u64_array uint64_t_array
+ * @param s8_array int8_t_array
+ * @param s16_array int16_t_array
+ * @param s32_array int32_t_array
+ * @param s64_array int64_t_array
+ * @param f_array float_array
+ * @param d_array double_array
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[179];
+	_mav_put_uint64_t(buf, 0, u64);
+	_mav_put_int64_t(buf, 8, s64);
+	_mav_put_double(buf, 16, d);
+	_mav_put_uint32_t(buf, 96, u32);
+	_mav_put_int32_t(buf, 100, s32);
+	_mav_put_float(buf, 104, f);
+	_mav_put_uint16_t(buf, 144, u16);
+	_mav_put_int16_t(buf, 146, s16);
+	_mav_put_char(buf, 160, c);
+	_mav_put_uint8_t(buf, 171, u8);
+	_mav_put_int8_t(buf, 172, s8);
+	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
+	_mav_put_int64_t_array(buf, 48, s64_array, 3);
+	_mav_put_double_array(buf, 72, d_array, 3);
+	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
+	_mav_put_int32_t_array(buf, 120, s32_array, 3);
+	_mav_put_float_array(buf, 132, f_array, 3);
+	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
+	_mav_put_int16_t_array(buf, 154, s16_array, 3);
+	_mav_put_char_array(buf, 161, s, 10);
+	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
+	_mav_put_int8_t_array(buf, 176, s8_array, 3);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179, 103);
+#else
+	mavlink_test_types_t packet;
+	packet.u64 = u64;
+	packet.s64 = s64;
+	packet.d = d;
+	packet.u32 = u32;
+	packet.s32 = s32;
+	packet.f = f;
+	packet.u16 = u16;
+	packet.s16 = s16;
+	packet.c = c;
+	packet.u8 = u8;
+	packet.s8 = s8;
+	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
+	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
+	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
+	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
+	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
+	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
+	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
+	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
+	mav_array_memcpy(packet.s, s, sizeof(char)*10);
+	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
+	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179, 103);
+#endif
+}
+
+#endif
+
+// MESSAGE TEST_TYPES UNPACKING
+
+
+/**
+ * @brief Get field c from test_types message
+ *
+ * @return char
+ */
+static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_char(msg,  160);
+}
+
+/**
+ * @brief Get field s from test_types message
+ *
+ * @return string
+ */
+static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s)
+{
+	return _MAV_RETURN_char_array(msg, s, 10,  161);
+}
+
+/**
+ * @brief Get field u8 from test_types message
+ *
+ * @return uint8_t
+ */
+static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint8_t(msg,  171);
+}
+
+/**
+ * @brief Get field u16 from test_types message
+ *
+ * @return uint16_t
+ */
+static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  144);
+}
+
+/**
+ * @brief Get field u32 from test_types message
+ *
+ * @return uint32_t
+ */
+static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint32_t(msg,  96);
+}
+
+/**
+ * @brief Get field u64 from test_types message
+ *
+ * @return uint64_t
+ */
+static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field s8 from test_types message
+ *
+ * @return int8_t
+ */
+static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int8_t(msg,  172);
+}
+
+/**
+ * @brief Get field s16 from test_types message
+ *
+ * @return int16_t
+ */
+static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int16_t(msg,  146);
+}
+
+/**
+ * @brief Get field s32 from test_types message
+ *
+ * @return int32_t
+ */
+static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int32_t(msg,  100);
+}
+
+/**
+ * @brief Get field s64 from test_types message
+ *
+ * @return int64_t
+ */
+static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_int64_t(msg,  8);
+}
+
+/**
+ * @brief Get field f from test_types message
+ *
+ * @return float
+ */
+static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  104);
+}
+
+/**
+ * @brief Get field d from test_types message
+ *
+ * @return double
+ */
+static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_double(msg,  16);
+}
+
+/**
+ * @brief Get field u8_array from test_types message
+ *
+ * @return uint8_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array)
+{
+	return _MAV_RETURN_uint8_t_array(msg, u8_array, 3,  173);
+}
+
+/**
+ * @brief Get field u16_array from test_types message
+ *
+ * @return uint16_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array)
+{
+	return _MAV_RETURN_uint16_t_array(msg, u16_array, 3,  148);
+}
+
+/**
+ * @brief Get field u32_array from test_types message
+ *
+ * @return uint32_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array)
+{
+	return _MAV_RETURN_uint32_t_array(msg, u32_array, 3,  108);
+}
+
+/**
+ * @brief Get field u64_array from test_types message
+ *
+ * @return uint64_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array)
+{
+	return _MAV_RETURN_uint64_t_array(msg, u64_array, 3,  24);
+}
+
+/**
+ * @brief Get field s8_array from test_types message
+ *
+ * @return int8_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array)
+{
+	return _MAV_RETURN_int8_t_array(msg, s8_array, 3,  176);
+}
+
+/**
+ * @brief Get field s16_array from test_types message
+ *
+ * @return int16_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array)
+{
+	return _MAV_RETURN_int16_t_array(msg, s16_array, 3,  154);
+}
+
+/**
+ * @brief Get field s32_array from test_types message
+ *
+ * @return int32_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array)
+{
+	return _MAV_RETURN_int32_t_array(msg, s32_array, 3,  120);
+}
+
+/**
+ * @brief Get field s64_array from test_types message
+ *
+ * @return int64_t_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array)
+{
+	return _MAV_RETURN_int64_t_array(msg, s64_array, 3,  48);
+}
+
+/**
+ * @brief Get field f_array from test_types message
+ *
+ * @return float_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array)
+{
+	return _MAV_RETURN_float_array(msg, f_array, 3,  132);
+}
+
+/**
+ * @brief Get field d_array from test_types message
+ *
+ * @return double_array
+ */
+static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array)
+{
+	return _MAV_RETURN_double_array(msg, d_array, 3,  72);
+}
+
+/**
+ * @brief Decode a test_types message into a struct
+ *
+ * @param msg The message to decode
+ * @param test_types C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	test_types->u64 = mavlink_msg_test_types_get_u64(msg);
+	test_types->s64 = mavlink_msg_test_types_get_s64(msg);
+	test_types->d = mavlink_msg_test_types_get_d(msg);
+	mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array);
+	mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array);
+	mavlink_msg_test_types_get_d_array(msg, test_types->d_array);
+	test_types->u32 = mavlink_msg_test_types_get_u32(msg);
+	test_types->s32 = mavlink_msg_test_types_get_s32(msg);
+	test_types->f = mavlink_msg_test_types_get_f(msg);
+	mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array);
+	mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array);
+	mavlink_msg_test_types_get_f_array(msg, test_types->f_array);
+	test_types->u16 = mavlink_msg_test_types_get_u16(msg);
+	test_types->s16 = mavlink_msg_test_types_get_s16(msg);
+	mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array);
+	mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array);
+	test_types->c = mavlink_msg_test_types_get_c(msg);
+	mavlink_msg_test_types_get_s(msg, test_types->s);
+	test_types->u8 = mavlink_msg_test_types_get_u8(msg);
+	test_types->s8 = mavlink_msg_test_types_get_s8(msg);
+	mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array);
+	mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array);
+#else
+	memcpy(test_types, _MAV_PAYLOAD(msg), 179);
+#endif
+}
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h
new file mode 100644
index 000000000..4dc04f889
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h
@@ -0,0 +1,53 @@
+/** @file
+ *	@brief MAVLink comm protocol generated from test.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef TEST_H
+#define TEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#endif
+
+#ifndef MAVLINK_MESSAGE_INFO
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_TEST
+
+
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION 3
+#endif
+
+// ENUM DEFINITIONS
+
+
+
+// MESSAGE DEFINITIONS
+#include "./mavlink_msg_test_types.h"
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // TEST_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h
new file mode 100644
index 000000000..658e1ae07
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h
@@ -0,0 +1,120 @@
+/** @file
+ *	@brief MAVLink comm protocol testsuite generated from test.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef TEST_TESTSUITE_H
+#define TEST_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+
+static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+
+	mavlink_test_test(system_id, component_id, last_msg);
+}
+#endif
+
+
+
+
+static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_test_types_t packet_in = {
+		93372036854775807ULL,
+	93372036854776311LL,
+	235.0,
+	{ 93372036854777319, 93372036854777320, 93372036854777321 },
+	{ 93372036854778831, 93372036854778832, 93372036854778833 },
+	{ 627.0, 628.0, 629.0 },
+	963502456,
+	963502664,
+	745.0,
+	{ 963503080, 963503081, 963503082 },
+	{ 963503704, 963503705, 963503706 },
+	{ 941.0, 942.0, 943.0 },
+	24723,
+	24827,
+	{ 24931, 24932, 24933 },
+	{ 25243, 25244, 25245 },
+	'E',
+	"FGHIJKLMN",
+	198,
+	9,
+	{ 76, 77, 78 },
+	{ 21, 22, 23 },
+	};
+	mavlink_test_types_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.u64 = packet_in.u64;
+        	packet1.s64 = packet_in.s64;
+        	packet1.d = packet_in.d;
+        	packet1.u32 = packet_in.u32;
+        	packet1.s32 = packet_in.s32;
+        	packet1.f = packet_in.f;
+        	packet1.u16 = packet_in.u16;
+        	packet1.s16 = packet_in.s16;
+        	packet1.c = packet_in.c;
+        	packet1.u8 = packet_in.u8;
+        	packet1.s8 = packet_in.s8;
+        
+        	mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
+        	mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
+        	mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
+        	mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
+        	mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
+        	mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
+        	mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
+        	mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
+        	mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
+        	mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
+        	mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_test_types_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
+	mavlink_msg_test_types_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_test_test_types(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // TEST_TESTSUITE_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h
new file mode 100644
index 000000000..867641e21
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h
@@ -0,0 +1,12 @@
+/** @file
+ *	@brief MAVLink comm protocol built from test.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:58 2012"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
+ 
+#endif // MAVLINK_VERSION_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc b/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc
new file mode 100644
index 000000000..e984f512a
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc
@@ -0,0 +1,5431 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+
+#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
+#include "pixhawk.pb.h"
+
+#include <algorithm>
+
+#include <google/protobuf/stubs/once.h>
+#include <google/protobuf/io/coded_stream.h>
+#include <google/protobuf/wire_format_lite_inl.h>
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/reflection_ops.h>
+#include <google/protobuf/wire_format.h>
+// @@protoc_insertion_point(includes)
+
+namespace px {
+
+namespace {
+
+const ::google::protobuf::Descriptor* HeaderInfo_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  HeaderInfo_reflection_ = NULL;
+const ::google::protobuf::Descriptor* GLOverlay_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  GLOverlay_reflection_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor_ = NULL;
+const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor_ = NULL;
+const ::google::protobuf::Descriptor* Obstacle_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Obstacle_reflection_ = NULL;
+const ::google::protobuf::Descriptor* ObstacleList_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  ObstacleList_reflection_ = NULL;
+const ::google::protobuf::Descriptor* ObstacleMap_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  ObstacleMap_reflection_ = NULL;
+const ::google::protobuf::Descriptor* Path_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Path_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZI_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZI_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZI_PointXYZI_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZRGB_reflection_ = NULL;
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  PointCloudXYZRGB_PointXYZRGB_reflection_ = NULL;
+const ::google::protobuf::Descriptor* RGBDImage_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  RGBDImage_reflection_ = NULL;
+const ::google::protobuf::Descriptor* Waypoint_descriptor_ = NULL;
+const ::google::protobuf::internal::GeneratedMessageReflection*
+  Waypoint_reflection_ = NULL;
+
+}  // namespace
+
+
+void protobuf_AssignDesc_pixhawk_2eproto() {
+  protobuf_AddDesc_pixhawk_2eproto();
+  const ::google::protobuf::FileDescriptor* file =
+    ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
+      "pixhawk.proto");
+  GOOGLE_CHECK(file != NULL);
+  HeaderInfo_descriptor_ = file->message_type(0);
+  static const int HeaderInfo_offsets_[3] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_sysid_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_compid_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, timestamp_),
+  };
+  HeaderInfo_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      HeaderInfo_descriptor_,
+      HeaderInfo::default_instance_,
+      HeaderInfo_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(HeaderInfo));
+  GLOverlay_descriptor_ = file->message_type(1);
+  static const int GLOverlay_offsets_[7] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, name_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, coordinateframetype_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, data_),
+  };
+  GLOverlay_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      GLOverlay_descriptor_,
+      GLOverlay::default_instance_,
+      GLOverlay_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(GLOverlay));
+  GLOverlay_CoordinateFrameType_descriptor_ = GLOverlay_descriptor_->enum_type(0);
+  GLOverlay_Mode_descriptor_ = GLOverlay_descriptor_->enum_type(1);
+  GLOverlay_Identifier_descriptor_ = GLOverlay_descriptor_->enum_type(2);
+  Obstacle_descriptor_ = file->message_type(2);
+  static const int Obstacle_offsets_[6] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, length_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, width_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, height_),
+  };
+  Obstacle_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Obstacle_descriptor_,
+      Obstacle::default_instance_,
+      Obstacle_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Obstacle));
+  ObstacleList_descriptor_ = file->message_type(3);
+  static const int ObstacleList_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, obstacles_),
+  };
+  ObstacleList_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      ObstacleList_descriptor_,
+      ObstacleList::default_instance_,
+      ObstacleList_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(ObstacleList));
+  ObstacleMap_descriptor_ = file->message_type(4);
+  static const int ObstacleMap_offsets_[10] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, type_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, resolution_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, rows_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, cols_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapr0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapc0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayr0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayc0_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, data_),
+  };
+  ObstacleMap_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      ObstacleMap_descriptor_,
+      ObstacleMap::default_instance_,
+      ObstacleMap_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(ObstacleMap));
+  Path_descriptor_ = file->message_type(5);
+  static const int Path_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, waypoints_),
+  };
+  Path_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Path_descriptor_,
+      Path::default_instance_,
+      Path_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Path));
+  PointCloudXYZI_descriptor_ = file->message_type(6);
+  static const int PointCloudXYZI_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, points_),
+  };
+  PointCloudXYZI_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZI_descriptor_,
+      PointCloudXYZI::default_instance_,
+      PointCloudXYZI_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZI));
+  PointCloudXYZI_PointXYZI_descriptor_ = PointCloudXYZI_descriptor_->nested_type(0);
+  static const int PointCloudXYZI_PointXYZI_offsets_[4] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, intensity_),
+  };
+  PointCloudXYZI_PointXYZI_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZI_PointXYZI_descriptor_,
+      PointCloudXYZI_PointXYZI::default_instance_,
+      PointCloudXYZI_PointXYZI_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZI_PointXYZI));
+  PointCloudXYZRGB_descriptor_ = file->message_type(7);
+  static const int PointCloudXYZRGB_offsets_[2] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, points_),
+  };
+  PointCloudXYZRGB_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZRGB_descriptor_,
+      PointCloudXYZRGB::default_instance_,
+      PointCloudXYZRGB_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZRGB));
+  PointCloudXYZRGB_PointXYZRGB_descriptor_ = PointCloudXYZRGB_descriptor_->nested_type(0);
+  static const int PointCloudXYZRGB_PointXYZRGB_offsets_[4] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, rgb_),
+  };
+  PointCloudXYZRGB_PointXYZRGB_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      PointCloudXYZRGB_PointXYZRGB_descriptor_,
+      PointCloudXYZRGB_PointXYZRGB::default_instance_,
+      PointCloudXYZRGB_PointXYZRGB_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(PointCloudXYZRGB_PointXYZRGB));
+  RGBDImage_descriptor_ = file->message_type(8);
+  static const int RGBDImage_offsets_[21] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, header_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, cols_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, rows_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata1_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata2_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_config_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_type_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, roll_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, pitch_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, yaw_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lon_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lat_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, alt_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_matrix_),
+  };
+  RGBDImage_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      RGBDImage_descriptor_,
+      RGBDImage::default_instance_,
+      RGBDImage_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(RGBDImage));
+  Waypoint_descriptor_ = file->message_type(9);
+  static const int Waypoint_offsets_[6] = {
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, x_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, y_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, z_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, roll_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, pitch_),
+    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, yaw_),
+  };
+  Waypoint_reflection_ =
+    new ::google::protobuf::internal::GeneratedMessageReflection(
+      Waypoint_descriptor_,
+      Waypoint::default_instance_,
+      Waypoint_offsets_,
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _has_bits_[0]),
+      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _unknown_fields_),
+      -1,
+      ::google::protobuf::DescriptorPool::generated_pool(),
+      ::google::protobuf::MessageFactory::generated_factory(),
+      sizeof(Waypoint));
+}
+
+namespace {
+
+GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_);
+inline void protobuf_AssignDescriptorsOnce() {
+  ::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_,
+                 &protobuf_AssignDesc_pixhawk_2eproto);
+}
+
+void protobuf_RegisterTypes(const ::std::string&) {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    HeaderInfo_descriptor_, &HeaderInfo::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    GLOverlay_descriptor_, &GLOverlay::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Obstacle_descriptor_, &Obstacle::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    ObstacleList_descriptor_, &ObstacleList::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    ObstacleMap_descriptor_, &ObstacleMap::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Path_descriptor_, &Path::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZI_descriptor_, &PointCloudXYZI::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZI_PointXYZI_descriptor_, &PointCloudXYZI_PointXYZI::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZRGB_descriptor_, &PointCloudXYZRGB::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    PointCloudXYZRGB_PointXYZRGB_descriptor_, &PointCloudXYZRGB_PointXYZRGB::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    RGBDImage_descriptor_, &RGBDImage::default_instance());
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
+    Waypoint_descriptor_, &Waypoint::default_instance());
+}
+
+}  // namespace
+
+void protobuf_ShutdownFile_pixhawk_2eproto() {
+  delete HeaderInfo::default_instance_;
+  delete HeaderInfo_reflection_;
+  delete GLOverlay::default_instance_;
+  delete GLOverlay_reflection_;
+  delete Obstacle::default_instance_;
+  delete Obstacle_reflection_;
+  delete ObstacleList::default_instance_;
+  delete ObstacleList_reflection_;
+  delete ObstacleMap::default_instance_;
+  delete ObstacleMap_reflection_;
+  delete Path::default_instance_;
+  delete Path_reflection_;
+  delete PointCloudXYZI::default_instance_;
+  delete PointCloudXYZI_reflection_;
+  delete PointCloudXYZI_PointXYZI::default_instance_;
+  delete PointCloudXYZI_PointXYZI_reflection_;
+  delete PointCloudXYZRGB::default_instance_;
+  delete PointCloudXYZRGB_reflection_;
+  delete PointCloudXYZRGB_PointXYZRGB::default_instance_;
+  delete PointCloudXYZRGB_PointXYZRGB_reflection_;
+  delete RGBDImage::default_instance_;
+  delete RGBDImage_reflection_;
+  delete Waypoint::default_instance_;
+  delete Waypoint_reflection_;
+}
+
+void protobuf_AddDesc_pixhawk_2eproto() {
+  static bool already_here = false;
+  if (already_here) return;
+  already_here = true;
+  GOOGLE_PROTOBUF_VERIFY_VERSION;
+
+  ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
+    "\n\rpixhawk.proto\022\002px\"L\n\nHeaderInfo\022\024\n\014sou"
+    "rce_sysid\030\001 \002(\005\022\025\n\rsource_compid\030\002 \002(\005\022\021"
+    "\n\ttimestamp\030\003 \002(\001\"\377\004\n\tGLOverlay\022\036\n\006heade"
+    "r\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004name\030\002 \001(\t\022>\n"
+    "\023coordinateFrameType\030\003 \001(\0162!.px.GLOverla"
+    "y.CoordinateFrameType\022\020\n\010origin_x\030\004 \001(\001\022"
+    "\020\n\010origin_y\030\005 \001(\001\022\020\n\010origin_z\030\006 \001(\001\022\014\n\004d"
+    "ata\030\007 \001(\014\",\n\023CoordinateFrameType\022\n\n\006GLOB"
+    "AL\020\000\022\t\n\005LOCAL\020\001\"\333\001\n\004Mode\022\n\n\006POINTS\020\000\022\t\n\005"
+    "LINES\020\001\022\016\n\nLINE_STRIP\020\002\022\r\n\tLINE_LOOP\020\003\022\r"
+    "\n\tTRIANGLES\020\004\022\022\n\016TRIANGLE_STRIP\020\005\022\020\n\014TRI"
+    "ANGLE_FAN\020\006\022\t\n\005QUADS\020\007\022\016\n\nQUAD_STRIP\020\010\022\013"
+    "\n\007POLYGON\020\t\022\020\n\014SOLID_CIRCLE\020\n\022\017\n\013WIRE_CI"
+    "RCLE\020\013\022\016\n\nSOLID_CUBE\020\014\022\r\n\tWIRE_CUBE\020\r\"\263\001"
+    "\n\nIdentifier\022\007\n\003END\020\016\022\014\n\010VERTEX2F\020\017\022\014\n\010V"
+    "ERTEX3F\020\020\022\013\n\007ROTATEF\020\021\022\016\n\nTRANSLATEF\020\022\022\n"
+    "\n\006SCALEF\020\023\022\017\n\013PUSH_MATRIX\020\024\022\016\n\nPOP_MATRI"
+    "X\020\025\022\013\n\007COLOR3F\020\026\022\013\n\007COLOR4F\020\027\022\r\n\tPOINTSI"
+    "ZE\020\030\022\r\n\tLINEWIDTH\020\031\"Z\n\010Obstacle\022\t\n\001x\030\001 \001"
+    "(\002\022\t\n\001y\030\002 \001(\002\022\t\n\001z\030\003 \001(\002\022\016\n\006length\030\004 \001(\002"
+    "\022\r\n\005width\030\005 \001(\002\022\016\n\006height\030\006 \001(\002\"O\n\014Obsta"
+    "cleList\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo\022"
+    "\037\n\tobstacles\030\002 \003(\0132\014.px.Obstacle\"\271\001\n\013Obs"
+    "tacleMap\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo"
+    "\022\014\n\004type\030\002 \002(\005\022\022\n\nresolution\030\003 \001(\002\022\014\n\004ro"
+    "ws\030\004 \001(\005\022\014\n\004cols\030\005 \001(\005\022\r\n\005mapR0\030\006 \001(\005\022\r\n"
+    "\005mapC0\030\007 \001(\005\022\017\n\007arrayR0\030\010 \001(\005\022\017\n\007arrayC0"
+    "\030\t \001(\005\022\014\n\004data\030\n \001(\014\"G\n\004Path\022\036\n\006header\030\001"
+    " \002(\0132\016.px.HeaderInfo\022\037\n\twaypoints\030\002 \003(\0132"
+    "\014.px.Waypoint\"\237\001\n\016PointCloudXYZI\022\036\n\006head"
+    "er\030\001 \002(\0132\016.px.HeaderInfo\022,\n\006points\030\002 \003(\013"
+    "2\034.px.PointCloudXYZI.PointXYZI\032\?\n\tPointX"
+    "YZI\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z\030\003 \002(\002\022\021\n\t"
+    "intensity\030\004 \002(\002\"\241\001\n\020PointCloudXYZRGB\022\036\n\006"
+    "header\030\001 \002(\0132\016.px.HeaderInfo\0220\n\006points\030\002"
+    " \003(\0132 .px.PointCloudXYZRGB.PointXYZRGB\032;"
+    "\n\013PointXYZRGB\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z"
+    "\030\003 \002(\002\022\013\n\003rgb\030\004 \002(\002\"\365\002\n\tRGBDImage\022\036\n\006hea"
+    "der\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004cols\030\002 \002(\r\022"
+    "\014\n\004rows\030\003 \002(\r\022\r\n\005step1\030\004 \002(\r\022\r\n\005type1\030\005 "
+    "\002(\r\022\022\n\nimageData1\030\006 \002(\014\022\r\n\005step2\030\007 \002(\r\022\r"
+    "\n\005type2\030\010 \002(\r\022\022\n\nimageData2\030\t \002(\014\022\025\n\rcam"
+    "era_config\030\n \001(\r\022\023\n\013camera_type\030\013 \001(\r\022\014\n"
+    "\004roll\030\014 \001(\002\022\r\n\005pitch\030\r \001(\002\022\013\n\003yaw\030\016 \001(\002\022"
+    "\013\n\003lon\030\017 \001(\002\022\013\n\003lat\030\020 \001(\002\022\013\n\003alt\030\021 \001(\002\022\020"
+    "\n\010ground_x\030\022 \001(\002\022\020\n\010ground_y\030\023 \001(\002\022\020\n\010gr"
+    "ound_z\030\024 \001(\002\022\025\n\rcamera_matrix\030\025 \003(\002\"U\n\010W"
+    "aypoint\022\t\n\001x\030\001 \002(\001\022\t\n\001y\030\002 \002(\001\022\t\n\001z\030\003 \001(\001"
+    "\022\014\n\004roll\030\004 \001(\001\022\r\n\005pitch\030\005 \001(\001\022\013\n\003yaw\030\006 \001"
+    "(\001", 1962);
+  ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
+    "pixhawk.proto", &protobuf_RegisterTypes);
+  HeaderInfo::default_instance_ = new HeaderInfo();
+  GLOverlay::default_instance_ = new GLOverlay();
+  Obstacle::default_instance_ = new Obstacle();
+  ObstacleList::default_instance_ = new ObstacleList();
+  ObstacleMap::default_instance_ = new ObstacleMap();
+  Path::default_instance_ = new Path();
+  PointCloudXYZI::default_instance_ = new PointCloudXYZI();
+  PointCloudXYZI_PointXYZI::default_instance_ = new PointCloudXYZI_PointXYZI();
+  PointCloudXYZRGB::default_instance_ = new PointCloudXYZRGB();
+  PointCloudXYZRGB_PointXYZRGB::default_instance_ = new PointCloudXYZRGB_PointXYZRGB();
+  RGBDImage::default_instance_ = new RGBDImage();
+  Waypoint::default_instance_ = new Waypoint();
+  HeaderInfo::default_instance_->InitAsDefaultInstance();
+  GLOverlay::default_instance_->InitAsDefaultInstance();
+  Obstacle::default_instance_->InitAsDefaultInstance();
+  ObstacleList::default_instance_->InitAsDefaultInstance();
+  ObstacleMap::default_instance_->InitAsDefaultInstance();
+  Path::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZI::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZI_PointXYZI::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZRGB::default_instance_->InitAsDefaultInstance();
+  PointCloudXYZRGB_PointXYZRGB::default_instance_->InitAsDefaultInstance();
+  RGBDImage::default_instance_->InitAsDefaultInstance();
+  Waypoint::default_instance_->InitAsDefaultInstance();
+  ::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_pixhawk_2eproto);
+}
+
+// Force AddDescriptors() to be called at static initialization time.
+struct StaticDescriptorInitializer_pixhawk_2eproto {
+  StaticDescriptorInitializer_pixhawk_2eproto() {
+    protobuf_AddDesc_pixhawk_2eproto();
+  }
+} static_descriptor_initializer_pixhawk_2eproto_;
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int HeaderInfo::kSourceSysidFieldNumber;
+const int HeaderInfo::kSourceCompidFieldNumber;
+const int HeaderInfo::kTimestampFieldNumber;
+#endif  // !_MSC_VER
+
+HeaderInfo::HeaderInfo()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void HeaderInfo::InitAsDefaultInstance() {
+}
+
+HeaderInfo::HeaderInfo(const HeaderInfo& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void HeaderInfo::SharedCtor() {
+  _cached_size_ = 0;
+  source_sysid_ = 0;
+  source_compid_ = 0;
+  timestamp_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+HeaderInfo::~HeaderInfo() {
+  SharedDtor();
+}
+
+void HeaderInfo::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void HeaderInfo::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* HeaderInfo::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return HeaderInfo_descriptor_;
+}
+
+const HeaderInfo& HeaderInfo::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+HeaderInfo* HeaderInfo::default_instance_ = NULL;
+
+HeaderInfo* HeaderInfo::New() const {
+  return new HeaderInfo;
+}
+
+void HeaderInfo::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    source_sysid_ = 0;
+    source_compid_ = 0;
+    timestamp_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool HeaderInfo::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required int32 source_sysid = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &source_sysid_)));
+          set_has_source_sysid();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_source_compid;
+        break;
+      }
+      
+      // required int32 source_compid = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_source_compid:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &source_compid_)));
+          set_has_source_compid();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(25)) goto parse_timestamp;
+        break;
+      }
+      
+      // required double timestamp = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_timestamp:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &timestamp_)));
+          set_has_timestamp();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void HeaderInfo::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required int32 source_sysid = 1;
+  if (has_source_sysid()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->source_sysid(), output);
+  }
+  
+  // required int32 source_compid = 2;
+  if (has_source_compid()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->source_compid(), output);
+  }
+  
+  // required double timestamp = 3;
+  if (has_timestamp()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->timestamp(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* HeaderInfo::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required int32 source_sysid = 1;
+  if (has_source_sysid()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->source_sysid(), target);
+  }
+  
+  // required int32 source_compid = 2;
+  if (has_source_compid()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->source_compid(), target);
+  }
+  
+  // required double timestamp = 3;
+  if (has_timestamp()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->timestamp(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int HeaderInfo::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required int32 source_sysid = 1;
+    if (has_source_sysid()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->source_sysid());
+    }
+    
+    // required int32 source_compid = 2;
+    if (has_source_compid()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->source_compid());
+    }
+    
+    // required double timestamp = 3;
+    if (has_timestamp()) {
+      total_size += 1 + 8;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void HeaderInfo::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const HeaderInfo* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const HeaderInfo*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void HeaderInfo::MergeFrom(const HeaderInfo& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_source_sysid()) {
+      set_source_sysid(from.source_sysid());
+    }
+    if (from.has_source_compid()) {
+      set_source_compid(from.source_compid());
+    }
+    if (from.has_timestamp()) {
+      set_timestamp(from.timestamp());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void HeaderInfo::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void HeaderInfo::CopyFrom(const HeaderInfo& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool HeaderInfo::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000007) != 0x00000007) return false;
+  
+  return true;
+}
+
+void HeaderInfo::Swap(HeaderInfo* other) {
+  if (other != this) {
+    std::swap(source_sysid_, other->source_sysid_);
+    std::swap(source_compid_, other->source_compid_);
+    std::swap(timestamp_, other->timestamp_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata HeaderInfo::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = HeaderInfo_descriptor_;
+  metadata.reflection = HeaderInfo_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_CoordinateFrameType_descriptor_;
+}
+bool GLOverlay_CoordinateFrameType_IsValid(int value) {
+  switch(value) {
+    case 0:
+    case 1:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_CoordinateFrameType GLOverlay::GLOBAL;
+const GLOverlay_CoordinateFrameType GLOverlay::LOCAL;
+const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MIN;
+const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MAX;
+const int GLOverlay::CoordinateFrameType_ARRAYSIZE;
+#endif  // _MSC_VER
+const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_Mode_descriptor_;
+}
+bool GLOverlay_Mode_IsValid(int value) {
+  switch(value) {
+    case 0:
+    case 1:
+    case 2:
+    case 3:
+    case 4:
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+    case 9:
+    case 10:
+    case 11:
+    case 12:
+    case 13:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_Mode GLOverlay::POINTS;
+const GLOverlay_Mode GLOverlay::LINES;
+const GLOverlay_Mode GLOverlay::LINE_STRIP;
+const GLOverlay_Mode GLOverlay::LINE_LOOP;
+const GLOverlay_Mode GLOverlay::TRIANGLES;
+const GLOverlay_Mode GLOverlay::TRIANGLE_STRIP;
+const GLOverlay_Mode GLOverlay::TRIANGLE_FAN;
+const GLOverlay_Mode GLOverlay::QUADS;
+const GLOverlay_Mode GLOverlay::QUAD_STRIP;
+const GLOverlay_Mode GLOverlay::POLYGON;
+const GLOverlay_Mode GLOverlay::SOLID_CIRCLE;
+const GLOverlay_Mode GLOverlay::WIRE_CIRCLE;
+const GLOverlay_Mode GLOverlay::SOLID_CUBE;
+const GLOverlay_Mode GLOverlay::WIRE_CUBE;
+const GLOverlay_Mode GLOverlay::Mode_MIN;
+const GLOverlay_Mode GLOverlay::Mode_MAX;
+const int GLOverlay::Mode_ARRAYSIZE;
+#endif  // _MSC_VER
+const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_Identifier_descriptor_;
+}
+bool GLOverlay_Identifier_IsValid(int value) {
+  switch(value) {
+    case 14:
+    case 15:
+    case 16:
+    case 17:
+    case 18:
+    case 19:
+    case 20:
+    case 21:
+    case 22:
+    case 23:
+    case 24:
+    case 25:
+      return true;
+    default:
+      return false;
+  }
+}
+
+#ifndef _MSC_VER
+const GLOverlay_Identifier GLOverlay::END;
+const GLOverlay_Identifier GLOverlay::VERTEX2F;
+const GLOverlay_Identifier GLOverlay::VERTEX3F;
+const GLOverlay_Identifier GLOverlay::ROTATEF;
+const GLOverlay_Identifier GLOverlay::TRANSLATEF;
+const GLOverlay_Identifier GLOverlay::SCALEF;
+const GLOverlay_Identifier GLOverlay::PUSH_MATRIX;
+const GLOverlay_Identifier GLOverlay::POP_MATRIX;
+const GLOverlay_Identifier GLOverlay::COLOR3F;
+const GLOverlay_Identifier GLOverlay::COLOR4F;
+const GLOverlay_Identifier GLOverlay::POINTSIZE;
+const GLOverlay_Identifier GLOverlay::LINEWIDTH;
+const GLOverlay_Identifier GLOverlay::Identifier_MIN;
+const GLOverlay_Identifier GLOverlay::Identifier_MAX;
+const int GLOverlay::Identifier_ARRAYSIZE;
+#endif  // _MSC_VER
+#ifndef _MSC_VER
+const int GLOverlay::kHeaderFieldNumber;
+const int GLOverlay::kNameFieldNumber;
+const int GLOverlay::kCoordinateFrameTypeFieldNumber;
+const int GLOverlay::kOriginXFieldNumber;
+const int GLOverlay::kOriginYFieldNumber;
+const int GLOverlay::kOriginZFieldNumber;
+const int GLOverlay::kDataFieldNumber;
+#endif  // !_MSC_VER
+
+GLOverlay::GLOverlay()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void GLOverlay::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+GLOverlay::GLOverlay(const GLOverlay& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void GLOverlay::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  coordinateframetype_ = 0;
+  origin_x_ = 0;
+  origin_y_ = 0;
+  origin_z_ = 0;
+  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+GLOverlay::~GLOverlay() {
+  SharedDtor();
+}
+
+void GLOverlay::SharedDtor() {
+  if (name_ != &::google::protobuf::internal::kEmptyString) {
+    delete name_;
+  }
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    delete data_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void GLOverlay::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* GLOverlay::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return GLOverlay_descriptor_;
+}
+
+const GLOverlay& GLOverlay::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+GLOverlay* GLOverlay::default_instance_ = NULL;
+
+GLOverlay* GLOverlay::New() const {
+  return new GLOverlay;
+}
+
+void GLOverlay::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    if (has_name()) {
+      if (name_ != &::google::protobuf::internal::kEmptyString) {
+        name_->clear();
+      }
+    }
+    coordinateframetype_ = 0;
+    origin_x_ = 0;
+    origin_y_ = 0;
+    origin_z_ = 0;
+    if (has_data()) {
+      if (data_ != &::google::protobuf::internal::kEmptyString) {
+        data_->clear();
+      }
+    }
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool GLOverlay::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_name;
+        break;
+      }
+      
+      // optional string name = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_name:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
+                input, this->mutable_name()));
+          ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+            this->name().data(), this->name().length(),
+            ::google::protobuf::internal::WireFormat::PARSE);
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(24)) goto parse_coordinateFrameType;
+        break;
+      }
+      
+      // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_coordinateFrameType:
+          int value;
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>(
+                 input, &value)));
+          if (::px::GLOverlay_CoordinateFrameType_IsValid(value)) {
+            set_coordinateframetype(static_cast< ::px::GLOverlay_CoordinateFrameType >(value));
+          } else {
+            mutable_unknown_fields()->AddVarint(3, value);
+          }
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(33)) goto parse_origin_x;
+        break;
+      }
+      
+      // optional double origin_x = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_x:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_x_)));
+          set_has_origin_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(41)) goto parse_origin_y;
+        break;
+      }
+      
+      // optional double origin_y = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_y_)));
+          set_has_origin_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(49)) goto parse_origin_z;
+        break;
+      }
+      
+      // optional double origin_z = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_origin_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &origin_z_)));
+          set_has_origin_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(58)) goto parse_data;
+        break;
+      }
+      
+      // optional bytes data = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_data:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_data()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void GLOverlay::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // optional string name = 2;
+  if (has_name()) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+      this->name().data(), this->name().length(),
+      ::google::protobuf::internal::WireFormat::SERIALIZE);
+    ::google::protobuf::internal::WireFormatLite::WriteString(
+      2, this->name(), output);
+  }
+  
+  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+  if (has_coordinateframetype()) {
+    ::google::protobuf::internal::WireFormatLite::WriteEnum(
+      3, this->coordinateframetype(), output);
+  }
+  
+  // optional double origin_x = 4;
+  if (has_origin_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->origin_x(), output);
+  }
+  
+  // optional double origin_y = 5;
+  if (has_origin_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->origin_y(), output);
+  }
+  
+  // optional double origin_z = 6;
+  if (has_origin_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->origin_z(), output);
+  }
+  
+  // optional bytes data = 7;
+  if (has_data()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      7, this->data(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* GLOverlay::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // optional string name = 2;
+  if (has_name()) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
+      this->name().data(), this->name().length(),
+      ::google::protobuf::internal::WireFormat::SERIALIZE);
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
+        2, this->name(), target);
+  }
+  
+  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+  if (has_coordinateframetype()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray(
+      3, this->coordinateframetype(), target);
+  }
+  
+  // optional double origin_x = 4;
+  if (has_origin_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->origin_x(), target);
+  }
+  
+  // optional double origin_y = 5;
+  if (has_origin_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->origin_y(), target);
+  }
+  
+  // optional double origin_z = 6;
+  if (has_origin_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->origin_z(), target);
+  }
+  
+  // optional bytes data = 7;
+  if (has_data()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        7, this->data(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int GLOverlay::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // optional string name = 2;
+    if (has_name()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::StringSize(
+          this->name());
+    }
+    
+    // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
+    if (has_coordinateframetype()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::EnumSize(this->coordinateframetype());
+    }
+    
+    // optional double origin_x = 4;
+    if (has_origin_x()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double origin_y = 5;
+    if (has_origin_y()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double origin_z = 6;
+    if (has_origin_z()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional bytes data = 7;
+    if (has_data()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->data());
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void GLOverlay::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const GLOverlay* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const GLOverlay*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void GLOverlay::MergeFrom(const GLOverlay& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_name()) {
+      set_name(from.name());
+    }
+    if (from.has_coordinateframetype()) {
+      set_coordinateframetype(from.coordinateframetype());
+    }
+    if (from.has_origin_x()) {
+      set_origin_x(from.origin_x());
+    }
+    if (from.has_origin_y()) {
+      set_origin_y(from.origin_y());
+    }
+    if (from.has_origin_z()) {
+      set_origin_z(from.origin_z());
+    }
+    if (from.has_data()) {
+      set_data(from.data());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void GLOverlay::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void GLOverlay::CopyFrom(const GLOverlay& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool GLOverlay::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void GLOverlay::Swap(GLOverlay* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(name_, other->name_);
+    std::swap(coordinateframetype_, other->coordinateframetype_);
+    std::swap(origin_x_, other->origin_x_);
+    std::swap(origin_y_, other->origin_y_);
+    std::swap(origin_z_, other->origin_z_);
+    std::swap(data_, other->data_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata GLOverlay::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = GLOverlay_descriptor_;
+  metadata.reflection = GLOverlay_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Obstacle::kXFieldNumber;
+const int Obstacle::kYFieldNumber;
+const int Obstacle::kZFieldNumber;
+const int Obstacle::kLengthFieldNumber;
+const int Obstacle::kWidthFieldNumber;
+const int Obstacle::kHeightFieldNumber;
+#endif  // !_MSC_VER
+
+Obstacle::Obstacle()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Obstacle::InitAsDefaultInstance() {
+}
+
+Obstacle::Obstacle(const Obstacle& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Obstacle::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  length_ = 0;
+  width_ = 0;
+  height_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Obstacle::~Obstacle() {
+  SharedDtor();
+}
+
+void Obstacle::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void Obstacle::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Obstacle::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Obstacle_descriptor_;
+}
+
+const Obstacle& Obstacle::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Obstacle* Obstacle::default_instance_ = NULL;
+
+Obstacle* Obstacle::New() const {
+  return new Obstacle;
+}
+
+void Obstacle::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    length_ = 0;
+    width_ = 0;
+    height_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Obstacle::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // optional float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // optional float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // optional float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_length;
+        break;
+      }
+      
+      // optional float length = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_length:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &length_)));
+          set_has_length();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(45)) goto parse_width;
+        break;
+      }
+      
+      // optional float width = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_width:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &width_)));
+          set_has_width();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(53)) goto parse_height;
+        break;
+      }
+      
+      // optional float height = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_height:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &height_)));
+          set_has_height();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Obstacle::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // optional float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // optional float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // optional float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // optional float length = 4;
+  if (has_length()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->length(), output);
+  }
+  
+  // optional float width = 5;
+  if (has_width()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->width(), output);
+  }
+  
+  // optional float height = 6;
+  if (has_height()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->height(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Obstacle::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // optional float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // optional float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // optional float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // optional float length = 4;
+  if (has_length()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->length(), target);
+  }
+  
+  // optional float width = 5;
+  if (has_width()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->width(), target);
+  }
+  
+  // optional float height = 6;
+  if (has_height()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->height(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Obstacle::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // optional float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float length = 4;
+    if (has_length()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float width = 5;
+    if (has_width()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float height = 6;
+    if (has_height()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Obstacle::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Obstacle* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Obstacle*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Obstacle::MergeFrom(const Obstacle& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_length()) {
+      set_length(from.length());
+    }
+    if (from.has_width()) {
+      set_width(from.width());
+    }
+    if (from.has_height()) {
+      set_height(from.height());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Obstacle::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Obstacle::CopyFrom(const Obstacle& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Obstacle::IsInitialized() const {
+  
+  return true;
+}
+
+void Obstacle::Swap(Obstacle* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(length_, other->length_);
+    std::swap(width_, other->width_);
+    std::swap(height_, other->height_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Obstacle::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Obstacle_descriptor_;
+  metadata.reflection = Obstacle_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int ObstacleList::kHeaderFieldNumber;
+const int ObstacleList::kObstaclesFieldNumber;
+#endif  // !_MSC_VER
+
+ObstacleList::ObstacleList()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void ObstacleList::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+ObstacleList::ObstacleList(const ObstacleList& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void ObstacleList::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+ObstacleList::~ObstacleList() {
+  SharedDtor();
+}
+
+void ObstacleList::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void ObstacleList::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* ObstacleList::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return ObstacleList_descriptor_;
+}
+
+const ObstacleList& ObstacleList::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+ObstacleList* ObstacleList::default_instance_ = NULL;
+
+ObstacleList* ObstacleList::New() const {
+  return new ObstacleList;
+}
+
+void ObstacleList::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  obstacles_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool ObstacleList::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_obstacles;
+        break;
+      }
+      
+      // repeated .px.Obstacle obstacles = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_obstacles:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_obstacles()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_obstacles;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void ObstacleList::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.Obstacle obstacles = 2;
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->obstacles(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* ObstacleList::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.Obstacle obstacles = 2;
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->obstacles(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int ObstacleList::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.Obstacle obstacles = 2;
+  total_size += 1 * this->obstacles_size();
+  for (int i = 0; i < this->obstacles_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->obstacles(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void ObstacleList::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const ObstacleList* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleList*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void ObstacleList::MergeFrom(const ObstacleList& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  obstacles_.MergeFrom(from.obstacles_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void ObstacleList::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void ObstacleList::CopyFrom(const ObstacleList& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ObstacleList::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void ObstacleList::Swap(ObstacleList* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    obstacles_.Swap(&other->obstacles_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata ObstacleList::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = ObstacleList_descriptor_;
+  metadata.reflection = ObstacleList_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int ObstacleMap::kHeaderFieldNumber;
+const int ObstacleMap::kTypeFieldNumber;
+const int ObstacleMap::kResolutionFieldNumber;
+const int ObstacleMap::kRowsFieldNumber;
+const int ObstacleMap::kColsFieldNumber;
+const int ObstacleMap::kMapR0FieldNumber;
+const int ObstacleMap::kMapC0FieldNumber;
+const int ObstacleMap::kArrayR0FieldNumber;
+const int ObstacleMap::kArrayC0FieldNumber;
+const int ObstacleMap::kDataFieldNumber;
+#endif  // !_MSC_VER
+
+ObstacleMap::ObstacleMap()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void ObstacleMap::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+ObstacleMap::ObstacleMap(const ObstacleMap& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void ObstacleMap::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  type_ = 0;
+  resolution_ = 0;
+  rows_ = 0;
+  cols_ = 0;
+  mapr0_ = 0;
+  mapc0_ = 0;
+  arrayr0_ = 0;
+  arrayc0_ = 0;
+  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+ObstacleMap::~ObstacleMap() {
+  SharedDtor();
+}
+
+void ObstacleMap::SharedDtor() {
+  if (data_ != &::google::protobuf::internal::kEmptyString) {
+    delete data_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void ObstacleMap::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* ObstacleMap::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return ObstacleMap_descriptor_;
+}
+
+const ObstacleMap& ObstacleMap::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+ObstacleMap* ObstacleMap::default_instance_ = NULL;
+
+ObstacleMap* ObstacleMap::New() const {
+  return new ObstacleMap;
+}
+
+void ObstacleMap::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    type_ = 0;
+    resolution_ = 0;
+    rows_ = 0;
+    cols_ = 0;
+    mapr0_ = 0;
+    mapc0_ = 0;
+    arrayr0_ = 0;
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    arrayc0_ = 0;
+    if (has_data()) {
+      if (data_ != &::google::protobuf::internal::kEmptyString) {
+        data_->clear();
+      }
+    }
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool ObstacleMap::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_type;
+        break;
+      }
+      
+      // required int32 type = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &type_)));
+          set_has_type();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_resolution;
+        break;
+      }
+      
+      // optional float resolution = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_resolution:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &resolution_)));
+          set_has_resolution();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(32)) goto parse_rows;
+        break;
+      }
+      
+      // optional int32 rows = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_rows:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &rows_)));
+          set_has_rows();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(40)) goto parse_cols;
+        break;
+      }
+      
+      // optional int32 cols = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_cols:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &cols_)));
+          set_has_cols();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(48)) goto parse_mapR0;
+        break;
+      }
+      
+      // optional int32 mapR0 = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_mapR0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &mapr0_)));
+          set_has_mapr0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(56)) goto parse_mapC0;
+        break;
+      }
+      
+      // optional int32 mapC0 = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_mapC0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &mapc0_)));
+          set_has_mapc0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(64)) goto parse_arrayR0;
+        break;
+      }
+      
+      // optional int32 arrayR0 = 8;
+      case 8: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_arrayR0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &arrayr0_)));
+          set_has_arrayr0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(72)) goto parse_arrayC0;
+        break;
+      }
+      
+      // optional int32 arrayC0 = 9;
+      case 9: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_arrayC0:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
+                 input, &arrayc0_)));
+          set_has_arrayc0();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(82)) goto parse_data;
+        break;
+      }
+      
+      // optional bytes data = 10;
+      case 10: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_data:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_data()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void ObstacleMap::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // required int32 type = 2;
+  if (has_type()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->type(), output);
+  }
+  
+  // optional float resolution = 3;
+  if (has_resolution()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->resolution(), output);
+  }
+  
+  // optional int32 rows = 4;
+  if (has_rows()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(4, this->rows(), output);
+  }
+  
+  // optional int32 cols = 5;
+  if (has_cols()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->cols(), output);
+  }
+  
+  // optional int32 mapR0 = 6;
+  if (has_mapr0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mapr0(), output);
+  }
+  
+  // optional int32 mapC0 = 7;
+  if (has_mapc0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mapc0(), output);
+  }
+  
+  // optional int32 arrayR0 = 8;
+  if (has_arrayr0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->arrayr0(), output);
+  }
+  
+  // optional int32 arrayC0 = 9;
+  if (has_arrayc0()) {
+    ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->arrayc0(), output);
+  }
+  
+  // optional bytes data = 10;
+  if (has_data()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      10, this->data(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* ObstacleMap::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // required int32 type = 2;
+  if (has_type()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->type(), target);
+  }
+  
+  // optional float resolution = 3;
+  if (has_resolution()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->resolution(), target);
+  }
+  
+  // optional int32 rows = 4;
+  if (has_rows()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(4, this->rows(), target);
+  }
+  
+  // optional int32 cols = 5;
+  if (has_cols()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->cols(), target);
+  }
+  
+  // optional int32 mapR0 = 6;
+  if (has_mapr0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mapr0(), target);
+  }
+  
+  // optional int32 mapC0 = 7;
+  if (has_mapc0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mapc0(), target);
+  }
+  
+  // optional int32 arrayR0 = 8;
+  if (has_arrayr0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->arrayr0(), target);
+  }
+  
+  // optional int32 arrayC0 = 9;
+  if (has_arrayc0()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->arrayc0(), target);
+  }
+  
+  // optional bytes data = 10;
+  if (has_data()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        10, this->data(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int ObstacleMap::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // required int32 type = 2;
+    if (has_type()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->type());
+    }
+    
+    // optional float resolution = 3;
+    if (has_resolution()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional int32 rows = 4;
+    if (has_rows()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->rows());
+    }
+    
+    // optional int32 cols = 5;
+    if (has_cols()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->cols());
+    }
+    
+    // optional int32 mapR0 = 6;
+    if (has_mapr0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->mapr0());
+    }
+    
+    // optional int32 mapC0 = 7;
+    if (has_mapc0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->mapc0());
+    }
+    
+    // optional int32 arrayR0 = 8;
+    if (has_arrayr0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->arrayr0());
+    }
+    
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    // optional int32 arrayC0 = 9;
+    if (has_arrayc0()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::Int32Size(
+          this->arrayc0());
+    }
+    
+    // optional bytes data = 10;
+    if (has_data()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->data());
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void ObstacleMap::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const ObstacleMap* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleMap*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void ObstacleMap::MergeFrom(const ObstacleMap& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_type()) {
+      set_type(from.type());
+    }
+    if (from.has_resolution()) {
+      set_resolution(from.resolution());
+    }
+    if (from.has_rows()) {
+      set_rows(from.rows());
+    }
+    if (from.has_cols()) {
+      set_cols(from.cols());
+    }
+    if (from.has_mapr0()) {
+      set_mapr0(from.mapr0());
+    }
+    if (from.has_mapc0()) {
+      set_mapc0(from.mapc0());
+    }
+    if (from.has_arrayr0()) {
+      set_arrayr0(from.arrayr0());
+    }
+  }
+  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (from.has_arrayc0()) {
+      set_arrayc0(from.arrayc0());
+    }
+    if (from.has_data()) {
+      set_data(from.data());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void ObstacleMap::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void ObstacleMap::CopyFrom(const ObstacleMap& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool ObstacleMap::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void ObstacleMap::Swap(ObstacleMap* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(type_, other->type_);
+    std::swap(resolution_, other->resolution_);
+    std::swap(rows_, other->rows_);
+    std::swap(cols_, other->cols_);
+    std::swap(mapr0_, other->mapr0_);
+    std::swap(mapc0_, other->mapc0_);
+    std::swap(arrayr0_, other->arrayr0_);
+    std::swap(arrayc0_, other->arrayc0_);
+    std::swap(data_, other->data_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata ObstacleMap::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = ObstacleMap_descriptor_;
+  metadata.reflection = ObstacleMap_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Path::kHeaderFieldNumber;
+const int Path::kWaypointsFieldNumber;
+#endif  // !_MSC_VER
+
+Path::Path()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Path::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+Path::Path(const Path& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Path::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Path::~Path() {
+  SharedDtor();
+}
+
+void Path::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void Path::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Path::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Path_descriptor_;
+}
+
+const Path& Path::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Path* Path::default_instance_ = NULL;
+
+Path* Path::New() const {
+  return new Path;
+}
+
+void Path::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  waypoints_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Path::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_waypoints;
+        break;
+      }
+      
+      // repeated .px.Waypoint waypoints = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_waypoints:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_waypoints()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_waypoints;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Path::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.Waypoint waypoints = 2;
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->waypoints(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Path::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.Waypoint waypoints = 2;
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->waypoints(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Path::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.Waypoint waypoints = 2;
+  total_size += 1 * this->waypoints_size();
+  for (int i = 0; i < this->waypoints_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->waypoints(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Path::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Path* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Path*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Path::MergeFrom(const Path& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  waypoints_.MergeFrom(from.waypoints_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Path::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Path::CopyFrom(const Path& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Path::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < waypoints_size(); i++) {
+    if (!this->waypoints(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void Path::Swap(Path* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    waypoints_.Swap(&other->waypoints_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Path::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Path_descriptor_;
+  metadata.reflection = Path_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int PointCloudXYZI_PointXYZI::kXFieldNumber;
+const int PointCloudXYZI_PointXYZI::kYFieldNumber;
+const int PointCloudXYZI_PointXYZI::kZFieldNumber;
+const int PointCloudXYZI_PointXYZI::kIntensityFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZI_PointXYZI::InitAsDefaultInstance() {
+}
+
+PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI_PointXYZI::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  intensity_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZI_PointXYZI::~PointCloudXYZI_PointXYZI() {
+  SharedDtor();
+}
+
+void PointCloudXYZI_PointXYZI::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void PointCloudXYZI_PointXYZI::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZI_PointXYZI_descriptor_;
+}
+
+const PointCloudXYZI_PointXYZI& PointCloudXYZI_PointXYZI::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::default_instance_ = NULL;
+
+PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::New() const {
+  return new PointCloudXYZI_PointXYZI;
+}
+
+void PointCloudXYZI_PointXYZI::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    intensity_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZI_PointXYZI::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // required float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // required float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_intensity;
+        break;
+      }
+      
+      // required float intensity = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_intensity:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &intensity_)));
+          set_has_intensity();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZI_PointXYZI::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // required float intensity = 4;
+  if (has_intensity()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->intensity(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZI_PointXYZI::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // required float intensity = 4;
+  if (has_intensity()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->intensity(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZI_PointXYZI::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float intensity = 4;
+    if (has_intensity()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZI_PointXYZI::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZI_PointXYZI* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI_PointXYZI*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZI_PointXYZI::MergeFrom(const PointCloudXYZI_PointXYZI& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_intensity()) {
+      set_intensity(from.intensity());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZI_PointXYZI::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI_PointXYZI::CopyFrom(const PointCloudXYZI_PointXYZI& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZI_PointXYZI::IsInitialized() const {
+  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
+  
+  return true;
+}
+
+void PointCloudXYZI_PointXYZI::Swap(PointCloudXYZI_PointXYZI* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(intensity_, other->intensity_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZI_PointXYZI::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZI_PointXYZI_descriptor_;
+  metadata.reflection = PointCloudXYZI_PointXYZI_reflection_;
+  return metadata;
+}
+
+
+// -------------------------------------------------------------------
+
+#ifndef _MSC_VER
+const int PointCloudXYZI::kHeaderFieldNumber;
+const int PointCloudXYZI::kPointsFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZI::PointCloudXYZI()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZI::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+PointCloudXYZI::PointCloudXYZI(const PointCloudXYZI& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZI::~PointCloudXYZI() {
+  SharedDtor();
+}
+
+void PointCloudXYZI::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void PointCloudXYZI::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZI::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZI_descriptor_;
+}
+
+const PointCloudXYZI& PointCloudXYZI::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZI* PointCloudXYZI::default_instance_ = NULL;
+
+PointCloudXYZI* PointCloudXYZI::New() const {
+  return new PointCloudXYZI;
+}
+
+void PointCloudXYZI::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  points_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZI::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        break;
+      }
+      
+      // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_points:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_points()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZI::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->points(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZI::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->points(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZI::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
+  total_size += 1 * this->points_size();
+  for (int i = 0; i < this->points_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->points(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZI::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZI* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZI::MergeFrom(const PointCloudXYZI& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  points_.MergeFrom(from.points_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZI::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZI::CopyFrom(const PointCloudXYZI& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZI::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < points_size(); i++) {
+    if (!this->points(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void PointCloudXYZI::Swap(PointCloudXYZI* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    points_.Swap(&other->points_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZI::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZI_descriptor_;
+  metadata.reflection = PointCloudXYZI_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int PointCloudXYZRGB_PointXYZRGB::kXFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kYFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kZFieldNumber;
+const int PointCloudXYZRGB_PointXYZRGB::kRgbFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZRGB_PointXYZRGB::InitAsDefaultInstance() {
+}
+
+PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  rgb_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZRGB_PointXYZRGB::~PointCloudXYZRGB_PointXYZRGB() {
+  SharedDtor();
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZRGB_PointXYZRGB_descriptor_;
+}
+
+const PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB_PointXYZRGB::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::default_instance_ = NULL;
+
+PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::New() const {
+  return new PointCloudXYZRGB_PointXYZRGB;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    rgb_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZRGB_PointXYZRGB::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required float x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(21)) goto parse_y;
+        break;
+      }
+      
+      // required float y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(29)) goto parse_z;
+        break;
+      }
+      
+      // required float z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(37)) goto parse_rgb;
+        break;
+      }
+      
+      // required float rgb = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_rgb:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &rgb_)));
+          set_has_rgb();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required float x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
+  }
+  
+  // required float rgb = 4;
+  if (has_rgb()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->rgb(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required float x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
+  }
+  
+  // required float y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
+  }
+  
+  // required float z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
+  }
+  
+  // required float rgb = 4;
+  if (has_rgb()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->rgb(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZRGB_PointXYZRGB::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required float x = 1;
+    if (has_x()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float y = 2;
+    if (has_y()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float z = 3;
+    if (has_z()) {
+      total_size += 1 + 4;
+    }
+    
+    // required float rgb = 4;
+    if (has_rgb()) {
+      total_size += 1 + 4;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZRGB_PointXYZRGB* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB_PointXYZRGB*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_rgb()) {
+      set_rgb(from.rgb());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZRGB_PointXYZRGB::IsInitialized() const {
+  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
+  
+  return true;
+}
+
+void PointCloudXYZRGB_PointXYZRGB::Swap(PointCloudXYZRGB_PointXYZRGB* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(rgb_, other->rgb_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZRGB_PointXYZRGB::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZRGB_PointXYZRGB_descriptor_;
+  metadata.reflection = PointCloudXYZRGB_PointXYZRGB_reflection_;
+  return metadata;
+}
+
+
+// -------------------------------------------------------------------
+
+#ifndef _MSC_VER
+const int PointCloudXYZRGB::kHeaderFieldNumber;
+const int PointCloudXYZRGB::kPointsFieldNumber;
+#endif  // !_MSC_VER
+
+PointCloudXYZRGB::PointCloudXYZRGB()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void PointCloudXYZRGB::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+PointCloudXYZRGB::PointCloudXYZRGB(const PointCloudXYZRGB& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+PointCloudXYZRGB::~PointCloudXYZRGB() {
+  SharedDtor();
+}
+
+void PointCloudXYZRGB::SharedDtor() {
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void PointCloudXYZRGB::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* PointCloudXYZRGB::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return PointCloudXYZRGB_descriptor_;
+}
+
+const PointCloudXYZRGB& PointCloudXYZRGB::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+PointCloudXYZRGB* PointCloudXYZRGB::default_instance_ = NULL;
+
+PointCloudXYZRGB* PointCloudXYZRGB::New() const {
+  return new PointCloudXYZRGB;
+}
+
+void PointCloudXYZRGB::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+  }
+  points_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool PointCloudXYZRGB::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        break;
+      }
+      
+      // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_points:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+                input, add_points()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(18)) goto parse_points;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void PointCloudXYZRGB::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      2, this->points(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* PointCloudXYZRGB::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  for (int i = 0; i < this->points_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        2, this->points(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int PointCloudXYZRGB::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+  }
+  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
+  total_size += 1 * this->points_size();
+  for (int i = 0; i < this->points_size(); i++) {
+    total_size +=
+      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+        this->points(i));
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void PointCloudXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const PointCloudXYZRGB* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void PointCloudXYZRGB::MergeFrom(const PointCloudXYZRGB& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  points_.MergeFrom(from.points_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void PointCloudXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void PointCloudXYZRGB::CopyFrom(const PointCloudXYZRGB& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool PointCloudXYZRGB::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  for (int i = 0; i < points_size(); i++) {
+    if (!this->points(i).IsInitialized()) return false;
+  }
+  return true;
+}
+
+void PointCloudXYZRGB::Swap(PointCloudXYZRGB* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    points_.Swap(&other->points_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata PointCloudXYZRGB::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = PointCloudXYZRGB_descriptor_;
+  metadata.reflection = PointCloudXYZRGB_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int RGBDImage::kHeaderFieldNumber;
+const int RGBDImage::kColsFieldNumber;
+const int RGBDImage::kRowsFieldNumber;
+const int RGBDImage::kStep1FieldNumber;
+const int RGBDImage::kType1FieldNumber;
+const int RGBDImage::kImageData1FieldNumber;
+const int RGBDImage::kStep2FieldNumber;
+const int RGBDImage::kType2FieldNumber;
+const int RGBDImage::kImageData2FieldNumber;
+const int RGBDImage::kCameraConfigFieldNumber;
+const int RGBDImage::kCameraTypeFieldNumber;
+const int RGBDImage::kRollFieldNumber;
+const int RGBDImage::kPitchFieldNumber;
+const int RGBDImage::kYawFieldNumber;
+const int RGBDImage::kLonFieldNumber;
+const int RGBDImage::kLatFieldNumber;
+const int RGBDImage::kAltFieldNumber;
+const int RGBDImage::kGroundXFieldNumber;
+const int RGBDImage::kGroundYFieldNumber;
+const int RGBDImage::kGroundZFieldNumber;
+const int RGBDImage::kCameraMatrixFieldNumber;
+#endif  // !_MSC_VER
+
+RGBDImage::RGBDImage()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void RGBDImage::InitAsDefaultInstance() {
+  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
+}
+
+RGBDImage::RGBDImage(const RGBDImage& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void RGBDImage::SharedCtor() {
+  _cached_size_ = 0;
+  header_ = NULL;
+  cols_ = 0u;
+  rows_ = 0u;
+  step1_ = 0u;
+  type1_ = 0u;
+  imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  step2_ = 0u;
+  type2_ = 0u;
+  imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
+  camera_config_ = 0u;
+  camera_type_ = 0u;
+  roll_ = 0;
+  pitch_ = 0;
+  yaw_ = 0;
+  lon_ = 0;
+  lat_ = 0;
+  alt_ = 0;
+  ground_x_ = 0;
+  ground_y_ = 0;
+  ground_z_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+RGBDImage::~RGBDImage() {
+  SharedDtor();
+}
+
+void RGBDImage::SharedDtor() {
+  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
+    delete imagedata1_;
+  }
+  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
+    delete imagedata2_;
+  }
+  if (this != default_instance_) {
+    delete header_;
+  }
+}
+
+void RGBDImage::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* RGBDImage::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return RGBDImage_descriptor_;
+}
+
+const RGBDImage& RGBDImage::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+RGBDImage* RGBDImage::default_instance_ = NULL;
+
+RGBDImage* RGBDImage::New() const {
+  return new RGBDImage;
+}
+
+void RGBDImage::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (has_header()) {
+      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
+    }
+    cols_ = 0u;
+    rows_ = 0u;
+    step1_ = 0u;
+    type1_ = 0u;
+    if (has_imagedata1()) {
+      if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
+        imagedata1_->clear();
+      }
+    }
+    step2_ = 0u;
+    type2_ = 0u;
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (has_imagedata2()) {
+      if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
+        imagedata2_->clear();
+      }
+    }
+    camera_config_ = 0u;
+    camera_type_ = 0u;
+    roll_ = 0;
+    pitch_ = 0;
+    yaw_ = 0;
+    lon_ = 0;
+    lat_ = 0;
+  }
+  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    alt_ = 0;
+    ground_x_ = 0;
+    ground_y_ = 0;
+    ground_z_ = 0;
+  }
+  camera_matrix_.Clear();
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool RGBDImage::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required .px.HeaderInfo header = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
+               input, mutable_header()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(16)) goto parse_cols;
+        break;
+      }
+      
+      // required uint32 cols = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_cols:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &cols_)));
+          set_has_cols();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(24)) goto parse_rows;
+        break;
+      }
+      
+      // required uint32 rows = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_rows:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &rows_)));
+          set_has_rows();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(32)) goto parse_step1;
+        break;
+      }
+      
+      // required uint32 step1 = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_step1:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &step1_)));
+          set_has_step1();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(40)) goto parse_type1;
+        break;
+      }
+      
+      // required uint32 type1 = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type1:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &type1_)));
+          set_has_type1();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(50)) goto parse_imageData1;
+        break;
+      }
+      
+      // required bytes imageData1 = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_imageData1:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_imagedata1()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(56)) goto parse_step2;
+        break;
+      }
+      
+      // required uint32 step2 = 7;
+      case 7: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_step2:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &step2_)));
+          set_has_step2();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(64)) goto parse_type2;
+        break;
+      }
+      
+      // required uint32 type2 = 8;
+      case 8: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_type2:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &type2_)));
+          set_has_type2();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(74)) goto parse_imageData2;
+        break;
+      }
+      
+      // required bytes imageData2 = 9;
+      case 9: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
+         parse_imageData2:
+          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
+                input, this->mutable_imagedata2()));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(80)) goto parse_camera_config;
+        break;
+      }
+      
+      // optional uint32 camera_config = 10;
+      case 10: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_camera_config:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &camera_config_)));
+          set_has_camera_config();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(88)) goto parse_camera_type;
+        break;
+      }
+      
+      // optional uint32 camera_type = 11;
+      case 11: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
+         parse_camera_type:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
+                 input, &camera_type_)));
+          set_has_camera_type();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(101)) goto parse_roll;
+        break;
+      }
+      
+      // optional float roll = 12;
+      case 12: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_roll:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &roll_)));
+          set_has_roll();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(109)) goto parse_pitch;
+        break;
+      }
+      
+      // optional float pitch = 13;
+      case 13: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_pitch:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &pitch_)));
+          set_has_pitch();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(117)) goto parse_yaw;
+        break;
+      }
+      
+      // optional float yaw = 14;
+      case 14: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_yaw:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &yaw_)));
+          set_has_yaw();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(125)) goto parse_lon;
+        break;
+      }
+      
+      // optional float lon = 15;
+      case 15: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_lon:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &lon_)));
+          set_has_lon();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(133)) goto parse_lat;
+        break;
+      }
+      
+      // optional float lat = 16;
+      case 16: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_lat:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &lat_)));
+          set_has_lat();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(141)) goto parse_alt;
+        break;
+      }
+      
+      // optional float alt = 17;
+      case 17: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_alt:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &alt_)));
+          set_has_alt();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(149)) goto parse_ground_x;
+        break;
+      }
+      
+      // optional float ground_x = 18;
+      case 18: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_x:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_x_)));
+          set_has_ground_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(157)) goto parse_ground_y;
+        break;
+      }
+      
+      // optional float ground_y = 19;
+      case 19: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_y_)));
+          set_has_ground_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(165)) goto parse_ground_z;
+        break;
+      }
+      
+      // optional float ground_z = 20;
+      case 20: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_ground_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, &ground_z_)));
+          set_has_ground_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(173)) goto parse_camera_matrix;
+        break;
+      }
+      
+      // repeated float camera_matrix = 21;
+      case 21: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
+         parse_camera_matrix:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitive<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 2, 173, input, this->mutable_camera_matrix())));
+        } else if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag)
+                   == ::google::protobuf::internal::WireFormatLite::
+                      WIRETYPE_LENGTH_DELIMITED) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitiveNoInline<
+                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
+                 input, this->mutable_camera_matrix())));
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(173)) goto parse_camera_matrix;
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void RGBDImage::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
+      1, this->header(), output);
+  }
+  
+  // required uint32 cols = 2;
+  if (has_cols()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->cols(), output);
+  }
+  
+  // required uint32 rows = 3;
+  if (has_rows()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->rows(), output);
+  }
+  
+  // required uint32 step1 = 4;
+  if (has_step1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->step1(), output);
+  }
+  
+  // required uint32 type1 = 5;
+  if (has_type1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(5, this->type1(), output);
+  }
+  
+  // required bytes imageData1 = 6;
+  if (has_imagedata1()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      6, this->imagedata1(), output);
+  }
+  
+  // required uint32 step2 = 7;
+  if (has_step2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->step2(), output);
+  }
+  
+  // required uint32 type2 = 8;
+  if (has_type2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(8, this->type2(), output);
+  }
+  
+  // required bytes imageData2 = 9;
+  if (has_imagedata2()) {
+    ::google::protobuf::internal::WireFormatLite::WriteBytes(
+      9, this->imagedata2(), output);
+  }
+  
+  // optional uint32 camera_config = 10;
+  if (has_camera_config()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(10, this->camera_config(), output);
+  }
+  
+  // optional uint32 camera_type = 11;
+  if (has_camera_type()) {
+    ::google::protobuf::internal::WireFormatLite::WriteUInt32(11, this->camera_type(), output);
+  }
+  
+  // optional float roll = 12;
+  if (has_roll()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->roll(), output);
+  }
+  
+  // optional float pitch = 13;
+  if (has_pitch()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(13, this->pitch(), output);
+  }
+  
+  // optional float yaw = 14;
+  if (has_yaw()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(14, this->yaw(), output);
+  }
+  
+  // optional float lon = 15;
+  if (has_lon()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(15, this->lon(), output);
+  }
+  
+  // optional float lat = 16;
+  if (has_lat()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(16, this->lat(), output);
+  }
+  
+  // optional float alt = 17;
+  if (has_alt()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(17, this->alt(), output);
+  }
+  
+  // optional float ground_x = 18;
+  if (has_ground_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(18, this->ground_x(), output);
+  }
+  
+  // optional float ground_y = 19;
+  if (has_ground_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(19, this->ground_y(), output);
+  }
+  
+  // optional float ground_z = 20;
+  if (has_ground_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(20, this->ground_z(), output);
+  }
+  
+  // repeated float camera_matrix = 21;
+  for (int i = 0; i < this->camera_matrix_size(); i++) {
+    ::google::protobuf::internal::WireFormatLite::WriteFloat(
+      21, this->camera_matrix(i), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* RGBDImage::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required .px.HeaderInfo header = 1;
+  if (has_header()) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteMessageNoVirtualToArray(
+        1, this->header(), target);
+  }
+  
+  // required uint32 cols = 2;
+  if (has_cols()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->cols(), target);
+  }
+  
+  // required uint32 rows = 3;
+  if (has_rows()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->rows(), target);
+  }
+  
+  // required uint32 step1 = 4;
+  if (has_step1()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->step1(), target);
+  }
+  
+  // required uint32 type1 = 5;
+  if (has_type1()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(5, this->type1(), target);
+  }
+  
+  // required bytes imageData1 = 6;
+  if (has_imagedata1()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        6, this->imagedata1(), target);
+  }
+  
+  // required uint32 step2 = 7;
+  if (has_step2()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->step2(), target);
+  }
+  
+  // required uint32 type2 = 8;
+  if (has_type2()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(8, this->type2(), target);
+  }
+  
+  // required bytes imageData2 = 9;
+  if (has_imagedata2()) {
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
+        9, this->imagedata2(), target);
+  }
+  
+  // optional uint32 camera_config = 10;
+  if (has_camera_config()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(10, this->camera_config(), target);
+  }
+  
+  // optional uint32 camera_type = 11;
+  if (has_camera_type()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(11, this->camera_type(), target);
+  }
+  
+  // optional float roll = 12;
+  if (has_roll()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->roll(), target);
+  }
+  
+  // optional float pitch = 13;
+  if (has_pitch()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(13, this->pitch(), target);
+  }
+  
+  // optional float yaw = 14;
+  if (has_yaw()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(14, this->yaw(), target);
+  }
+  
+  // optional float lon = 15;
+  if (has_lon()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(15, this->lon(), target);
+  }
+  
+  // optional float lat = 16;
+  if (has_lat()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(16, this->lat(), target);
+  }
+  
+  // optional float alt = 17;
+  if (has_alt()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(17, this->alt(), target);
+  }
+  
+  // optional float ground_x = 18;
+  if (has_ground_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(18, this->ground_x(), target);
+  }
+  
+  // optional float ground_y = 19;
+  if (has_ground_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(19, this->ground_y(), target);
+  }
+  
+  // optional float ground_z = 20;
+  if (has_ground_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(20, this->ground_z(), target);
+  }
+  
+  // repeated float camera_matrix = 21;
+  for (int i = 0; i < this->camera_matrix_size(); i++) {
+    target = ::google::protobuf::internal::WireFormatLite::
+      WriteFloatToArray(21, this->camera_matrix(i), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int RGBDImage::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required .px.HeaderInfo header = 1;
+    if (has_header()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
+          this->header());
+    }
+    
+    // required uint32 cols = 2;
+    if (has_cols()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->cols());
+    }
+    
+    // required uint32 rows = 3;
+    if (has_rows()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->rows());
+    }
+    
+    // required uint32 step1 = 4;
+    if (has_step1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->step1());
+    }
+    
+    // required uint32 type1 = 5;
+    if (has_type1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->type1());
+    }
+    
+    // required bytes imageData1 = 6;
+    if (has_imagedata1()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->imagedata1());
+    }
+    
+    // required uint32 step2 = 7;
+    if (has_step2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->step2());
+    }
+    
+    // required uint32 type2 = 8;
+    if (has_type2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->type2());
+    }
+    
+  }
+  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    // required bytes imageData2 = 9;
+    if (has_imagedata2()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::BytesSize(
+          this->imagedata2());
+    }
+    
+    // optional uint32 camera_config = 10;
+    if (has_camera_config()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->camera_config());
+    }
+    
+    // optional uint32 camera_type = 11;
+    if (has_camera_type()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::UInt32Size(
+          this->camera_type());
+    }
+    
+    // optional float roll = 12;
+    if (has_roll()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float pitch = 13;
+    if (has_pitch()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float yaw = 14;
+    if (has_yaw()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float lon = 15;
+    if (has_lon()) {
+      total_size += 1 + 4;
+    }
+    
+    // optional float lat = 16;
+    if (has_lat()) {
+      total_size += 2 + 4;
+    }
+    
+  }
+  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    // optional float alt = 17;
+    if (has_alt()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_x = 18;
+    if (has_ground_x()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_y = 19;
+    if (has_ground_y()) {
+      total_size += 2 + 4;
+    }
+    
+    // optional float ground_z = 20;
+    if (has_ground_z()) {
+      total_size += 2 + 4;
+    }
+    
+  }
+  // repeated float camera_matrix = 21;
+  {
+    int data_size = 0;
+    data_size = 4 * this->camera_matrix_size();
+    total_size += 2 * this->camera_matrix_size() + data_size;
+  }
+  
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void RGBDImage::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const RGBDImage* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const RGBDImage*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void RGBDImage::MergeFrom(const RGBDImage& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  camera_matrix_.MergeFrom(from.camera_matrix_);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_header()) {
+      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
+    }
+    if (from.has_cols()) {
+      set_cols(from.cols());
+    }
+    if (from.has_rows()) {
+      set_rows(from.rows());
+    }
+    if (from.has_step1()) {
+      set_step1(from.step1());
+    }
+    if (from.has_type1()) {
+      set_type1(from.type1());
+    }
+    if (from.has_imagedata1()) {
+      set_imagedata1(from.imagedata1());
+    }
+    if (from.has_step2()) {
+      set_step2(from.step2());
+    }
+    if (from.has_type2()) {
+      set_type2(from.type2());
+    }
+  }
+  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
+    if (from.has_imagedata2()) {
+      set_imagedata2(from.imagedata2());
+    }
+    if (from.has_camera_config()) {
+      set_camera_config(from.camera_config());
+    }
+    if (from.has_camera_type()) {
+      set_camera_type(from.camera_type());
+    }
+    if (from.has_roll()) {
+      set_roll(from.roll());
+    }
+    if (from.has_pitch()) {
+      set_pitch(from.pitch());
+    }
+    if (from.has_yaw()) {
+      set_yaw(from.yaw());
+    }
+    if (from.has_lon()) {
+      set_lon(from.lon());
+    }
+    if (from.has_lat()) {
+      set_lat(from.lat());
+    }
+  }
+  if (from._has_bits_[16 / 32] & (0xffu << (16 % 32))) {
+    if (from.has_alt()) {
+      set_alt(from.alt());
+    }
+    if (from.has_ground_x()) {
+      set_ground_x(from.ground_x());
+    }
+    if (from.has_ground_y()) {
+      set_ground_y(from.ground_y());
+    }
+    if (from.has_ground_z()) {
+      set_ground_z(from.ground_z());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void RGBDImage::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void RGBDImage::CopyFrom(const RGBDImage& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool RGBDImage::IsInitialized() const {
+  if ((_has_bits_[0] & 0x000001ff) != 0x000001ff) return false;
+  
+  if (has_header()) {
+    if (!this->header().IsInitialized()) return false;
+  }
+  return true;
+}
+
+void RGBDImage::Swap(RGBDImage* other) {
+  if (other != this) {
+    std::swap(header_, other->header_);
+    std::swap(cols_, other->cols_);
+    std::swap(rows_, other->rows_);
+    std::swap(step1_, other->step1_);
+    std::swap(type1_, other->type1_);
+    std::swap(imagedata1_, other->imagedata1_);
+    std::swap(step2_, other->step2_);
+    std::swap(type2_, other->type2_);
+    std::swap(imagedata2_, other->imagedata2_);
+    std::swap(camera_config_, other->camera_config_);
+    std::swap(camera_type_, other->camera_type_);
+    std::swap(roll_, other->roll_);
+    std::swap(pitch_, other->pitch_);
+    std::swap(yaw_, other->yaw_);
+    std::swap(lon_, other->lon_);
+    std::swap(lat_, other->lat_);
+    std::swap(alt_, other->alt_);
+    std::swap(ground_x_, other->ground_x_);
+    std::swap(ground_y_, other->ground_y_);
+    std::swap(ground_z_, other->ground_z_);
+    camera_matrix_.Swap(&other->camera_matrix_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata RGBDImage::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = RGBDImage_descriptor_;
+  metadata.reflection = RGBDImage_reflection_;
+  return metadata;
+}
+
+
+// ===================================================================
+
+#ifndef _MSC_VER
+const int Waypoint::kXFieldNumber;
+const int Waypoint::kYFieldNumber;
+const int Waypoint::kZFieldNumber;
+const int Waypoint::kRollFieldNumber;
+const int Waypoint::kPitchFieldNumber;
+const int Waypoint::kYawFieldNumber;
+#endif  // !_MSC_VER
+
+Waypoint::Waypoint()
+  : ::google::protobuf::Message() {
+  SharedCtor();
+}
+
+void Waypoint::InitAsDefaultInstance() {
+}
+
+Waypoint::Waypoint(const Waypoint& from)
+  : ::google::protobuf::Message() {
+  SharedCtor();
+  MergeFrom(from);
+}
+
+void Waypoint::SharedCtor() {
+  _cached_size_ = 0;
+  x_ = 0;
+  y_ = 0;
+  z_ = 0;
+  roll_ = 0;
+  pitch_ = 0;
+  yaw_ = 0;
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+}
+
+Waypoint::~Waypoint() {
+  SharedDtor();
+}
+
+void Waypoint::SharedDtor() {
+  if (this != default_instance_) {
+  }
+}
+
+void Waypoint::SetCachedSize(int size) const {
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+}
+const ::google::protobuf::Descriptor* Waypoint::descriptor() {
+  protobuf_AssignDescriptorsOnce();
+  return Waypoint_descriptor_;
+}
+
+const Waypoint& Waypoint::default_instance() {
+  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
+}
+
+Waypoint* Waypoint::default_instance_ = NULL;
+
+Waypoint* Waypoint::New() const {
+  return new Waypoint;
+}
+
+void Waypoint::Clear() {
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    x_ = 0;
+    y_ = 0;
+    z_ = 0;
+    roll_ = 0;
+    pitch_ = 0;
+    yaw_ = 0;
+  }
+  ::memset(_has_bits_, 0, sizeof(_has_bits_));
+  mutable_unknown_fields()->Clear();
+}
+
+bool Waypoint::MergePartialFromCodedStream(
+    ::google::protobuf::io::CodedInputStream* input) {
+#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
+  ::google::protobuf::uint32 tag;
+  while ((tag = input->ReadTag()) != 0) {
+    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
+      // required double x = 1;
+      case 1: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &x_)));
+          set_has_x();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(17)) goto parse_y;
+        break;
+      }
+      
+      // required double y = 2;
+      case 2: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_y:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &y_)));
+          set_has_y();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(25)) goto parse_z;
+        break;
+      }
+      
+      // optional double z = 3;
+      case 3: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_z:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &z_)));
+          set_has_z();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(33)) goto parse_roll;
+        break;
+      }
+      
+      // optional double roll = 4;
+      case 4: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_roll:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &roll_)));
+          set_has_roll();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(41)) goto parse_pitch;
+        break;
+      }
+      
+      // optional double pitch = 5;
+      case 5: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_pitch:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &pitch_)));
+          set_has_pitch();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectTag(49)) goto parse_yaw;
+        break;
+      }
+      
+      // optional double yaw = 6;
+      case 6: {
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
+         parse_yaw:
+          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
+                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
+                 input, &yaw_)));
+          set_has_yaw();
+        } else {
+          goto handle_uninterpreted;
+        }
+        if (input->ExpectAtEnd()) return true;
+        break;
+      }
+      
+      default: {
+      handle_uninterpreted:
+        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
+            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
+          return true;
+        }
+        DO_(::google::protobuf::internal::WireFormat::SkipField(
+              input, tag, mutable_unknown_fields()));
+        break;
+      }
+    }
+  }
+  return true;
+#undef DO_
+}
+
+void Waypoint::SerializeWithCachedSizes(
+    ::google::protobuf::io::CodedOutputStream* output) const {
+  // required double x = 1;
+  if (has_x()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output);
+  }
+  
+  // required double y = 2;
+  if (has_y()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output);
+  }
+  
+  // optional double z = 3;
+  if (has_z()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output);
+  }
+  
+  // optional double roll = 4;
+  if (has_roll()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->roll(), output);
+  }
+  
+  // optional double pitch = 5;
+  if (has_pitch()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->pitch(), output);
+  }
+  
+  // optional double yaw = 6;
+  if (has_yaw()) {
+    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->yaw(), output);
+  }
+  
+  if (!unknown_fields().empty()) {
+    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
+        unknown_fields(), output);
+  }
+}
+
+::google::protobuf::uint8* Waypoint::SerializeWithCachedSizesToArray(
+    ::google::protobuf::uint8* target) const {
+  // required double x = 1;
+  if (has_x()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target);
+  }
+  
+  // required double y = 2;
+  if (has_y()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target);
+  }
+  
+  // optional double z = 3;
+  if (has_z()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target);
+  }
+  
+  // optional double roll = 4;
+  if (has_roll()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->roll(), target);
+  }
+  
+  // optional double pitch = 5;
+  if (has_pitch()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->pitch(), target);
+  }
+  
+  // optional double yaw = 6;
+  if (has_yaw()) {
+    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->yaw(), target);
+  }
+  
+  if (!unknown_fields().empty()) {
+    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
+        unknown_fields(), target);
+  }
+  return target;
+}
+
+int Waypoint::ByteSize() const {
+  int total_size = 0;
+  
+  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    // required double x = 1;
+    if (has_x()) {
+      total_size += 1 + 8;
+    }
+    
+    // required double y = 2;
+    if (has_y()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double z = 3;
+    if (has_z()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double roll = 4;
+    if (has_roll()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double pitch = 5;
+    if (has_pitch()) {
+      total_size += 1 + 8;
+    }
+    
+    // optional double yaw = 6;
+    if (has_yaw()) {
+      total_size += 1 + 8;
+    }
+    
+  }
+  if (!unknown_fields().empty()) {
+    total_size +=
+      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
+        unknown_fields());
+  }
+  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
+  _cached_size_ = total_size;
+  GOOGLE_SAFE_CONCURRENT_WRITES_END();
+  return total_size;
+}
+
+void Waypoint::MergeFrom(const ::google::protobuf::Message& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  const Waypoint* source =
+    ::google::protobuf::internal::dynamic_cast_if_available<const Waypoint*>(
+      &from);
+  if (source == NULL) {
+    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
+  } else {
+    MergeFrom(*source);
+  }
+}
+
+void Waypoint::MergeFrom(const Waypoint& from) {
+  GOOGLE_CHECK_NE(&from, this);
+  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
+    if (from.has_x()) {
+      set_x(from.x());
+    }
+    if (from.has_y()) {
+      set_y(from.y());
+    }
+    if (from.has_z()) {
+      set_z(from.z());
+    }
+    if (from.has_roll()) {
+      set_roll(from.roll());
+    }
+    if (from.has_pitch()) {
+      set_pitch(from.pitch());
+    }
+    if (from.has_yaw()) {
+      set_yaw(from.yaw());
+    }
+  }
+  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
+}
+
+void Waypoint::CopyFrom(const ::google::protobuf::Message& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+void Waypoint::CopyFrom(const Waypoint& from) {
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool Waypoint::IsInitialized() const {
+  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
+  
+  return true;
+}
+
+void Waypoint::Swap(Waypoint* other) {
+  if (other != this) {
+    std::swap(x_, other->x_);
+    std::swap(y_, other->y_);
+    std::swap(z_, other->z_);
+    std::swap(roll_, other->roll_);
+    std::swap(pitch_, other->pitch_);
+    std::swap(yaw_, other->yaw_);
+    std::swap(_has_bits_[0], other->_has_bits_[0]);
+    _unknown_fields_.Swap(&other->_unknown_fields_);
+    std::swap(_cached_size_, other->_cached_size_);
+  }
+}
+
+::google::protobuf::Metadata Waypoint::GetMetadata() const {
+  protobuf_AssignDescriptorsOnce();
+  ::google::protobuf::Metadata metadata;
+  metadata.descriptor = Waypoint_descriptor_;
+  metadata.reflection = Waypoint_reflection_;
+  return metadata;
+}
+
+
+// @@protoc_insertion_point(namespace_scope)
+
+}  // namespace px
+
+// @@protoc_insertion_point(global_scope)
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore
new file mode 100644
index 000000000..7c98650cc
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore
@@ -0,0 +1,3 @@
+/testmav0.9
+/testmav1.0
+/testmav1.0_nonstrict
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/Makefile b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/Makefile
new file mode 100644
index 000000000..693150fb7
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/Makefile
@@ -0,0 +1,31 @@
+CFLAGS = -g -Wall -Werror -Os
+TESTPROTOCOL = common
+ALLPROTOCOLS = minimal test common pixhawk ardupilotmega slugs ualberta
+
+all: 
+	for p in ${ALLPROTOCOLS}; do make -f Makefile build TESTPROTOCOL=$$p; done
+
+test:
+	for p in ${ALLPROTOCOLS}; do make -f Makefile testprogs TESTPROTOCOL=$$p || exit 1; done
+
+valgrindtest:
+	for p in ${ALLPROTOCOLS}; do make -f Makefile valgrindprogs TESTPROTOCOL=$$p || exit 1; done
+
+build: testmav0.9_${TESTPROTOCOL} testmav1.0_${TESTPROTOCOL}
+
+testprogs: testmav0.9_${TESTPROTOCOL} testmav1.0_${TESTPROTOCOL}
+	./testmav0.9_${TESTPROTOCOL}
+	./testmav1.0_${TESTPROTOCOL}
+
+valgrindprogs: testmav0.9_${TESTPROTOCOL} testmav1.0_${TESTPROTOCOL}
+	valgrind -q ./testmav0.9_${TESTPROTOCOL}
+	valgrind -q ./testmav1.0_${TESTPROTOCOL}
+
+clean:
+	rm -rf *.o *~ testmav1.0* testmav0.9*
+
+testmav1.0_${TESTPROTOCOL}: testmav.c
+	$(CC) $(CFLAGS) -I../../include_v1.0 -I../../include_v1.0/${TESTPROTOCOL} -o $@ testmav.c
+
+testmav0.9_${TESTPROTOCOL}: testmav.c
+	$(CC) $(CFLAGS) -I../../include_v0.9 -I../../include_v0.9/${TESTPROTOCOL} -o $@ testmav.c
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c
new file mode 100644
index 000000000..2fd7fa378
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c
@@ -0,0 +1,159 @@
+/*
+  simple MAVLink testsuite for C
+ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <assert.h>
+#include <stddef.h>
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+#define MAVLINK_COMM_NUM_BUFFERS 2
+
+// this trick allows us to make mavlink_message_t as small as possible
+// for this dialect, which saves some memory
+#include <version.h>
+#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
+
+#include <mavlink_types.h>
+static mavlink_system_t mavlink_system = {42,11,};
+
+#define MAVLINK_ASSERT(x) assert(x)
+static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
+
+static mavlink_message_t last_msg;
+
+#include <mavlink.h>
+#include <testsuite.h>
+
+static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
+
+static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
+static unsigned error_count;
+
+static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
+
+static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
+{
+#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
+	switch (f->type) {
+	case MAVLINK_TYPE_CHAR:
+		printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
+		break;
+	case MAVLINK_TYPE_UINT8_T:
+		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
+		break;
+	case MAVLINK_TYPE_INT8_T:
+		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
+		break;
+	case MAVLINK_TYPE_UINT16_T:
+		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
+		break;
+	case MAVLINK_TYPE_INT16_T:
+		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
+		break;
+	case MAVLINK_TYPE_UINT32_T:
+		printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
+		break;
+	case MAVLINK_TYPE_INT32_T:
+		printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
+		break;
+	case MAVLINK_TYPE_UINT64_T:
+		printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
+		break;
+	case MAVLINK_TYPE_INT64_T:
+		printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
+		break;
+	case MAVLINK_TYPE_FLOAT:
+		printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
+		break;
+	case MAVLINK_TYPE_DOUBLE:
+		printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
+		break;
+	}
+}
+
+static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
+{
+	printf("%s: ", f->name);
+	if (f->array_length == 0) {
+		print_one_field(msg, f, 0);
+		printf(" ");
+	} else {
+		unsigned i;
+		/* print an array */
+		if (f->type == MAVLINK_TYPE_CHAR) {
+			printf("'%.*s'", f->array_length,
+			       f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
+			
+		} else {
+			printf("[ ");
+			for (i=0; i<f->array_length; i++) {
+				print_one_field(msg, f, i);
+				if (i < f->array_length) {
+					printf(", ");
+				}
+			}
+			printf("]");
+		}
+	}
+	printf(" ");
+}
+
+static void print_message(mavlink_message_t *msg)
+{
+	const mavlink_message_info_t *m = &message_info[msg->msgid];
+	const mavlink_field_info_t *f = m->fields;
+	unsigned i;
+	printf("%s { ", m->name);
+	for (i=0; i<m->num_fields; i++) {
+		print_field(msg, &f[i]);
+	}
+	printf("}\n");
+}
+
+static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
+{
+	mavlink_status_t status;
+	if (mavlink_parse_char(chan, c, &last_msg, &status)) {
+		print_message(&last_msg);
+		chan_counts[chan]++;
+		/* channel 0 gets 3 messages per message, because of
+		   the channel defaults for _pack() and _encode() */
+		if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
+			printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n", 
+			       chan_counts[chan], status.current_rx_seq);
+			error_count++;
+		} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
+			printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n", 
+			       (unsigned)chan, chan_counts[chan], status.current_rx_seq);
+			error_count++;
+		}
+		if (message_lengths[last_msg.msgid] != last_msg.len) {
+			printf("Incorrect message length %u for message %u - expected %u\n", 
+			       (unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
+			error_count++;
+		}
+	}
+	if (status.packet_rx_drop_count != 0) {
+		printf("Parse error at packet %u\n", chan_counts[chan]);
+		error_count++;
+	}
+}
+
+int main(void)
+{
+	mavlink_channel_t chan;
+	mavlink_test_all(11, 10, &last_msg);
+	for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
+		printf("Received %u messages on channel %u OK\n", 
+		       chan_counts[chan], (unsigned)chan);
+	}
+	if (error_count != 0) {
+		printf("Error count %u\n", error_count);
+		exit(1);
+	}
+	printf("No errors detected\n");
+	return 0;
+}
+
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp
new file mode 100644
index 000000000..98b4abf05
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp
@@ -0,0 +1,8 @@
+// stdafx.cpp : source file that includes just the standard includes

+// testmav.pch will be the pre-compiled header

+// stdafx.obj will contain the pre-compiled type information

+

+#include "stdafx.h"

+

+// TODO: reference any additional headers you need in STDAFX.H

+// and not in this file

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h
new file mode 100644
index 000000000..47a0d0252
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h
@@ -0,0 +1,15 @@
+// stdafx.h : include file for standard system include files,

+// or project specific include files that are used frequently, but

+// are changed infrequently

+//

+

+#pragma once

+

+#include "targetver.h"

+

+#include <stdio.h>

+#include <tchar.h>

+

+

+

+// TODO: reference additional headers your program requires here

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h
new file mode 100644
index 000000000..90e767bfc
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h
@@ -0,0 +1,8 @@
+#pragma once

+

+// Including SDKDDKVer.h defines the highest available Windows platform.

+

+// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and

+// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.

+

+#include <SDKDDKVer.h>

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp
new file mode 100644
index 000000000..aa83caced
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp
@@ -0,0 +1,154 @@
+// testmav.cpp : Defines the entry point for the console application.

+//

+

+#include "stdafx.h"

+#include "stdio.h"

+#include "stdint.h"

+#include "stddef.h"

+#include "assert.h"

+

+

+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS

+#define MAVLINK_COMM_NUM_BUFFERS 2

+

+#include <mavlink_types.h>

+static mavlink_system_t mavlink_system = {42,11,};

+

+#define MAVLINK_ASSERT(x) assert(x)

+static void comm_send_ch(mavlink_channel_t chan, uint8_t c);

+

+static mavlink_message_t last_msg;

+

+#include <common/mavlink.h>

+#include <common/testsuite.h>

+

+static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];

+

+static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;

+static unsigned error_count;

+

+static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;

+

+static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)

+{

+#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)

+	switch (f->type) {

+	case MAVLINK_TYPE_CHAR:

+		printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));

+		break;

+	case MAVLINK_TYPE_UINT8_T:

+		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));

+		break;

+	case MAVLINK_TYPE_INT8_T:

+		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));

+		break;

+	case MAVLINK_TYPE_UINT16_T:

+		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));

+		break;

+	case MAVLINK_TYPE_INT16_T:

+		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));

+		break;

+	case MAVLINK_TYPE_UINT32_T:

+		printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));

+		break;

+	case MAVLINK_TYPE_INT32_T:

+		printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));

+		break;

+	case MAVLINK_TYPE_UINT64_T:

+		printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));

+		break;

+	case MAVLINK_TYPE_INT64_T:

+		printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));

+		break;

+	case MAVLINK_TYPE_FLOAT:

+		printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));

+		break;

+	case MAVLINK_TYPE_DOUBLE:

+		printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));

+		break;

+	}

+}

+

+static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)

+{

+	printf("%s: ", f->name);

+	if (f->array_length == 0) {

+		print_one_field(msg, f, 0);

+		printf(" ");

+	} else {

+		unsigned i;

+		/* print an array */

+		if (f->type == MAVLINK_TYPE_CHAR) {

+			printf("'%.*s'", f->array_length,

+			       f->wire_offset+(const char *)_MAV_PAYLOAD(msg));

+			

+		} else {

+			printf("[ ");

+			for (i=0; i<f->array_length; i++) {

+				print_one_field(msg, f, i);

+				if (i < f->array_length) {

+					printf(", ");

+				}

+			}

+			printf("]");

+		}

+	}

+	printf(" ");

+}

+

+static void print_message(mavlink_message_t *msg)

+{

+	const mavlink_message_info_t *m = &message_info[msg->msgid];

+	const mavlink_field_info_t *f = m->fields;

+	unsigned i;

+	printf("%s { ", m->name);

+	for (i=0; i<m->num_fields; i++) {

+		print_field(msg, &f[i]);

+	}

+	printf("}\n");

+}

+

+static void comm_send_ch(mavlink_channel_t chan, uint8_t c)

+{

+	mavlink_status_t status;

+	if (mavlink_parse_char(chan, c, &last_msg, &status)) {

+		print_message(&last_msg);

+		chan_counts[chan]++;

+		/* channel 0 gets 3 messages per message, because of

+		   the channel defaults for _pack() and _encode() */

+		if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {

+			printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n", 

+			       chan_counts[chan], status.current_rx_seq);

+			error_count++;

+		} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {

+			printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n", 

+			       (unsigned)chan, chan_counts[chan], status.current_rx_seq);

+			error_count++;

+		}

+		if (message_lengths[last_msg.msgid] != last_msg.len) {

+			printf("Incorrect message length %u for message %u - expected %u\n", 

+			       (unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);

+			error_count++;

+		}

+	}

+	if (status.packet_rx_drop_count != 0) {

+		printf("Parse error at packet %u\n", chan_counts[chan]);

+		error_count++;

+	}

+}

+	

+int _tmain(int argc, _TCHAR* argv[])

+{

+	int chan;

+	mavlink_test_all(11, 10, &last_msg);

+	for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {

+		printf("Received %u messages on channel %u OK\n", 

+		       chan_counts[chan], (unsigned)chan);

+	}

+	if (error_count != 0) {

+		printf("Error count %u\n", error_count);

+		return(1);

+	}

+	printf("No errors detected\n");

+	return 0;

+}

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.sln b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.sln
new file mode 100644
index 000000000..37a305697
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.sln
@@ -0,0 +1,20 @@
+

+Microsoft Visual Studio Solution File, Format Version 11.00

+# Visual C++ Express 2010

+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "testmav", "testmav\testmav.vcxproj", "{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}"

+EndProject

+Global

+	GlobalSection(SolutionConfigurationPlatforms) = preSolution

+		Debug|Win32 = Debug|Win32

+		Release|Win32 = Release|Win32

+	EndGlobalSection

+	GlobalSection(ProjectConfigurationPlatforms) = postSolution

+		{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}.Debug|Win32.ActiveCfg = Debug|Win32

+		{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}.Debug|Win32.Build.0 = Debug|Win32

+		{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}.Release|Win32.ActiveCfg = Release|Win32

+		{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}.Release|Win32.Build.0 = Release|Win32

+	EndGlobalSection

+	GlobalSection(SolutionProperties) = preSolution

+		HideSolutionNode = FALSE

+	EndGlobalSection

+EndGlobal

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.suo b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.suo
new file mode 100644
index 000000000..9b2e18cff
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.suo
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.vcxproj b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.vcxproj
new file mode 100644
index 000000000..7181b3a41
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.vcxproj
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>

+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">

+  <ItemGroup Label="ProjectConfigurations">

+    <ProjectConfiguration Include="Debug|Win32">

+      <Configuration>Debug</Configuration>

+      <Platform>Win32</Platform>

+    </ProjectConfiguration>

+    <ProjectConfiguration Include="Release|Win32">

+      <Configuration>Release</Configuration>

+      <Platform>Win32</Platform>

+    </ProjectConfiguration>

+  </ItemGroup>

+  <PropertyGroup Label="Globals">

+    <ProjectGuid>{02C30EBC-DF41-4C36-B2F3-79BED7E6EF9F}</ProjectGuid>

+    <Keyword>Win32Proj</Keyword>

+    <RootNamespace>testmav</RootNamespace>

+  </PropertyGroup>

+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />

+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">

+    <ConfigurationType>Application</ConfigurationType>

+    <UseDebugLibraries>true</UseDebugLibraries>

+    <CharacterSet>Unicode</CharacterSet>

+  </PropertyGroup>

+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">

+    <ConfigurationType>Application</ConfigurationType>

+    <UseDebugLibraries>false</UseDebugLibraries>

+    <WholeProgramOptimization>true</WholeProgramOptimization>

+    <CharacterSet>Unicode</CharacterSet>

+  </PropertyGroup>

+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />

+  <ImportGroup Label="ExtensionSettings">

+  </ImportGroup>

+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">

+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />

+  </ImportGroup>

+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">

+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />

+  </ImportGroup>

+  <PropertyGroup Label="UserMacros" />

+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">

+    <LinkIncremental>true</LinkIncremental>

+  </PropertyGroup>

+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">

+    <LinkIncremental>false</LinkIncremental>

+  </PropertyGroup>

+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">

+    <ClCompile>

+      <PrecompiledHeader>

+      </PrecompiledHeader>

+      <WarningLevel>Level3</WarningLevel>

+      <Optimization>Disabled</Optimization>

+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>

+      <AdditionalIncludeDirectories>E:\pymavlink\generator\C\include_v1.0</AdditionalIncludeDirectories>

+    </ClCompile>

+    <Link>

+      <SubSystem>Console</SubSystem>

+      <GenerateDebugInformation>true</GenerateDebugInformation>

+    </Link>

+  </ItemDefinitionGroup>

+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">

+    <ClCompile>

+      <WarningLevel>Level3</WarningLevel>

+      <PrecompiledHeader>

+      </PrecompiledHeader>

+      <Optimization>MaxSpeed</Optimization>

+      <FunctionLevelLinking>true</FunctionLevelLinking>

+      <IntrinsicFunctions>true</IntrinsicFunctions>

+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>

+    </ClCompile>

+    <Link>

+      <SubSystem>Console</SubSystem>

+      <GenerateDebugInformation>true</GenerateDebugInformation>

+      <EnableCOMDATFolding>true</EnableCOMDATFolding>

+      <OptimizeReferences>true</OptimizeReferences>

+    </Link>

+  </ItemDefinitionGroup>

+  <ItemGroup>

+    <None Include="ReadMe.txt" />

+  </ItemGroup>

+  <ItemGroup>

+    <ClInclude Include="stdafx.h" />

+    <ClInclude Include="targetver.h" />

+  </ItemGroup>

+  <ItemGroup>

+    <ClCompile Include="stdafx.cpp" />

+    <ClCompile Include="testmav.cpp" />

+  </ItemGroup>

+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />

+  <ImportGroup Label="ExtensionTargets">

+  </ImportGroup>

+</Project>
\ No newline at end of file
diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py b/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py
new file mode 100644
index 000000000..165c1b343
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+'''
+Use mavgen.py matrixpilot.xml definitions to generate
+C and Python MAVLink routines for sending and parsing the protocol
+This python script is soley for MatrixPilot MAVLink impoementation
+
+Copyright Pete Hollands 2011
+Released under GNU GPL version 3 or later
+'''
+
+import os, sys, glob, re
+from shutil import copy
+from mavgen import mavgen
+
+# allow import from the parent directory, where mavutil.py is
+# Under Windows, this script must be run from a DOS command window
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+class options:
+    """ a class to simulate the options of mavgen OptionsParser"""
+    def __init__(self, lang, output, wire_protocol):
+        self.language = lang
+        self.wire_protocol = wire_protocol
+        self.output = output
+
+def remove_include_files(target_directory):
+    search_pattern = target_directory+'/*.h'
+    print "search pattern is", search_pattern
+    files_to_remove = glob.glob(search_pattern)
+    for afile in files_to_remove :
+        try:
+            print "removing", afile
+            os.remove(afile)
+        except:
+            print "error while trying to remove", afile
+
+def copy_include_files(source_directory,target_directory):
+    search_pattern = source_directory+'/*.h'
+    files_to_copy = glob.glob(search_pattern)
+    for afile in files_to_copy:
+        basename = os.path.basename(afile)
+        print "Copying ...", basename
+        copy(afile, target_directory)
+
+protocol = "1.0"
+
+xml_directory = './message_definitions/v'+protocol
+print "xml_directory is", xml_directory
+xml_file_names = []
+xml_file_names.append(xml_directory+"/"+"matrixpilot.xml")
+
+for xml_file in xml_file_names:
+    print "xml file is ", xml_file
+    opts = options(lang = "C", output = "C/include_v"+protocol, \
+                   wire_protocol=protocol)
+    args = []
+    args.append(xml_file)
+    mavgen(opts, args)
+    xml_file_base = os.path.basename(xml_file)
+    xml_file_base = re.sub("\.xml","", xml_file_base)
+    print "xml_file_base is", xml_file_base
+    opts = options(lang = "python", \
+                   output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
+                   wire_protocol=protocol)
+    mavgen(opts,args)
+
+mavlink_directory_list = ["common","matrixpilot"]
+for mavlink_directory in mavlink_directory_list :
+    # Look specifically for MatrixPilot directory structure
+    target_directory = "../../../../MAVLink/include/"+mavlink_directory
+    source_directory = "C/include_v"+protocol+"/"+mavlink_directory
+    if os.access(source_directory, os.R_OK):
+        if os.access(target_directory, os.W_OK):
+            print "Preparing to copy over files..."
+            print "About to remove all files in",target_directory
+            print "OK to continue ?[Yes / No]: ",
+            line = sys.stdin.readline()
+            if line == "Yes\n" or line == "yes\n" \
+               or line == "Y\n" or line == "y\n":
+                print "passed"
+                remove_include_files(target_directory)
+                copy_include_files(source_directory,target_directory)
+                print "Finished copying over include files"
+            else :
+                print "Your answer is No. Exiting Program"
+                sys.exit()
+        else :
+           print "Cannot find " + target_directory + "in MatrixPilot"
+           sys.exit()
+    else:
+        print "Could not find files to copy at", source_directory
+        print "Exiting Program."
+        sys.exit()
diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_all.py b/mavlink/share/pyshared/pymavlink/generator/gen_all.py
new file mode 100644
index 000000000..5b24f85cb
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/gen_all.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+
+'''
+Use mavgen.py on all available MAVLink XML definitions to generate
+C and Python MAVLink routines for sending and parsing the protocol
+
+Copyright Pete Hollands 2011
+Released under GNU GPL version 3 or later
+'''
+
+import os, sys, glob, re
+from mavgen import mavgen
+
+# allow import from the parent directory, where mavutil.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+class options:
+    """ a class to simulate the options of mavgen OptionsParser"""
+    def __init__(self, lang, output, wire_protocol):
+        self.language = lang
+        self.wire_protocol = wire_protocol
+        self.output = output
+
+protocols = [ '0.9', '1.0' ]
+
+for protocol in protocols :
+    xml_directory = './message_definitions/v'+protocol
+    print "xml_directory is", xml_directory
+    xml_file_names = glob.glob(xml_directory+'/*.xml')
+
+    for xml_file in xml_file_names:
+        print "xml file is ", xml_file
+        opts = options(lang = "C", output = "C/include_v"+protocol, \
+                       wire_protocol=protocol)
+        args = []
+        args.append(xml_file)
+        mavgen(opts, args)
+        xml_file_base = os.path.basename(xml_file)
+        xml_file_base = re.sub("\.xml","", xml_file_base)
+        print "xml_file_base is", xml_file_base
+        opts = options(lang = "python", \
+                       output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
+                       wire_protocol=protocol)
+        mavgen(opts,args)
diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_all.sh b/mavlink/share/pyshared/pymavlink/generator/gen_all.sh
new file mode 100644
index 000000000..e8dafedc5
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/gen_all.sh
@@ -0,0 +1,12 @@
+#!/bin/sh
+
+for protocol in 0.9 1.0; do
+ for xml in message_definitions/v$protocol/*.xml; do
+     base=$(basename $xml .xml)
+     ./mavgen.py --lang=C --wire-protocol=$protocol --output=C/include_v$protocol $xml || exit 1
+     ./mavgen.py --lang=python --wire-protocol=$protocol --output=python/mavlink_${base}_v$protocol.py $xml || exit 1
+ done
+done
+
+cp -f python/mavlink_ardupilotmega_v0.9.py ../mavlink.py
+cp -f python/mavlink_ardupilotmega_v1.0.py ../mavlinkv10.py
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen.py b/mavlink/share/pyshared/pymavlink/generator/mavgen.py
new file mode 100644
index 000000000..05f71f778
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavgen.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python
+'''
+parse a MAVLink protocol XML file and generate a python implementation
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+def mavgen(opts, args) :
+    """Generate mavlink message formatters and parsers (C and Python ) using options
+    and args where args are a list of xml files. This function allows python
+    scripts under Windows to control mavgen using the same interface as
+    shell scripts under Unix"""
+    import sys, textwrap, os
+
+    import mavparse
+    import mavgen_python
+    import mavgen_c
+
+    xml = []
+
+    for fname in args:
+        print("Parsing %s" % fname)
+        xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
+
+    # expand includes
+    for x in xml[:]:
+        for i in x.include:
+            fname = os.path.join(os.path.dirname(x.filename), i)
+            print("Parsing %s" % fname)
+            xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
+
+            # include message lengths and CRCs too
+            for idx in range(0, 256):
+                if x.message_lengths[idx] == 0:
+                    x.message_lengths[idx] = xml[-1].message_lengths[idx]
+                    x.message_crcs[idx] = xml[-1].message_crcs[idx]
+                    x.message_names[idx] = xml[-1].message_names[idx]
+
+    # work out max payload size across all includes
+    largest_payload = 0
+    for x in xml:
+        if x.largest_payload > largest_payload:
+            largest_payload = x.largest_payload
+    for x in xml:
+        x.largest_payload = largest_payload
+
+    if mavparse.check_duplicates(xml):
+        sys.exit(1)
+
+    print("Found %u MAVLink message types in %u XML files" % (
+        mavparse.total_msgs(xml), len(xml)))
+
+    if opts.language == 'python':
+        mavgen_python.generate(opts.output, xml)
+    elif opts.language == 'C':
+        mavgen_c.generate(opts.output, xml)
+    else:
+        print("Unsupported language %s" % opts.language)
+    
+
+if __name__=="__main__":
+    import sys, textwrap, os
+
+    from optparse import OptionParser
+
+    # allow import from the parent directory, where mavutil.py is
+    sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+    import mavparse
+    import mavgen_python
+    import mavgen_c
+
+    parser = OptionParser("%prog [options] <XML files>")
+    parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
+    parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
+    parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
+    (opts, args) = parser.parse_args()
+
+    if len(args) < 1:
+        parser.error("You must supply at least one MAVLink XML protocol definition")
+    mavgen(opts, args)
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py b/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py
new file mode 100644
index 000000000..255919f0d
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py
@@ -0,0 +1,581 @@
+#!/usr/bin/env python
+'''
+parse a MAVLink protocol XML file and generate a C implementation
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+import sys, textwrap, os, time
+import mavparse, mavtemplate
+
+t = mavtemplate.MAVTemplate()
+
+def generate_version_h(directory, xml):
+    '''generate version.h'''
+    f = open(os.path.join(directory, "version.h"), mode='w')
+    t.write(f,'''
+/** @file
+ *	@brief MAVLink comm protocol built from ${basename}.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_VERSION_H
+#define MAVLINK_VERSION_H
+
+#define MAVLINK_BUILD_DATE "${parse_time}"
+#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}"
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload}
+ 
+#endif // MAVLINK_VERSION_H
+''', xml)
+    f.close()
+
+def generate_mavlink_h(directory, xml):
+    '''generate mavlink.h'''
+    f = open(os.path.join(directory, "mavlink.h"), mode='w')
+    t.write(f,'''
+/** @file
+ *	@brief MAVLink comm protocol built from ${basename}.xml
+ *	@see http://pixhawk.ethz.ch/software/mavlink
+ */
+#ifndef MAVLINK_H
+#define MAVLINK_H
+
+#ifndef MAVLINK_STX
+#define MAVLINK_STX ${protocol_marker}
+#endif
+
+#ifndef MAVLINK_ENDIAN
+#define MAVLINK_ENDIAN ${mavlink_endian}
+#endif
+
+#ifndef MAVLINK_ALIGNED_FIELDS
+#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define}
+#endif
+
+#ifndef MAVLINK_CRC_EXTRA
+#define MAVLINK_CRC_EXTRA ${crc_extra_define}
+#endif
+
+#include "version.h"
+#include "${basename}.h"
+
+#endif // MAVLINK_H
+''', xml)
+    f.close()
+
+def generate_main_h(directory, xml):
+    '''generate main header per XML file'''
+    f = open(os.path.join(directory, xml.basename + ".h"), mode='w')
+    t.write(f, '''
+/** @file
+ *	@brief MAVLink comm protocol generated from ${basename}.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef ${basename_upper}_H
+#define ${basename_upper}_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// MESSAGE LENGTHS AND CRCS
+
+#ifndef MAVLINK_MESSAGE_LENGTHS
+#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}}
+#endif
+
+#ifndef MAVLINK_MESSAGE_CRCS
+#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}}
+#endif
+
+#ifndef MAVLINK_MESSAGE_INFO
+#define MAVLINK_MESSAGE_INFO {${message_info_array}}
+#endif
+
+#include "../protocol.h"
+
+#define MAVLINK_ENABLED_${basename_upper}
+
+${{include_list:#include "../${base}/${base}.h"
+}}
+
+// MAVLINK VERSION
+
+#ifndef MAVLINK_VERSION
+#define MAVLINK_VERSION ${version}
+#endif
+
+#if (MAVLINK_VERSION == 0)
+#undef MAVLINK_VERSION
+#define MAVLINK_VERSION ${version}
+#endif
+
+// ENUM DEFINITIONS
+
+${{enum:
+/** @brief ${description} */
+#ifndef HAVE_ENUM_${name}
+#define HAVE_ENUM_${name}
+enum ${name}
+{
+${{entry:	${name}=${value}, /* ${description} |${{param:${description}| }} */
+}}
+};
+#endif
+}}
+
+// MESSAGE DEFINITIONS
+${{message:#include "./mavlink_msg_${name_lower}.h"
+}}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // ${basename_upper}_H
+''', xml)
+
+    f.close()
+             
+
+def generate_message_h(directory, m):
+    '''generate per-message header for a XML file'''
+    f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w')
+    t.write(f, '''
+// MESSAGE ${name} PACKING
+
+#define MAVLINK_MSG_ID_${name} ${id}
+
+typedef struct __mavlink_${name_lower}_t
+{
+${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description}
+}}
+} mavlink_${name_lower}_t;
+
+#define MAVLINK_MSG_ID_${name}_LEN ${wire_length}
+#define MAVLINK_MSG_ID_${id}_LEN ${wire_length}
+
+${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length}
+}}
+
+#define MAVLINK_MESSAGE_INFO_${name} { \\
+	"${name}", \\
+	${num_fields}, \\
+	{ ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\
+        }} } \\
+}
+
+
+/**
+ * @brief Pack a ${name_lower} message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+${{arg_fields: * @param ${name} ${description}
+}}
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						      ${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[${wire_length}];
+${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
+}}
+${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
+}}
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
+#else
+	mavlink_${name_lower}_t packet;
+${{scalar_fields:	packet.${name} = ${putname};
+}}
+${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
+}}
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_${name};
+	return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg});
+}
+
+/**
+ * @brief Pack a ${name_lower} message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+${{arg_fields: * @param ${name} ${description}
+}}
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           ${{arg_fields:${array_const}${type} ${array_prefix}${name},}})
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[${wire_length}];
+${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
+}}
+${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
+}}
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
+#else
+	mavlink_${name_lower}_t packet;
+${{scalar_fields:	packet.${name} = ${putname};
+}}
+${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
+}}
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_${name};
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg});
+}
+
+/**
+ * @brief Encode a ${name_lower} struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param ${name_lower} C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower})
+{
+	return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}});
+}
+
+/**
+ * @brief Send a ${name_lower} message
+ * @param chan MAVLink channel to send the message
+ *
+${{arg_fields: * @param ${name} ${description}
+}}
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[${wire_length}];
+${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
+}}
+${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
+}}
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg});
+#else
+	mavlink_${name_lower}_t packet;
+${{scalar_fields:	packet.${name} = ${putname};
+}}
+${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
+}}
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg});
+#endif
+}
+
+#endif
+
+// MESSAGE ${name} UNPACKING
+
+${{fields:
+/**
+ * @brief Get field ${name} from ${name_lower} message
+ *
+ * @return ${description}
+ */
+static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg})
+{
+	return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset});
+}
+}}
+
+/**
+ * @brief Decode a ${name_lower} message into a struct
+ *
+ * @param msg The message to decode
+ * @param ${name_lower} C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower})
+{
+#if MAVLINK_NEED_BYTE_SWAP
+${{ordered_fields:	${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right});
+}}
+#else
+	memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length});
+#endif
+}
+''', m)
+    f.close()
+
+
+def generate_testsuite_h(directory, xml):
+    '''generate testsuite.h per XML file'''
+    f = open(os.path.join(directory, "testsuite.h"), mode='w')
+    t.write(f, '''
+/** @file
+ *	@brief MAVLink comm protocol testsuite generated from ${basename}.xml
+ *	@see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef ${basename_upper}_TESTSUITE_H
+#define ${basename_upper}_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg);
+}}
+static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+${{include_list:	mavlink_test_${base}(system_id, component_id, last_msg);
+}}
+	mavlink_test_${basename}(system_id, component_id, last_msg);
+}
+#endif
+
+${{include_list:#include "../${base}/testsuite.h"
+}}
+
+${{message:
+static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_${name_lower}_t packet_in = {
+		${{ordered_fields:${c_test_value},
+	}}};
+	mavlink_${name_lower}_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        ${{scalar_fields:	packet1.${name} = packet_in.${name};
+        }}
+        ${{array_fields:	mav_array_memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length});
+        }}
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_${name_lower}_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }});
+	mavlink_msg_${name_lower}_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }});
+	mavlink_msg_${name_lower}_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_${name_lower}_send(MAVLINK_COMM_1 ${{arg_fields:, packet1.${name} }});
+	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+}}
+
+static void mavlink_test_${basename}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+${{message:	mavlink_test_${name_lower}(system_id, component_id, last_msg);
+}}
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // ${basename_upper}_TESTSUITE_H
+''', xml)
+
+    f.close()
+
+def copy_fixed_headers(directory, xml):
+    '''copy the fixed protocol headers to the target directory'''
+    import shutil
+    hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
+    basepath = os.path.dirname(os.path.realpath(__file__))
+    srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
+    print("Copying fixed headers")
+    for h in hlist:
+        if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
+           src = os.path.realpath(os.path.join(srcpath, h))
+           dest = os.path.realpath(os.path.join(directory, h))
+           if src == dest:
+               continue
+           shutil.copy(src, dest)
+    # XXX This is a hack - to be removed
+    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
+        h = 'pixhawk/pixhawk.pb.h'
+        src = os.path.realpath(os.path.join(srcpath, h))
+        dest = os.path.realpath(os.path.join(directory, h))
+        shutil.copy(src, dest)
+        
+def copy_fixed_sources(directory, xml):
+    # XXX This is a hack - to be removed
+    import shutil
+    basepath = os.path.dirname(os.path.realpath(__file__))
+    srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
+    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
+        print("Copying fixed sources")
+        src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
+        dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
+        destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
+        try:
+           os.makedirs(destdir)
+        except:
+           print("Not re-creating directory")
+        shutil.copy(src, dest)
+        print("Copied to"),
+        print(dest)
+
+class mav_include(object):
+    def __init__(self, base):
+        self.base = base
+
+def generate_one(basename, xml):
+    '''generate headers for one XML file'''
+
+    directory = os.path.join(basename, xml.basename)
+
+    print("Generating C implementation in directory %s" % directory)
+    mavparse.mkdir_p(directory)
+
+    if xml.little_endian:
+        xml.mavlink_endian = "MAVLINK_LITTLE_ENDIAN"
+    else:
+        xml.mavlink_endian = "MAVLINK_BIG_ENDIAN"
+
+    if xml.crc_extra:
+        xml.crc_extra_define = "1"
+    else:
+        xml.crc_extra_define = "0"
+
+    if xml.sort_fields:
+        xml.aligned_fields_define = "1"
+    else:
+        xml.aligned_fields_define = "0"
+
+    # work out the included headers
+    xml.include_list = []
+    for i in xml.include:
+        base = i[:-4]
+        xml.include_list.append(mav_include(base))
+
+    # form message lengths array
+    xml.message_lengths_array = ''
+    for mlen in xml.message_lengths:
+        xml.message_lengths_array += '%u, ' % mlen
+    xml.message_lengths_array = xml.message_lengths_array[:-2]
+
+    # and message CRCs array
+    xml.message_crcs_array = ''
+    for crc in xml.message_crcs:
+        xml.message_crcs_array += '%u, ' % crc
+    xml.message_crcs_array = xml.message_crcs_array[:-2]
+
+    # form message info array
+    xml.message_info_array = ''
+    for name in xml.message_names:
+        if name is not None:
+            xml.message_info_array += 'MAVLINK_MESSAGE_INFO_%s, ' % name
+        else:
+            # Several C compilers don't accept {NULL} for
+            # multi-dimensional arrays and structs
+            # feed the compiler a "filled" empty message
+            xml.message_info_array += '{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, '
+    xml.message_info_array = xml.message_info_array[:-2]
+
+    # add some extra field attributes for convenience with arrays
+    for m in xml.message:
+        m.msg_name = m.name
+        if xml.crc_extra:
+            m.crc_extra_arg = ", %s" % m.crc_extra
+        else:
+            m.crc_extra_arg = ""
+        for f in m.fields:
+            if f.print_format is None:
+                f.c_print_format = 'NULL'
+            else:
+                f.c_print_format = '"%s"' % f.print_format
+            if f.array_length != 0:
+                f.array_suffix = '[%u]' % f.array_length
+                f.array_prefix = '*'
+                f.array_tag = '_array'
+                f.array_arg = ', %u' % f.array_length
+                f.array_return_arg = '%s, %u, ' % (f.name, f.array_length)
+                f.array_const = 'const '
+                f.decode_left = ''
+                f.decode_right = ', %s->%s' % (m.name_lower, f.name)
+                f.return_type = 'uint16_t'
+                f.get_arg = ', %s *%s' % (f.type, f.name)
+                if f.type == 'char':
+                    f.c_test_value = '"%s"' % f.test_value
+                else:
+                    test_strings = []
+                    for v in f.test_value:
+                        test_strings.append(str(v))
+                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
+            else:
+                f.array_suffix = ''
+                f.array_prefix = ''
+                f.array_tag = ''
+                f.array_arg = ''
+                f.array_return_arg = ''
+                f.array_const = ''
+                f.decode_left = "%s->%s = " % (m.name_lower, f.name)
+                f.decode_right = ''
+                f.get_arg = ''
+                f.return_type = f.type
+                if f.type == 'char':
+                    f.c_test_value = "'%s'" % f.test_value
+                elif f.type == 'uint64_t':
+                    f.c_test_value = "%sULL" % f.test_value                    
+                elif f.type == 'int64_t':
+                    f.c_test_value = "%sLL" % f.test_value                    
+                else:
+                    f.c_test_value = f.test_value
+
+    # cope with uint8_t_mavlink_version
+    for m in xml.message:
+        m.arg_fields = []
+        m.array_fields = []
+        m.scalar_fields = []
+        for f in m.ordered_fields:
+            if f.array_length != 0:
+                m.array_fields.append(f)
+            else:
+                m.scalar_fields.append(f)
+        for f in m.fields:
+            if not f.omit_arg:
+                m.arg_fields.append(f)
+                f.putname = f.name
+            else:
+                f.putname = f.const_value
+
+    generate_mavlink_h(directory, xml)
+    generate_version_h(directory, xml)
+    generate_main_h(directory, xml)
+    for m in xml.message:
+        generate_message_h(directory, m)
+    generate_testsuite_h(directory, xml)
+
+
+def generate(basename, xml_list):
+    '''generate complete MAVLink C implemenation'''
+
+    for xml in xml_list:
+        generate_one(basename, xml)
+    copy_fixed_headers(basename, xml_list[0])
+    copy_fixed_sources(basename, xml_list[0])
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py b/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py
new file mode 100644
index 000000000..fad366a68
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py
@@ -0,0 +1,455 @@
+#!/usr/bin/env python
+'''
+parse a MAVLink protocol XML file and generate a python implementation
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+import sys, textwrap, os
+import mavparse, mavtemplate
+
+t = mavtemplate.MAVTemplate()
+
+def generate_preamble(outf, msgs, args, xml):
+    print("Generating preamble")
+    t.write(outf, """
+'''
+MAVLink protocol implementation (auto-generated by mavgen.py)
+
+Generated from: ${FILELIST}
+
+Note: this file has been auto-generated. DO NOT EDIT
+'''
+
+import struct, array, mavutil, time
+
+WIRE_PROTOCOL_VERSION = "${WIRE_PROTOCOL_VERSION}"
+
+class MAVLink_header(object):
+    '''MAVLink message header'''
+    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
+        self.mlen = mlen
+        self.seq = seq
+        self.srcSystem = srcSystem
+        self.srcComponent = srcComponent
+        self.msgId = msgId
+
+    def pack(self):
+        return struct.pack('BBBBBB', ${PROTOCOL_MARKER}, self.mlen, self.seq,
+                          self.srcSystem, self.srcComponent, self.msgId)
+
+class MAVLink_message(object):
+    '''base MAVLink message class'''
+    def __init__(self, msgId, name):
+        self._header     = MAVLink_header(msgId)
+        self._payload    = None
+        self._msgbuf     = None
+        self._crc        = None
+        self._fieldnames = []
+        self._type       = name
+
+    def get_msgbuf(self):
+        return self._msgbuf
+
+    def get_header(self):
+        return self._header
+
+    def get_payload(self):
+        return self._payload
+
+    def get_crc(self):
+        return self._crc
+
+    def get_fieldnames(self):
+        return self._fieldnames
+
+    def get_type(self):
+        return self._type
+
+    def get_msgId(self):
+        return self._header.msgId
+
+    def get_srcSystem(self):
+        return self._header.srcSystem
+
+    def get_srcComponent(self):
+        return self._header.srcComponent
+
+    def get_seq(self):
+        return self._header.seq
+
+    def __str__(self):
+        ret = '%s {' % self._type
+        for a in self._fieldnames:
+            v = getattr(self, a)
+            ret += '%s : %s, ' % (a, v)
+        ret = ret[0:-2] + '}'
+        return ret            
+
+    def pack(self, mav, crc_extra, payload):
+        self._payload = payload
+        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
+                                       mav.srcSystem, mav.srcComponent)
+        self._msgbuf = self._header.pack() + payload
+        crc = mavutil.x25crc(self._msgbuf[1:])
+        if ${crc_extra}: # using CRC extra
+            crc.accumulate(chr(crc_extra))
+        self._crc = crc.crc
+        self._msgbuf += struct.pack('<H', self._crc)
+        return self._msgbuf
+
+""", {'FILELIST' : ",".join(args),
+      'PROTOCOL_MARKER' : xml.protocol_marker,
+      'crc_extra' : xml.crc_extra,
+      'WIRE_PROTOCOL_VERSION' : xml.wire_protocol_version })
+
+
+def generate_enums(outf, enums):
+    print("Generating enums")
+    outf.write("\n# enums\n")
+    wrapper = textwrap.TextWrapper(initial_indent="", subsequent_indent="                        # ")
+    for e in enums:
+        outf.write("\n# %s\n" % e.name)
+        for entry in e.entry:
+            outf.write("%s = %u # %s\n" % (entry.name, entry.value, wrapper.fill(entry.description)))
+
+def generate_message_ids(outf, msgs):
+    print("Generating message IDs")
+    outf.write("\n# message IDs\n")
+    outf.write("MAVLINK_MSG_ID_BAD_DATA = -1\n")
+    for m in msgs:
+        outf.write("MAVLINK_MSG_ID_%s = %u\n" % (m.name.upper(), m.id))
+
+def generate_classes(outf, msgs):
+    print("Generating class definitions")
+    wrapper = textwrap.TextWrapper(initial_indent="        ", subsequent_indent="        ")
+    for m in msgs:
+        outf.write("""
+class MAVLink_%s_message(MAVLink_message):
+        '''
+%s
+        '''
+        def __init__(self""" % (m.name.lower(), wrapper.fill(m.description.strip())))
+        if len(m.fields) != 0:
+                outf.write(", " + ", ".join(m.fieldnames))
+        outf.write("):\n")
+        outf.write("                MAVLink_message.__init__(self, MAVLINK_MSG_ID_%s, '%s')\n" % (m.name.upper(), m.name.upper()))
+        if len(m.fieldnames) != 0:
+                outf.write("                self._fieldnames = ['%s']\n" % "', '".join(m.fieldnames))
+        for f in m.fields:
+                outf.write("                self.%s = %s\n" % (f.name, f.name))
+        outf.write("""
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, %u, struct.pack('%s'""" % (m.crc_extra, m.fmtstr))
+        if len(m.fields) != 0:
+                outf.write(", self." + ", self.".join(m.ordered_fieldnames))
+        outf.write("))\n")
+
+
+def mavfmt(field):
+    '''work out the struct format for a type'''
+    map = {
+        'float'    : 'f',
+        'double'   : 'd',
+        'char'     : 'c',
+        'int8_t'   : 'b',
+        'uint8_t'  : 'B',
+        'uint8_t_mavlink_version'  : 'B',
+        'int16_t'  : 'h',
+        'uint16_t' : 'H',
+        'int32_t'  : 'i',
+        'uint32_t' : 'I',
+        'int64_t'  : 'q',
+        'uint64_t' : 'Q',
+        }
+
+    if field.array_length:
+        if field.type in ['char', 'int8_t', 'uint8_t']:
+            return str(field.array_length)+'s'
+        return str(field.array_length)+map[field.type]
+    return map[field.type]
+
+def generate_mavlink_class(outf, msgs, xml):
+    print("Generating MAVLink class")
+
+    outf.write("\n\nmavlink_map = {\n");
+    for m in msgs:
+        outf.write("        MAVLINK_MSG_ID_%s : ( '%s', MAVLink_%s_message, %s, %u ),\n" % (
+            m.name.upper(), m.fmtstr, m.name.lower(), m.order_map, m.crc_extra))
+    outf.write("}\n\n")
+    
+    t.write(outf, """
+class MAVError(Exception):
+        '''MAVLink error class'''
+        def __init__(self, msg):
+            Exception.__init__(self, msg)
+            self.message = msg
+
+class MAVString(str):
+        '''NUL terminated string'''
+        def __init__(self, s):
+                str.__init__(self)
+        def __str__(self):
+            i = self.find(chr(0))
+            if i == -1:
+                return self[:]
+            return self[0:i]
+
+class MAVLink_bad_data(MAVLink_message):
+        '''
+        a piece of bad data in a mavlink stream
+        '''
+        def __init__(self, data, reason):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
+                self._fieldnames = ['data', 'reason']
+                self.data = data
+                self.reason = reason
+                self._msgbuf = data
+            
+class MAVLink(object):
+        '''MAVLink protocol handling class'''
+        def __init__(self, file, srcSystem=0, srcComponent=0):
+                self.seq = 0
+                self.file = file
+                self.srcSystem = srcSystem
+                self.srcComponent = srcComponent
+                self.callback = None
+                self.callback_args = None
+                self.callback_kwargs = None
+                self.buf = array.array('B')
+                self.expected_length = 6
+                self.have_prefix_error = False
+                self.robust_parsing = False
+                self.protocol_marker = ${protocol_marker}
+                self.little_endian = ${little_endian}
+                self.crc_extra = ${crc_extra}
+                self.sort_fields = ${sort_fields}
+                self.total_packets_sent = 0
+                self.total_bytes_sent = 0
+                self.total_packets_received = 0
+                self.total_bytes_received = 0
+                self.total_receive_errors = 0
+                self.startup_time = time.time()
+
+        def set_callback(self, callback, *args, **kwargs):
+            self.callback = callback
+            self.callback_args = args
+            self.callback_kwargs = kwargs
+            
+        def send(self, mavmsg):
+                '''send a MAVLink message'''
+                buf = mavmsg.pack(self)
+                self.file.write(buf)
+                self.seq = (self.seq + 1) % 255
+                self.total_packets_sent += 1
+                self.total_bytes_sent += len(buf)
+
+        def bytes_needed(self):
+            '''return number of bytes needed for next parsing stage'''
+            ret = self.expected_length - len(self.buf)
+            if ret <= 0:
+                return 1
+            return ret
+
+        def parse_char(self, c):
+            '''input some data bytes, possibly returning a new message'''
+            if isinstance(c, str):
+                self.buf.fromstring(c)
+            else:
+                self.buf.extend(c)
+            self.total_bytes_received += len(c)
+            if len(self.buf) >= 1 and self.buf[0] != ${protocol_marker}:
+                magic = self.buf[0]
+                self.buf = self.buf[1:]
+                if self.robust_parsing:
+                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
+                    if self.callback:
+                        self.callback(m, *self.callback_args, **self.callback_kwargs)
+                    self.expected_length = 6
+                    self.total_receive_errors += 1
+                    return m
+                if self.have_prefix_error:
+                    return None
+                self.have_prefix_error = True
+                self.total_receive_errors += 1
+                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
+            self.have_prefix_error = False
+            if len(self.buf) >= 2:
+                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
+                self.expected_length += 8
+            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
+                mbuf = self.buf[0:self.expected_length]
+                self.buf = self.buf[self.expected_length:]
+                self.expected_length = 6
+                if self.robust_parsing:
+                    try:
+                        m = self.decode(mbuf)
+                        self.total_packets_received += 1
+                    except MAVError as reason:
+                        m = MAVLink_bad_data(mbuf, reason.message)
+                        self.total_receive_errors += 1
+                else:
+                    m = self.decode(mbuf)
+                    self.total_packets_received += 1
+                if self.callback:
+                    self.callback(m, *self.callback_args, **self.callback_kwargs)
+                return m
+            return None
+
+        def parse_buffer(self, s):
+            '''input some data bytes, possibly returning a list of new messages'''
+            m = self.parse_char(s)
+            if m is None:
+                return None
+            ret = [m]
+            while True:
+                m = self.parse_char("")
+                if m is None:
+                    return ret
+                ret.append(m)
+            return ret
+
+        def decode(self, msgbuf):
+                '''decode a buffer as a MAVLink message'''
+                # decode the header
+                try:
+                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
+                if ord(magic) != ${protocol_marker}:
+                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
+                if mlen != len(msgbuf)-8:
+                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
+
+                if not msgId in mavlink_map:
+                    raise MAVError('unknown MAVLink message ID %u' % msgId)
+
+                # decode the payload
+                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
+
+                # decode the checksum
+                try:
+                    crc, = struct.unpack('<H', msgbuf[-2:])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
+                crc2 = mavutil.x25crc(msgbuf[1:-2])
+                if ${crc_extra}: # using CRC extra 
+                    crc2.accumulate(chr(crc_extra))
+                if crc != crc2.crc:
+                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
+
+                try:
+                    t = struct.unpack(fmt, msgbuf[6:-2])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
+                        type, fmt, len(msgbuf[6:-2]), emsg))
+
+                tlist = list(t)
+                # handle sorted fields
+                if ${sort_fields}:
+                    t = tlist[:]
+                    for i in range(0, len(tlist)):
+                        tlist[i] = t[order_map[i]]
+
+                # terminate any strings
+                for i in range(0, len(tlist)):
+                    if isinstance(tlist[i], str):
+                        tlist[i] = MAVString(tlist[i])
+                t = tuple(tlist)
+                # construct the message object
+                try:
+                    m = type(*t)
+                except Exception as emsg:
+                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
+                m._msgbuf = msgbuf
+                m._payload = msgbuf[6:-2]
+                m._crc = crc
+                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
+                return m
+""", xml)
+
+def generate_methods(outf, msgs):
+    print("Generating methods")
+
+    def field_descriptions(fields):
+        ret = ""
+        for f in fields:
+            ret += "                %-18s        : %s (%s)\n" % (f.name, f.description.strip(), f.type)
+        return ret
+
+    wrapper = textwrap.TextWrapper(initial_indent="", subsequent_indent="                ")
+
+    for m in msgs:
+        comment = "%s\n\n%s" % (wrapper.fill(m.description.strip()), field_descriptions(m.fields))
+
+        selffieldnames = 'self, '
+        for f in m.fields:
+            if f.omit_arg:
+                selffieldnames += '%s=%s, ' % (f.name, f.const_value)
+            else:
+                selffieldnames += '%s, ' % f.name
+        selffieldnames = selffieldnames[:-2]
+
+        sub = {'NAMELOWER'      : m.name.lower(),
+               'SELFFIELDNAMES' : selffieldnames,
+               'COMMENT'        : comment,
+               'FIELDNAMES'     : ", ".join(m.fieldnames)}
+
+        t.write(outf, """
+        def ${NAMELOWER}_encode(${SELFFIELDNAMES}):
+                '''
+                ${COMMENT}
+                '''
+                msg = MAVLink_${NAMELOWER}_message(${FIELDNAMES})
+                msg.pack(self)
+                return msg
+            
+""", sub)
+
+        t.write(outf, """
+        def ${NAMELOWER}_send(${SELFFIELDNAMES}):
+                '''
+                ${COMMENT}
+                '''
+                return self.send(self.${NAMELOWER}_encode(${FIELDNAMES}))
+            
+""", sub)
+
+
+def generate(basename, xml):
+    '''generate complete python implemenation'''
+    if basename.endswith('.py'):
+        filename = basename
+    else:
+        filename = basename + '.py'
+
+    msgs = []
+    enums = []
+    filelist = []
+    for x in xml:
+        msgs.extend(x.message)
+        enums.extend(x.enum)
+        filelist.append(os.path.basename(x.filename))
+
+    for m in msgs:
+        if xml[0].little_endian:
+            m.fmtstr = '<'
+        else:
+            m.fmtstr = '>'
+        for f in m.ordered_fields:
+            m.fmtstr += mavfmt(f)
+        m.order_map = [ 0 ] * len(m.fieldnames)
+        for i in range(0, len(m.fieldnames)):
+            m.order_map[i] = m.ordered_fieldnames.index(m.fieldnames[i])
+
+    print("Generating %s" % filename)
+    outf = open(filename, "w")
+    generate_preamble(outf, msgs, filelist, xml[0])
+    generate_enums(outf, enums)
+    generate_message_ids(outf, msgs)
+    generate_classes(outf, msgs)
+    generate_mavlink_class(outf, msgs, xml[0])
+    generate_methods(outf, msgs)
+    outf.close()
+    print("Generated %s OK" % filename)
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavparse.py b/mavlink/share/pyshared/pymavlink/generator/mavparse.py
new file mode 100644
index 000000000..cd2e6a55f
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavparse.py
@@ -0,0 +1,372 @@
+#!/usr/bin/env python
+'''
+mavlink python parse functions
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+import xml.parsers.expat, os, errno, time, sys, operator, mavutil
+
+PROTOCOL_0_9 = "0.9"
+PROTOCOL_1_0 = "1.0"
+
+class MAVParseError(Exception):
+    def __init__(self, message, inner_exception=None):
+        self.message = message
+        self.inner_exception = inner_exception
+        self.exception_info = sys.exc_info()
+    def __str__(self):
+        return self.message
+
+class MAVField(object):
+    def __init__(self, name, type, print_format, xml, description=''):
+        self.name = name
+        self.name_upper = name.upper()
+        self.description = description
+        self.array_length = 0
+        self.omit_arg = False
+        self.const_value = None
+        self.print_format = print_format
+        lengths = {
+        'float'    : 4,
+        'double'   : 8,
+        'char'     : 1,
+        'int8_t'   : 1,
+        'uint8_t'  : 1,
+        'uint8_t_mavlink_version'  : 1,
+        'int16_t'  : 2,
+        'uint16_t' : 2,
+        'int32_t'  : 4,
+        'uint32_t' : 4,
+        'int64_t'  : 8,
+        'uint64_t' : 8,
+        }
+
+        if type=='uint8_t_mavlink_version':
+            type = 'uint8_t'
+            self.omit_arg = True
+            self.const_value = xml.version
+
+        aidx = type.find("[")
+        if aidx != -1:
+            assert type[-1:] == ']'
+            self.array_length = int(type[aidx+1:-1])
+            type = type[0:aidx]
+            if type == 'array':
+                type = 'int8_t'
+        if type in lengths:
+            self.type_length = lengths[type]
+            self.type = type
+        elif (type+"_t") in lengths:
+            self.type_length = lengths[type+"_t"]
+            self.type = type+'_t'
+        else:
+            raise MAVParseError("unknown type '%s'" % type)
+        if self.array_length != 0:
+            self.wire_length = self.array_length * self.type_length
+        else:
+            self.wire_length = self.type_length
+        self.type_upper = self.type.upper()
+
+    def gen_test_value(self, i):
+        '''generate a testsuite value for a MAVField'''
+        if self.const_value:
+            return self.const_value
+        elif self.type == 'float':
+            return 17.0 + self.wire_offset*7 + i
+        elif self.type == 'double':
+            return 123.0 + self.wire_offset*7 + i
+        elif self.type == 'char':
+            return chr(ord('A') + (self.wire_offset + i)%26)
+        elif self.type in [ 'int8_t', 'uint8_t' ]:
+            return (5 + self.wire_offset*67 + i) & 0xFF
+        elif self.type in ['int16_t', 'uint16_t']:
+            return (17235 + self.wire_offset*52 + i) & 0xFFFF
+        elif self.type in ['int32_t', 'uint32_t']:
+            return (963497464 + self.wire_offset*52 + i)&0xFFFFFFFF
+        elif self.type in ['int64_t', 'uint64_t']:
+            return 93372036854775807 + self.wire_offset*63 + i
+        else:
+            raise MAVError('unknown type %s' % self.type)
+
+    def set_test_value(self):
+        '''set a testsuite value for a MAVField'''
+        if self.array_length:
+            self.test_value = []
+            for i in range(self.array_length):
+                self.test_value.append(self.gen_test_value(i))
+        else:
+                self.test_value = self.gen_test_value(0)
+        if self.type == 'char' and self.array_length:
+            v = ""
+            for c in self.test_value:
+                v += c
+            self.test_value = v[:-1]
+
+
+class MAVType(object):
+    def __init__(self, name, id, linenumber, description=''):
+        self.name = name
+        self.name_lower = name.lower()
+        self.linenumber = linenumber
+        self.id = int(id)
+        self.description = description
+        self.fields = []
+        self.fieldnames = []
+
+class MAVEnumParam(object):
+    def __init__(self, index, description=''):
+        self.index = index
+        self.description = description
+
+class MAVEnumEntry(object):
+    def __init__(self, name, value, description='', end_marker=False):
+        self.name = name
+        self.value = value
+        self.description = description
+        self.param = []
+        self.end_marker = end_marker
+
+class MAVEnum(object):
+    def __init__(self, name, linenumber, description=''):
+        self.name = name
+        self.description = description
+        self.entry = []
+        self.highest_value = 0
+        self.linenumber = linenumber
+
+class MAVXML(object):
+    '''parse a mavlink XML file'''
+    def __init__(self, filename, wire_protocol_version=PROTOCOL_0_9):
+        self.filename = filename
+        self.basename = os.path.basename(filename)
+        if self.basename.lower().endswith(".xml"):
+            self.basename = self.basename[:-4]
+        self.basename_upper = self.basename.upper()
+        self.message = []
+        self.enum = []
+        self.parse_time = time.asctime()
+        self.version = 2
+        self.include = []
+        self.wire_protocol_version = wire_protocol_version
+
+        if wire_protocol_version == PROTOCOL_0_9:
+            self.protocol_marker = ord('U')
+            self.sort_fields = False
+            self.little_endian = False
+            self.crc_extra = False
+        elif wire_protocol_version == PROTOCOL_1_0:
+            self.protocol_marker = 0xFE
+            self.sort_fields = True
+            self.little_endian = True
+            self.crc_extra = True
+        else:
+            print("Unknown wire protocol version")
+            print("Available versions are: %s %s" % (PROTOCOL_0_9, PROTOCOL_1_0))
+            raise MAVParseError('Unknown MAVLink wire protocol version %s' % wire_protocol_version)
+
+        in_element_list = []
+
+        def check_attrs(attrs, check, where):
+            for c in check:
+                if not c in attrs:
+                    raise MAVParseError('expected missing %s "%s" attribute at %s:%u' % (
+                        where, c, filename, p.CurrentLineNumber))
+
+        def start_element(name, attrs):
+            in_element_list.append(name)
+            in_element = '.'.join(in_element_list)
+            #print in_element
+            if in_element == "mavlink.messages.message":
+                check_attrs(attrs, ['name', 'id'], 'message')
+                self.message.append(MAVType(attrs['name'], attrs['id'], p.CurrentLineNumber))
+            elif in_element == "mavlink.messages.message.field":
+                check_attrs(attrs, ['name', 'type'], 'field')
+                if 'print_format' in attrs:
+                    print_format = attrs['print_format']
+                else:
+                    print_format = None
+                self.message[-1].fields.append(MAVField(attrs['name'], attrs['type'],
+                                                        print_format, self))
+            elif in_element == "mavlink.enums.enum":
+                check_attrs(attrs, ['name'], 'enum')
+                self.enum.append(MAVEnum(attrs['name'], p.CurrentLineNumber))
+            elif in_element == "mavlink.enums.enum.entry":
+                check_attrs(attrs, ['name'], 'enum entry')
+                if 'value' in attrs:
+                    value = int(attrs['value'])
+                else:
+                    value = self.enum[-1].highest_value + 1
+                if (value > self.enum[-1].highest_value):
+                    self.enum[-1].highest_value = value
+                self.enum[-1].entry.append(MAVEnumEntry(attrs['name'], value))
+            elif in_element == "mavlink.enums.enum.entry.param":
+                check_attrs(attrs, ['index'], 'enum param')
+                self.enum[-1].entry[-1].param.append(MAVEnumParam(attrs['index']))
+
+        def end_element(name):
+            in_element = '.'.join(in_element_list)
+            if in_element == "mavlink.enums.enum":
+                # add a ENUM_END
+                self.enum[-1].entry.append(MAVEnumEntry("%s_ENUM_END" % self.enum[-1].name,
+                                                        self.enum[-1].highest_value+1, end_marker=True))
+            in_element_list.pop()
+
+        def char_data(data):
+            in_element = '.'.join(in_element_list)
+            if in_element == "mavlink.messages.message.description":
+                self.message[-1].description += data
+            elif in_element == "mavlink.messages.message.field":
+                self.message[-1].fields[-1].description += data
+            elif in_element == "mavlink.enums.enum.description":
+                self.enum[-1].description += data
+            elif in_element == "mavlink.enums.enum.entry.description":
+                self.enum[-1].entry[-1].description += data
+            elif in_element == "mavlink.enums.enum.entry.param":
+                self.enum[-1].entry[-1].param[-1].description += data
+            elif in_element == "mavlink.version":
+                self.version = int(data)
+            elif in_element == "mavlink.include":
+                self.include.append(data)
+
+        f = open(filename, mode='rb')
+        p = xml.parsers.expat.ParserCreate()
+        p.StartElementHandler = start_element
+        p.EndElementHandler = end_element
+        p.CharacterDataHandler = char_data
+        p.ParseFile(f)
+        f.close()
+
+        self.message_lengths = [ 0 ] * 256
+        self.message_crcs = [ 0 ] * 256
+        self.message_names = [ None ] * 256
+        self.largest_payload = 0
+
+        for m in self.message:
+            m.wire_length = 0
+            m.fieldnames = []
+            m.ordered_fieldnames = []
+            if self.sort_fields:
+                m.ordered_fields = sorted(m.fields,
+                                          key=operator.attrgetter('type_length'),
+                                          reverse=True)
+            else:
+                m.ordered_fields = m.fields
+            for f in m.fields:
+                m.fieldnames.append(f.name)
+            for f in m.ordered_fields:
+                f.wire_offset = m.wire_length
+                m.wire_length += f.wire_length
+                m.ordered_fieldnames.append(f.name)
+                f.set_test_value()
+            m.num_fields = len(m.fieldnames)
+            if m.num_fields > 64:
+                raise MAVParseError("num_fields=%u : Maximum number of field names allowed is" % (
+                    m.num_fields, 64))
+            m.crc_extra = message_checksum(m)
+            self.message_lengths[m.id] = m.wire_length
+            self.message_names[m.id] = m.name
+            self.message_crcs[m.id] = m.crc_extra
+            if m.wire_length > self.largest_payload:
+                self.largest_payload = m.wire_length
+
+            if m.wire_length+8 > 64:
+                print("Note: message %s is longer than 64 bytes long (%u bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit." % (m.name, m.wire_length+8))
+
+    def __str__(self):
+        return "MAVXML for %s from %s (%u message, %u enums)" % (
+            self.basename, self.filename, len(self.message), len(self.enum))
+    
+
+def message_checksum(msg):
+    '''calculate a 8-bit checksum of the key fields of a message, so we
+       can detect incompatible XML changes'''
+    crc = mavutil.x25crc(msg.name + ' ')
+    for f in msg.ordered_fields:
+        crc.accumulate(f.type + ' ')
+        crc.accumulate(f.name + ' ')
+        if f.array_length:
+            crc.accumulate(chr(f.array_length))
+    return (crc.crc&0xFF) ^ (crc.crc>>8)
+
+def merge_enums(xml):
+    '''merge enums between XML files'''
+    emap = {}
+    for x in xml:
+        newenums = []
+        for enum in x.enum:
+            if enum.name in emap:
+                emap[enum.name].entry.pop() # remove end marker
+                emap[enum.name].entry.extend(enum.entry)
+                print("Merged enum %s" % enum.name)
+            else:
+                newenums.append(enum)
+                emap[enum.name] = enum
+        x.enum = newenums
+    # sort by value
+    for e in emap:
+        emap[e].entry = sorted(emap[e].entry,
+                               key=operator.attrgetter('value'),
+                               reverse=False)
+
+
+def check_duplicates(xml):
+    '''check for duplicate message IDs'''
+
+    merge_enums(xml)
+
+    msgmap = {}
+    enummap = {}
+    for x in xml:
+        for m in x.message:
+            if m.id in msgmap:
+                print("ERROR: Duplicate message id %u for %s (%s:%u) also used by %s" % (
+                    m.id, m.name,
+                    x.filename, m.linenumber,
+                    msgmap[m.id]))
+                return True
+            fieldset = set()
+            for f in m.fields:
+                if f.name in fieldset:
+                    print("ERROR: Duplicate field %s in message %s (%s:%u)" % (
+                        f.name, m.name,
+                        x.filename, m.linenumber))
+                    return True
+                fieldset.add(f.name)
+            msgmap[m.id] = '%s (%s:%u)' % (m.name, x.filename, m.linenumber)
+        for enum in x.enum:
+            for entry in enum.entry:
+                s1 = "%s.%s" % (enum.name, entry.name)
+                s2 = "%s.%s" % (enum.name, entry.value)
+                if s1 in enummap or s2 in enummap:
+                    print("ERROR: Duplicate enums %s/%s at %s:%u and %s" % (
+                        s1, entry.value, x.filename, enum.linenumber,
+                        enummap.get(s1) or enummap.get(s2)))
+                    return True
+                enummap[s1] = "%s:%u" % (x.filename, enum.linenumber)
+                enummap[s2] = "%s:%u" % (x.filename, enum.linenumber)
+                    
+    return False
+
+
+
+def total_msgs(xml):
+    '''count total number of msgs'''
+    count = 0
+    for x in xml:
+        count += len(x.message)
+    return count
+
+def mkdir_p(dir):
+    try:
+        os.makedirs(dir)
+    except OSError as exc:
+        if exc.errno == errno.EEXIST:
+            pass
+        else: raise
+
+# check version consistent
+# add test.xml
+# finish test suite
+# printf style error macro, if defined call errors
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py b/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py
new file mode 100644
index 000000000..6ef015315
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+'''
+simple templating system for mavlink generator
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+from mavparse import MAVParseError
+
+class MAVTemplate(object):
+    '''simple templating system'''
+    def __init__(self,
+                 start_var_token="${", 
+                 end_var_token="}", 
+                 start_rep_token="${{", 
+                 end_rep_token="}}",
+                 trim_leading_lf=True,
+                 checkmissing=True):
+        self.start_var_token = start_var_token
+        self.end_var_token = end_var_token
+        self.start_rep_token = start_rep_token
+        self.end_rep_token = end_rep_token
+        self.trim_leading_lf = trim_leading_lf
+        self.checkmissing = checkmissing
+
+    def find_end(self, text, start_token, end_token):
+        '''find the of a token.
+        Returns the offset in the string immediately after the matching end_token'''
+        if not text.startswith(start_token):
+            raise MAVParseError("invalid token start")
+        offset = len(start_token)
+        nesting = 1
+        while nesting > 0:
+            idx1 = text[offset:].find(start_token)
+            idx2 = text[offset:].find(end_token)
+            if idx1 == -1 and idx2 == -1:
+                raise MAVParseError("token nesting error")
+            if idx1 == -1 or idx1 > idx2:
+                offset += idx2 + len(end_token)
+                nesting -= 1
+            else:
+                offset += idx1 + len(start_token)
+                nesting += 1
+        return offset
+
+    def find_var_end(self, text):
+        '''find the of a variable'''
+        return self.find_end(text, self.start_var_token, self.end_var_token)
+
+    def find_rep_end(self, text):
+        '''find the of a repitition'''
+        return self.find_end(text, self.start_rep_token, self.end_rep_token)
+
+    def substitute(self, text, subvars={},
+                   trim_leading_lf=None, checkmissing=None):
+        '''substitute variables in a string'''
+
+        if trim_leading_lf is None:
+            trim_leading_lf = self.trim_leading_lf
+        if checkmissing is None:
+            checkmissing = self.checkmissing
+
+        # handle repititions
+        while True:
+            subidx = text.find(self.start_rep_token)
+            if subidx == -1:
+                break
+            endidx = self.find_rep_end(text[subidx:])
+            if endidx == -1:
+                raise MAVParseError("missing end macro in %s" % text[subidx:])
+            part1 = text[0:subidx]
+            part2 = text[subidx+len(self.start_rep_token):subidx+(endidx-len(self.end_rep_token))]
+            part3 = text[subidx+endidx:]
+            a = part2.split(':')
+            field_name = a[0]
+            rest = ':'.join(a[1:])
+            v = getattr(subvars, field_name, None)
+            if v is None:
+                raise MAVParseError('unable to find field %s' % field_name)
+            t1 = part1
+            for f in v:
+                t1 += self.substitute(rest, f, trim_leading_lf=False, checkmissing=False)
+            if len(v) != 0 and t1[-1] in ["\n", ","]:
+                t1 = t1[:-1]
+            t1 += part3
+            text = t1
+                
+        if trim_leading_lf:
+            if text[0] == '\n':
+                text = text[1:]
+        while True:
+            idx = text.find(self.start_var_token)
+            if idx == -1:
+                return text
+            endidx = text[idx:].find(self.end_var_token)
+            if endidx == -1:
+                raise MAVParseError('missing end of variable: %s' % text[idx:idx+10])
+            varname = text[idx+2:idx+endidx]
+            if isinstance(subvars, dict):
+                if not varname in subvars:
+                    if checkmissing:
+                        raise MAVParseError("unknown variable in '%s%s%s'" % (
+                            self.start_var_token, varname, self.end_var_token))
+                    return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars,
+                                                                trim_leading_lf=False, checkmissing=False)
+                value = subvars[varname]
+            else:
+                value = getattr(subvars, varname, None)
+                if value is None:
+                    if checkmissing:
+                        raise MAVParseError("unknown variable in '%s%s%s'" % (
+                            self.start_var_token, varname, self.end_var_token))
+                    return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars,
+                                                                trim_leading_lf=False, checkmissing=False)
+            text = text.replace("%s%s%s" % (self.start_var_token, varname, self.end_var_token), str(value))
+        return text
+
+    def write(self, file, text, subvars={}, trim_leading_lf=True):
+        '''write to a file with variable substitution'''
+        file.write(self.substitute(text, subvars=subvars, trim_leading_lf=trim_leading_lf))
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py b/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py
new file mode 100644
index 000000000..faffa1c19
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python
+'''
+generate a MAVLink test suite
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+import sys, textwrap
+from optparse import OptionParser
+
+# mavparse is up a directory level
+sys.path.append('..')
+import mavparse
+
+def gen_value(f, i, language):
+    '''generate a test value for the ith field of a message'''
+    type = f.type
+
+    # could be an array
+    if type.find("[") != -1:
+        aidx = type.find("[")
+        basetype = type[0:aidx]
+        if basetype == "array":
+            basetype = "int8_t"
+        if language == 'C':
+            return '(const %s *)"%s%u"' % (basetype, f.name, i)
+        return '"%s%u"' % (f.name, i)
+
+    if type == 'float':
+        return 17.0 + i*7
+    if type == 'char':
+        return 'A' + i
+    if type == 'int8_t':
+        return 5 + i
+    if type in ['int8_t', 'uint8_t']:
+        return 5 + i
+    if type in ['uint8_t_mavlink_version']:
+        return 2
+    if type in ['int16_t', 'uint16_t']:
+        return 17235 + i*52
+    if type in ['int32_t', 'uint32_t']:
+        v = 963497464 + i*52
+        if language == 'C':
+            return "%sL" % v
+        return v
+    if type in ['int64_t', 'uint64_t']:
+        v = 9223372036854775807 + i*63
+        if language == 'C':
+            return "%sLL" % v
+        return v
+
+
+
+def generate_methods_python(outf, msgs):
+    outf.write("""
+'''
+MAVLink protocol test implementation (auto-generated by mavtestgen.py)
+
+Generated from: %s
+
+Note: this file has been auto-generated. DO NOT EDIT
+'''
+
+import mavlink
+
+def generate_outputs(mav):
+    '''generate all message types as outputs'''
+""")
+    for m in msgs:
+        if m.name == "HEARTBEAT": continue
+        outf.write("\tmav.%s_send(" % m.name.lower())
+        for i in range(0, len(m.fields)):
+            f = m.fields[i]
+            outf.write("%s=%s" % (f.name, gen_value(f, i, 'py')))
+            if i != len(m.fields)-1:
+                outf.write(",")
+        outf.write(")\n")
+
+
+def generate_methods_C(outf, msgs):
+    outf.write("""
+/*
+MAVLink protocol test implementation (auto-generated by mavtestgen.py)
+
+Generated from: %s
+
+Note: this file has been auto-generated. DO NOT EDIT
+*/
+
+static void mavtest_generate_outputs(mavlink_channel_t chan)
+{
+""")
+    for m in msgs:
+        if m.name == "HEARTBEAT": continue
+        outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower())
+        for i in range(0, len(m.fields)):
+            f = m.fields[i]
+            outf.write("%s" % gen_value(f, i, 'C'))
+            if i != len(m.fields)-1:
+                outf.write(",")
+        outf.write(");\n")
+    outf.write("}\n")
+
+
+
+######################################################################
+'''main program'''
+
+parser = OptionParser("%prog [options] <XML files>")
+parser.add_option("-o", "--output", dest="output", default="mavtest", help="output folder [default: %default]")
+(opts, args) = parser.parse_args()
+
+if len(args) < 1:
+    parser.error("You must supply at least one MAVLink XML protocol definition")
+    
+
+msgs = []
+enums = []
+
+for fname in args:
+    (m, e) = mavparse.parse_mavlink_xml(fname)
+    msgs.extend(m)
+    enums.extend(e)
+
+
+if mavparse.check_duplicates(msgs):
+    sys.exit(1)
+
+print("Found %u MAVLink message types" % len(msgs))
+
+print("Generating python %s" % (opts.output+'.py'))
+outf = open(opts.output + '.py', "w")
+generate_methods_python(outf, msgs)
+outf.close()
+
+print("Generating C %s" % (opts.output+'.h'))
+outf = open(opts.output + '.h', "w")
+generate_methods_C(outf, msgs)
+outf.close()
+
+print("Generated %s OK" % opts.output)
diff --git a/mavlink/share/pyshared/pymavlink/mavextra.py b/mavlink/share/pyshared/pymavlink/mavextra.py
new file mode 100644
index 000000000..5395f6036
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/mavextra.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python
+'''
+useful extra functions for use by mavlink clients
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+from math import *
+
+
+def kmh(mps):
+    '''convert m/s to Km/h'''
+    return mps*3.6
+
+def altitude(press_abs, ground_press=955.0, ground_temp=30):
+    '''calculate barometric altitude'''
+    return log(ground_press/press_abs)*(ground_temp+273.15)*29271.267*0.001
+
+
+def mag_heading(RAW_IMU, ATTITUDE, declination=0, SENSOR_OFFSETS=None, ofs=None):
+    '''calculate heading from raw magnetometer'''
+    mag_x = RAW_IMU.xmag
+    mag_y = RAW_IMU.ymag
+    mag_z = RAW_IMU.zmag
+    if SENSOR_OFFSETS is not None and ofs is not None:
+        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
+        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
+        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
+
+    headX = mag_x*cos(ATTITUDE.pitch) + mag_y*sin(ATTITUDE.roll)*sin(ATTITUDE.pitch) + mag_z*cos(ATTITUDE.roll)*sin(ATTITUDE.pitch)
+    headY = mag_y*cos(ATTITUDE.roll) - mag_z*sin(ATTITUDE.roll)
+    heading = degrees(atan2(-headY,headX)) + declination
+    if heading < 0:
+        heading += 360
+    return heading
+
+def mag_field(RAW_IMU, SENSOR_OFFSETS=None, ofs=None):
+    '''calculate magnetic field strength from raw magnetometer'''
+    mag_x = RAW_IMU.xmag
+    mag_y = RAW_IMU.ymag
+    mag_z = RAW_IMU.zmag
+    if SENSOR_OFFSETS is not None and ofs is not None:
+        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
+        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
+        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
+    return sqrt(mag_x**2 + mag_y**2 + mag_z**2)
+
+def angle_diff(angle1, angle2):
+    '''show the difference between two angles in degrees'''
+    ret = angle1 - angle2
+    if ret > 180:
+        ret -= 360;
+    if ret < -180:
+        ret += 360
+    return ret
+
+
+lowpass_data = {}
+
+def lowpass(var, key, factor):
+    '''a simple lowpass filter'''
+    global lowpass_data
+    if not key in lowpass_data:
+        lowpass_data[key] = var
+    else:
+        lowpass_data[key] = factor*lowpass_data[key] + (1.0 - factor)*var
+    return lowpass_data[key]
+
+last_delta = {}
+
+def delta(var, key):
+    '''calculate slope'''
+    global last_delta
+    dv = 0
+    if key in last_delta:
+        dv = var - last_delta[key]
+    last_delta[key] = var
+    return dv
+
+def delta_angle(var, key):
+    '''calculate slope of an angle'''
+    global last_delta
+    dv = 0
+    if key in last_delta:
+        dv = var - last_delta[key]
+    last_delta[key] = var
+    if dv > 180:
+        dv -= 360
+    if dv < -180:
+        dv += 360
+    return dv
+
+def roll_estimate(RAW_IMU,smooth=0.7):
+    '''estimate roll from accelerometer'''
+    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
+    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
+    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
+    return degrees(-asin(ry/sqrt(rx**2+ry**2+rz**2)))
+
+def pitch_estimate(RAW_IMU, smooth=0.7):
+    '''estimate pitch from accelerometer'''
+    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
+    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
+    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
+    return degrees(asin(rx/sqrt(rx**2+ry**2+rz**2)))
+
+def gravity(RAW_IMU, SENSOR_OFFSETS=None, ofs=None, smooth=0.7):
+    '''estimate pitch from accelerometer'''
+    rx = RAW_IMU.xacc
+    ry = RAW_IMU.yacc
+    rz = RAW_IMU.zacc+45
+    if SENSOR_OFFSETS is not None and ofs is not None:
+        rx += ofs[0] - SENSOR_OFFSETS.accel_cal_x
+        ry += ofs[1] - SENSOR_OFFSETS.accel_cal_y
+        rz += ofs[2] - SENSOR_OFFSETS.accel_cal_z
+    return lowpass(sqrt(rx**2+ry**2+rz**2)*0.01,'_gravity',smooth)
+
+
+
+def pitch_sim(SIMSTATE, GPS_RAW):
+    '''estimate pitch from SIMSTATE accels'''
+    xacc = SIMSTATE.xacc - lowpass(delta(GPS_RAW.v,"v")*6.6, "v", 0.9)
+    zacc = SIMSTATE.zacc
+    zacc += SIMSTATE.ygyro * GPS_RAW.v;
+    if xacc/zacc >= 1:
+        return 0
+    if xacc/zacc <= -1:
+        return -0
+    return degrees(-asin(xacc/zacc))
+
+def distance_two(GPS_RAW1, GPS_RAW2):
+    '''distance between two points'''
+    lat1 = radians(GPS_RAW1.lat)
+    lat2 = radians(GPS_RAW2.lat)
+    lon1 = radians(GPS_RAW1.lon)
+    lon2 = radians(GPS_RAW2.lon)
+    dLat = lat2 - lat1
+    dLon = lon2 - lon1
+
+    a = sin(0.5*dLat) * sin(0.5*dLat) + sin(0.5*dLon) * sin(0.5*dLon) * cos(lat1) * cos(lat2)
+    c = 2.0 * atan2(sqrt(a), sqrt(1.0-a))
+    return 6371 * 1000 * c
+
+
+first_fix = None
+
+def distance_home(GPS_RAW):
+    '''distance from first fix point'''
+    global first_fix
+    if first_fix == None or first_fix.fix_type < 2:
+        first_fix = GPS_RAW
+        return 0
+    return distance_two(GPS_RAW, first_fix)
diff --git a/mavlink/share/pyshared/pymavlink/mavlink.py b/mavlink/share/pyshared/pymavlink/mavlink.py
new file mode 100644
index 000000000..3287a921d
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/mavlink.py
@@ -0,0 +1,4930 @@
+'''
+MAVLink protocol implementation (auto-generated by mavgen.py)
+
+Generated from: ardupilotmega.xml,common.xml
+
+Note: this file has been auto-generated. DO NOT EDIT
+'''
+
+import struct, array, mavutil, time
+
+WIRE_PROTOCOL_VERSION = "0.9"
+
+class MAVLink_header(object):
+    '''MAVLink message header'''
+    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
+        self.mlen = mlen
+        self.seq = seq
+        self.srcSystem = srcSystem
+        self.srcComponent = srcComponent
+        self.msgId = msgId
+
+    def pack(self):
+        return struct.pack('BBBBBB', 85, self.mlen, self.seq,
+                          self.srcSystem, self.srcComponent, self.msgId)
+
+class MAVLink_message(object):
+    '''base MAVLink message class'''
+    def __init__(self, msgId, name):
+        self._header     = MAVLink_header(msgId)
+        self._payload    = None
+        self._msgbuf     = None
+        self._crc        = None
+        self._fieldnames = []
+        self._type       = name
+
+    def get_msgbuf(self):
+        return self._msgbuf
+
+    def get_header(self):
+        return self._header
+
+    def get_payload(self):
+        return self._payload
+
+    def get_crc(self):
+        return self._crc
+
+    def get_fieldnames(self):
+        return self._fieldnames
+
+    def get_type(self):
+        return self._type
+
+    def get_msgId(self):
+        return self._header.msgId
+
+    def get_srcSystem(self):
+        return self._header.srcSystem
+
+    def get_srcComponent(self):
+        return self._header.srcComponent
+
+    def get_seq(self):
+        return self._header.seq
+
+    def __str__(self):
+        ret = '%s {' % self._type
+        for a in self._fieldnames:
+            v = getattr(self, a)
+            ret += '%s : %s, ' % (a, v)
+        ret = ret[0:-2] + '}'
+        return ret            
+
+    def pack(self, mav, crc_extra, payload):
+        self._payload = payload
+        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
+                                       mav.srcSystem, mav.srcComponent)
+        self._msgbuf = self._header.pack() + payload
+        crc = mavutil.x25crc(self._msgbuf[1:])
+        if False: # using CRC extra
+            crc.accumulate(chr(crc_extra))
+        self._crc = crc.crc
+        self._msgbuf += struct.pack('<H', self._crc)
+        return self._msgbuf
+
+
+# enums
+
+# MAV_MOUNT_MODE
+MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop
+                        # stabilization
+MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.
+MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with
+                        # stabilization
+MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with
+                        # stabilization
+MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt
+MAV_MOUNT_MODE_ENUM_END = 5 # 
+
+# MAV_CMD
+MAV_CMD_NAV_WAYPOINT = 16 # Navigate to waypoint.
+MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this waypoint an unlimited amount of time
+MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this waypoint for X turns
+MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this waypoint for X seconds
+MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
+MAV_CMD_NAV_LAND = 21 # Land at location
+MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
+MAV_CMD_NAV_ROI = 80 # 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.
+MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
+MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
+                        # NAV/ACTION commands in the enumeration
+MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
+MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate.  Delay mission state machine until desired
+                        # altitude reached.
+MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
+                        # point.
+MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
+MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
+                        # CONDITION commands in the enumeration
+MAV_CMD_DO_SET_MODE = 176 # Set system mode.
+MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list.  Repeat this action
+                        # only the specified number of times
+MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
+MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
+                        # specified location.
+MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter.  Caution!  Use of this command requires
+                        # knowledge of the numeric enumeration value
+                        # of the parameter.
+MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
+MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
+                        # period.
+MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
+MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
+                        # number of cycles with a desired period.
+MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera capturing.
+MAV_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the
+                        # vehicle itself. This can then be used by the
+                        # vehicles control                     system
+                        # to control the vehicle attitude and the
+                        # attitude of various
+                        # devices such as cameras.
+MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system.
+MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system.
+MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount
+MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount
+MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
+                        # commands in the enumeration
+MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
+                        # flight mode.
+MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
+                        # will be only accepted if in pre-flight mode.
+MAV_CMD_ENUM_END = 246 # 
+
+# FENCE_ACTION
+FENCE_ACTION_NONE = 0 # Disable fenced mode
+FENCE_ACTION_GUIDED = 1 # Switched to guided mode to return point (fence point 0)
+FENCE_ACTION_ENUM_END = 2 # 
+
+# FENCE_BREACH
+FENCE_BREACH_NONE = 0 # No last fence breach
+FENCE_BREACH_MINALT = 1 # Breached minimum altitude
+FENCE_BREACH_MAXALT = 2 # Breached minimum altitude
+FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary
+FENCE_BREACH_ENUM_END = 4 # 
+
+# MAV_DATA_STREAM
+MAV_DATA_STREAM_ALL = 0 # Enable all data streams
+MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
+MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
+MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
+MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
+                        # NAV_CONTROLLER_OUTPUT.
+MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
+MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
+MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
+MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
+MAV_DATA_STREAM_ENUM_END = 13 # 
+
+# MAV_ROI
+MAV_ROI_NONE = 0 # No region of interest.
+MAV_ROI_WPNEXT = 1 # Point toward next waypoint.
+MAV_ROI_WPINDEX = 2 # Point toward given waypoint.
+MAV_ROI_LOCATION = 3 # Point toward fixed location.
+MAV_ROI_TARGET = 4 # Point toward of given id.
+MAV_ROI_ENUM_END = 5 # 
+
+# message IDs
+MAVLINK_MSG_ID_BAD_DATA = -1
+MAVLINK_MSG_ID_SENSOR_OFFSETS = 150
+MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151
+MAVLINK_MSG_ID_MEMINFO = 152
+MAVLINK_MSG_ID_AP_ADC = 153
+MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154
+MAVLINK_MSG_ID_DIGICAM_CONTROL = 155
+MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156
+MAVLINK_MSG_ID_MOUNT_CONTROL = 157
+MAVLINK_MSG_ID_MOUNT_STATUS = 158
+MAVLINK_MSG_ID_FENCE_POINT = 160
+MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161
+MAVLINK_MSG_ID_FENCE_STATUS = 162
+MAVLINK_MSG_ID_AHRS = 163
+MAVLINK_MSG_ID_SIMSTATE = 164
+MAVLINK_MSG_ID_HWSTATUS = 165
+MAVLINK_MSG_ID_RADIO = 166
+MAVLINK_MSG_ID_HEARTBEAT = 0
+MAVLINK_MSG_ID_BOOT = 1
+MAVLINK_MSG_ID_SYSTEM_TIME = 2
+MAVLINK_MSG_ID_PING = 3
+MAVLINK_MSG_ID_SYSTEM_TIME_UTC = 4
+MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
+MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
+MAVLINK_MSG_ID_AUTH_KEY = 7
+MAVLINK_MSG_ID_ACTION_ACK = 9
+MAVLINK_MSG_ID_ACTION = 10
+MAVLINK_MSG_ID_SET_MODE = 11
+MAVLINK_MSG_ID_SET_NAV_MODE = 12
+MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
+MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
+MAVLINK_MSG_ID_PARAM_VALUE = 22
+MAVLINK_MSG_ID_PARAM_SET = 23
+MAVLINK_MSG_ID_GPS_RAW_INT = 25
+MAVLINK_MSG_ID_SCALED_IMU = 26
+MAVLINK_MSG_ID_GPS_STATUS = 27
+MAVLINK_MSG_ID_RAW_IMU = 28
+MAVLINK_MSG_ID_RAW_PRESSURE = 29
+MAVLINK_MSG_ID_SCALED_PRESSURE = 38
+MAVLINK_MSG_ID_ATTITUDE = 30
+MAVLINK_MSG_ID_LOCAL_POSITION = 31
+MAVLINK_MSG_ID_GLOBAL_POSITION = 33
+MAVLINK_MSG_ID_GPS_RAW = 32
+MAVLINK_MSG_ID_SYS_STATUS = 34
+MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
+MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 36
+MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 37
+MAVLINK_MSG_ID_WAYPOINT = 39
+MAVLINK_MSG_ID_WAYPOINT_REQUEST = 40
+MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT = 41
+MAVLINK_MSG_ID_WAYPOINT_CURRENT = 42
+MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST = 43
+MAVLINK_MSG_ID_WAYPOINT_COUNT = 44
+MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL = 45
+MAVLINK_MSG_ID_WAYPOINT_REACHED = 46
+MAVLINK_MSG_ID_WAYPOINT_ACK = 47
+MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN = 48
+MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET = 49
+MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET = 50
+MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
+MAVLINK_MSG_ID_CONTROL_STATUS = 52
+MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 53
+MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 54
+MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 55
+MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 56
+MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 57
+MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 58
+MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
+MAVLINK_MSG_ID_POSITION_TARGET = 63
+MAVLINK_MSG_ID_STATE_CORRECTION = 64
+MAVLINK_MSG_ID_SET_ALTITUDE = 65
+MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
+MAVLINK_MSG_ID_HIL_STATE = 67
+MAVLINK_MSG_ID_HIL_CONTROLS = 68
+MAVLINK_MSG_ID_MANUAL_CONTROL = 69
+MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
+MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 73
+MAVLINK_MSG_ID_VFR_HUD = 74
+MAVLINK_MSG_ID_COMMAND = 75
+MAVLINK_MSG_ID_COMMAND_ACK = 76
+MAVLINK_MSG_ID_OPTICAL_FLOW = 100
+MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT = 140
+MAVLINK_MSG_ID_DEBUG_VECT = 251
+MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 252
+MAVLINK_MSG_ID_NAMED_VALUE_INT = 253
+MAVLINK_MSG_ID_STATUSTEXT = 254
+MAVLINK_MSG_ID_DEBUG = 255
+
+class MAVLink_sensor_offsets_message(MAVLink_message):
+        '''
+        Offsets and calibrations values for hardware         sensors.
+        This makes it easier to debug the calibration process.
+        '''
+        def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS')
+                self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z']
+                self.mag_ofs_x = mag_ofs_x
+                self.mag_ofs_y = mag_ofs_y
+                self.mag_ofs_z = mag_ofs_z
+                self.mag_declination = mag_declination
+                self.raw_press = raw_press
+                self.raw_temp = raw_temp
+                self.gyro_cal_x = gyro_cal_x
+                self.gyro_cal_y = gyro_cal_y
+                self.gyro_cal_z = gyro_cal_z
+                self.accel_cal_x = accel_cal_x
+                self.accel_cal_y = accel_cal_y
+                self.accel_cal_z = accel_cal_z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 143, struct.pack('>hhhfiiffffff', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z))
+
+class MAVLink_set_mag_offsets_message(MAVLink_message):
+        '''
+        set the magnetometer offsets
+        '''
+        def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS')
+                self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mag_ofs_x = mag_ofs_x
+                self.mag_ofs_y = mag_ofs_y
+                self.mag_ofs_z = mag_ofs_z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 29, struct.pack('>BBhhh', self.target_system, self.target_component, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z))
+
+class MAVLink_meminfo_message(MAVLink_message):
+        '''
+        state of APM memory
+        '''
+        def __init__(self, brkval, freemem):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO')
+                self._fieldnames = ['brkval', 'freemem']
+                self.brkval = brkval
+                self.freemem = freemem
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 208, struct.pack('>HH', self.brkval, self.freemem))
+
+class MAVLink_ap_adc_message(MAVLink_message):
+        '''
+        raw ADC output
+        '''
+        def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC')
+                self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6']
+                self.adc1 = adc1
+                self.adc2 = adc2
+                self.adc3 = adc3
+                self.adc4 = adc4
+                self.adc5 = adc5
+                self.adc6 = adc6
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 188, struct.pack('>HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6))
+
+class MAVLink_digicam_configure_message(MAVLink_message):
+        '''
+        Configure on-board Camera Control System.
+        '''
+        def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE')
+                self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mode = mode
+                self.shutter_speed = shutter_speed
+                self.aperture = aperture
+                self.iso = iso
+                self.exposure_type = exposure_type
+                self.command_id = command_id
+                self.engine_cut_off = engine_cut_off
+                self.extra_param = extra_param
+                self.extra_value = extra_value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 118, struct.pack('>BBBHBBBBBBf', self.target_system, self.target_component, self.mode, self.shutter_speed, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param, self.extra_value))
+
+class MAVLink_digicam_control_message(MAVLink_message):
+        '''
+        Control on-board Camera Control System to take shots.
+        '''
+        def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL')
+                self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.session = session
+                self.zoom_pos = zoom_pos
+                self.zoom_step = zoom_step
+                self.focus_lock = focus_lock
+                self.shot = shot
+                self.command_id = command_id
+                self.extra_param = extra_param
+                self.extra_value = extra_value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 242, struct.pack('>BBBBbBBBBf', self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param, self.extra_value))
+
+class MAVLink_mount_configure_message(MAVLink_message):
+        '''
+        Message to configure a camera mount, directional antenna, etc.
+        '''
+        def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE')
+                self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mount_mode = mount_mode
+                self.stab_roll = stab_roll
+                self.stab_pitch = stab_pitch
+                self.stab_yaw = stab_yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 19, struct.pack('>BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw))
+
+class MAVLink_mount_control_message(MAVLink_message):
+        '''
+        Message to control a camera mount, directional antenna, etc.
+        '''
+        def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL')
+                self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.input_a = input_a
+                self.input_b = input_b
+                self.input_c = input_c
+                self.save_position = save_position
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 97, struct.pack('>BBiiiB', self.target_system, self.target_component, self.input_a, self.input_b, self.input_c, self.save_position))
+
+class MAVLink_mount_status_message(MAVLink_message):
+        '''
+        Message with some status from APM to GCS about camera or
+        antenna mount
+        '''
+        def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS')
+                self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.pointing_a = pointing_a
+                self.pointing_b = pointing_b
+                self.pointing_c = pointing_c
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 233, struct.pack('>BBiii', self.target_system, self.target_component, self.pointing_a, self.pointing_b, self.pointing_c))
+
+class MAVLink_fence_point_message(MAVLink_message):
+        '''
+        A fence point. Used to set a point when from               GCS
+        -> MAV. Also used to return a point from MAV -> GCS
+        '''
+        def __init__(self, target_system, target_component, idx, count, lat, lng):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT')
+                self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.idx = idx
+                self.count = count
+                self.lat = lat
+                self.lng = lng
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 18, struct.pack('>BBBBff', self.target_system, self.target_component, self.idx, self.count, self.lat, self.lng))
+
+class MAVLink_fence_fetch_point_message(MAVLink_message):
+        '''
+        Request a current fence point from MAV
+        '''
+        def __init__(self, target_system, target_component, idx):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT')
+                self._fieldnames = ['target_system', 'target_component', 'idx']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.idx = idx
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 68, struct.pack('>BBB', self.target_system, self.target_component, self.idx))
+
+class MAVLink_fence_status_message(MAVLink_message):
+        '''
+        Status of geo-fencing. Sent in extended             status
+        stream when fencing enabled
+        '''
+        def __init__(self, breach_status, breach_count, breach_type, breach_time):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS')
+                self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time']
+                self.breach_status = breach_status
+                self.breach_count = breach_count
+                self.breach_type = breach_type
+                self.breach_time = breach_time
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 136, struct.pack('>BHBI', self.breach_status, self.breach_count, self.breach_type, self.breach_time))
+
+class MAVLink_ahrs_message(MAVLink_message):
+        '''
+        Status of DCM attitude estimator
+        '''
+        def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS')
+                self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw']
+                self.omegaIx = omegaIx
+                self.omegaIy = omegaIy
+                self.omegaIz = omegaIz
+                self.accel_weight = accel_weight
+                self.renorm_val = renorm_val
+                self.error_rp = error_rp
+                self.error_yaw = error_yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 127, struct.pack('>fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw))
+
+class MAVLink_simstate_message(MAVLink_message):
+        '''
+        Status of simulation environment, if used
+        '''
+        def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE')
+                self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro']
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 42, struct.pack('>fffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro))
+
+class MAVLink_hwstatus_message(MAVLink_message):
+        '''
+        Status of key hardware
+        '''
+        def __init__(self, Vcc, I2Cerr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS')
+                self._fieldnames = ['Vcc', 'I2Cerr']
+                self.Vcc = Vcc
+                self.I2Cerr = I2Cerr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('>HB', self.Vcc, self.I2Cerr))
+
+class MAVLink_radio_message(MAVLink_message):
+        '''
+        Status generated by radio
+        '''
+        def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO')
+                self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed']
+                self.rssi = rssi
+                self.remrssi = remrssi
+                self.txbuf = txbuf
+                self.noise = noise
+                self.remnoise = remnoise
+                self.rxerrors = rxerrors
+                self.fixed = fixed
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 93, struct.pack('>BBBBBHH', self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise, self.rxerrors, self.fixed))
+
+class MAVLink_heartbeat_message(MAVLink_message):
+        '''
+        The heartbeat message shows that a system is present and
+        responding. The type of the MAV and Autopilot hardware allow
+        the receiving system to treat further messages from this
+        system appropriate (e.g. by laying out the user interface
+        based on the autopilot).
+        '''
+        def __init__(self, type, autopilot, mavlink_version):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
+                self._fieldnames = ['type', 'autopilot', 'mavlink_version']
+                self.type = type
+                self.autopilot = autopilot
+                self.mavlink_version = mavlink_version
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 72, struct.pack('>BBB', self.type, self.autopilot, self.mavlink_version))
+
+class MAVLink_boot_message(MAVLink_message):
+        '''
+        The boot message indicates that a system is starting. The
+        onboard software version allows to keep track of onboard
+        soft/firmware revisions.
+        '''
+        def __init__(self, version):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BOOT, 'BOOT')
+                self._fieldnames = ['version']
+                self.version = version
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 39, struct.pack('>I', self.version))
+
+class MAVLink_system_time_message(MAVLink_message):
+        '''
+        The system time is the time of the master clock, typically the
+        computer clock of the main onboard computer.
+        '''
+        def __init__(self, time_usec):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
+                self._fieldnames = ['time_usec']
+                self.time_usec = time_usec
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 190, struct.pack('>Q', self.time_usec))
+
+class MAVLink_ping_message(MAVLink_message):
+        '''
+        A ping message either requesting or responding to a ping. This
+        allows to measure the system latencies, including serial port,
+        radio modem and UDP connections.
+        '''
+        def __init__(self, seq, target_system, target_component, time):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
+                self._fieldnames = ['seq', 'target_system', 'target_component', 'time']
+                self.seq = seq
+                self.target_system = target_system
+                self.target_component = target_component
+                self.time = time
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 92, struct.pack('>IBBQ', self.seq, self.target_system, self.target_component, self.time))
+
+class MAVLink_system_time_utc_message(MAVLink_message):
+        '''
+        UTC date and time from GPS module
+        '''
+        def __init__(self, utc_date, utc_time):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, 'SYSTEM_TIME_UTC')
+                self._fieldnames = ['utc_date', 'utc_time']
+                self.utc_date = utc_date
+                self.utc_time = utc_time
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 191, struct.pack('>II', self.utc_date, self.utc_time))
+
+class MAVLink_change_operator_control_message(MAVLink_message):
+        '''
+        Request to control this MAV
+        '''
+        def __init__(self, target_system, control_request, version, passkey):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
+                self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
+                self.target_system = target_system
+                self.control_request = control_request
+                self.version = version
+                self.passkey = passkey
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 217, struct.pack('>BBB25s', self.target_system, self.control_request, self.version, self.passkey))
+
+class MAVLink_change_operator_control_ack_message(MAVLink_message):
+        '''
+        Accept / deny control of this MAV
+        '''
+        def __init__(self, gcs_system_id, control_request, ack):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
+                self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
+                self.gcs_system_id = gcs_system_id
+                self.control_request = control_request
+                self.ack = ack
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 104, struct.pack('>BBB', self.gcs_system_id, self.control_request, self.ack))
+
+class MAVLink_auth_key_message(MAVLink_message):
+        '''
+        Emit an encrypted signature / key identifying this system.
+        PLEASE NOTE: This protocol has been kept simple, so
+        transmitting the key requires an encrypted channel for true
+        safety.
+        '''
+        def __init__(self, key):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
+                self._fieldnames = ['key']
+                self.key = key
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 119, struct.pack('>32s', self.key))
+
+class MAVLink_action_ack_message(MAVLink_message):
+        '''
+        This message acknowledges an action. IMPORTANT: The
+        acknowledgement can be also negative, e.g. the MAV rejects a
+        reset message because it is in-flight. The action ids are
+        defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h
+        '''
+        def __init__(self, action, result):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION_ACK, 'ACTION_ACK')
+                self._fieldnames = ['action', 'result']
+                self.action = action
+                self.result = result
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 219, struct.pack('>BB', self.action, self.result))
+
+class MAVLink_action_message(MAVLink_message):
+        '''
+        An action message allows to execute a certain onboard action.
+        These include liftoff, land, storing parameters too EEPROM,
+        shutddown, etc. The action ids are defined in ENUM MAV_ACTION
+        in mavlink/include/mavlink_types.h
+        '''
+        def __init__(self, target, target_component, action):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION, 'ACTION')
+                self._fieldnames = ['target', 'target_component', 'action']
+                self.target = target
+                self.target_component = target_component
+                self.action = action
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 60, struct.pack('>BBB', self.target, self.target_component, self.action))
+
+class MAVLink_set_mode_message(MAVLink_message):
+        '''
+        Set the system mode, as defined by enum MAV_MODE in
+        mavlink/include/mavlink_types.h. There is no target component
+        id as the mode is by definition for the overall aircraft, not
+        only for one component.
+        '''
+        def __init__(self, target, mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
+                self._fieldnames = ['target', 'mode']
+                self.target = target
+                self.mode = mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 186, struct.pack('>BB', self.target, self.mode))
+
+class MAVLink_set_nav_mode_message(MAVLink_message):
+        '''
+        Set the system navigation mode, as defined by enum
+        MAV_NAV_MODE in mavlink/include/mavlink_types.h. The
+        navigation mode applies to the whole aircraft and thus all
+        components.
+        '''
+        def __init__(self, target, nav_mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_NAV_MODE, 'SET_NAV_MODE')
+                self._fieldnames = ['target', 'nav_mode']
+                self.target = target
+                self.nav_mode = nav_mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 10, struct.pack('>BB', self.target, self.nav_mode))
+
+class MAVLink_param_request_read_message(MAVLink_message):
+        '''
+        Request to read the onboard parameter with the param_id string
+        id. Onboard parameters are stored as key[const char*] ->
+        value[float]. This allows to send a parameter to any other
+        component (such as the GCS) without the need of previous
+        knowledge of possible parameter names. Thus the same GCS can
+        store different parameters for different autopilots. See also
+        http://qgroundcontrol.org/parameter_interface for a full
+        documentation of QGroundControl and IMU code.
+        '''
+        def __init__(self, target_system, target_component, param_id, param_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
+                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.param_id = param_id
+                self.param_index = param_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 89, struct.pack('>BB15sh', self.target_system, self.target_component, self.param_id, self.param_index))
+
+class MAVLink_param_request_list_message(MAVLink_message):
+        '''
+        Request all parameters of this component. After his request,
+        all parameters are emitted.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 159, struct.pack('>BB', self.target_system, self.target_component))
+
+class MAVLink_param_value_message(MAVLink_message):
+        '''
+        Emit the value of a onboard parameter. The inclusion of
+        param_count and param_index in the message allows the
+        recipient to keep track of received parameters and allows him
+        to re-request missing parameters after a loss or timeout.
+        '''
+        def __init__(self, param_id, param_value, param_count, param_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
+                self._fieldnames = ['param_id', 'param_value', 'param_count', 'param_index']
+                self.param_id = param_id
+                self.param_value = param_value
+                self.param_count = param_count
+                self.param_index = param_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 162, struct.pack('>15sfHH', self.param_id, self.param_value, self.param_count, self.param_index))
+
+class MAVLink_param_set_message(MAVLink_message):
+        '''
+        Set a parameter value TEMPORARILY to RAM. It will be reset to
+        default on system reboot. Send the ACTION
+        MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
+        to EEPROM. IMPORTANT: The receiving component should
+        acknowledge the new parameter value by sending a param_value
+        message to all communication partners. This will also ensure
+        that multiple GCS all have an up-to-date list of all
+        parameters. If the sending GCS did not receive a PARAM_VALUE
+        message within its timeout time, it should re-send the
+        PARAM_SET message.
+        '''
+        def __init__(self, target_system, target_component, param_id, param_value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
+                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.param_id = param_id
+                self.param_value = param_value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 121, struct.pack('>BB15sf', self.target_system, self.target_component, self.param_id, self.param_value))
+
+class MAVLink_gps_raw_int_message(MAVLink_message):
+        '''
+        The global position, as returned by the Global Positioning
+        System (GPS). This is NOT the global position estimate of the
+        sytem, but rather a RAW sensor value. See message
+        GLOBAL_POSITION for the global position estimate. Coordinate
+        frame is right-handed, Z-axis up (GPS frame)
+        '''
+        def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
+                self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg']
+                self.usec = usec
+                self.fix_type = fix_type
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.eph = eph
+                self.epv = epv
+                self.v = v
+                self.hdg = hdg
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 149, struct.pack('>QBiiiffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg))
+
+class MAVLink_scaled_imu_message(MAVLink_message):
+        '''
+        The RAW IMU readings for the usual 9DOF sensor setup. This
+        message should contain the scaled values to the described
+        units
+        '''
+        def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
+                self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
+                self.usec = usec
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+                self.xmag = xmag
+                self.ymag = ymag
+                self.zmag = zmag
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 222, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
+
+class MAVLink_gps_status_message(MAVLink_message):
+        '''
+        The positioning status, as reported by GPS. This message is
+        intended to display status information about each satellite
+        visible to the receiver. See message GLOBAL_POSITION for the
+        global position estimate. This message can contain information
+        for up to 20 satellites.
+        '''
+        def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
+                self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
+                self.satellites_visible = satellites_visible
+                self.satellite_prn = satellite_prn
+                self.satellite_used = satellite_used
+                self.satellite_elevation = satellite_elevation
+                self.satellite_azimuth = satellite_azimuth
+                self.satellite_snr = satellite_snr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 110, struct.pack('>B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
+
+class MAVLink_raw_imu_message(MAVLink_message):
+        '''
+        The RAW IMU readings for the usual 9DOF sensor setup. This
+        message should always contain the true raw values without any
+        scaling to allow data capture and system debugging.
+        '''
+        def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
+                self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
+                self.usec = usec
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+                self.xmag = xmag
+                self.ymag = ymag
+                self.zmag = zmag
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 179, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
+
+class MAVLink_raw_pressure_message(MAVLink_message):
+        '''
+        The RAW pressure readings for the typical setup of one
+        absolute pressure and one differential pressure sensor. The
+        sensor values should be the raw, UNSCALED ADC values.
+        '''
+        def __init__(self, usec, press_abs, press_diff1, press_diff2, temperature):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
+                self._fieldnames = ['usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
+                self.usec = usec
+                self.press_abs = press_abs
+                self.press_diff1 = press_diff1
+                self.press_diff2 = press_diff2
+                self.temperature = temperature
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 136, struct.pack('>Qhhhh', self.usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
+
+class MAVLink_scaled_pressure_message(MAVLink_message):
+        '''
+        The pressure readings for the typical setup of one absolute
+        and differential pressure sensor. The units are as specified
+        in each field.
+        '''
+        def __init__(self, usec, press_abs, press_diff, temperature):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
+                self._fieldnames = ['usec', 'press_abs', 'press_diff', 'temperature']
+                self.usec = usec
+                self.press_abs = press_abs
+                self.press_diff = press_diff
+                self.temperature = temperature
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 229, struct.pack('>Qffh', self.usec, self.press_abs, self.press_diff, self.temperature))
+
+class MAVLink_attitude_message(MAVLink_message):
+        '''
+        The attitude in the aeronautical frame (right-handed, Z-down,
+        X-front, Y-right).
+        '''
+        def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
+                self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
+                self.usec = usec
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.rollspeed = rollspeed
+                self.pitchspeed = pitchspeed
+                self.yawspeed = yawspeed
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 66, struct.pack('>Qffffff', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
+
+class MAVLink_local_position_message(MAVLink_message):
+        '''
+        The filtered local position (e.g. fused computer vision and
+        accelerometers). Coordinate frame is right-handed, Z-axis down
+        (aeronautical frame)
+        '''
+        def __init__(self, usec, x, y, z, vx, vy, vz):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION, 'LOCAL_POSITION')
+                self._fieldnames = ['usec', 'x', 'y', 'z', 'vx', 'vy', 'vz']
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 126, struct.pack('>Qffffff', self.usec, self.x, self.y, self.z, self.vx, self.vy, self.vz))
+
+class MAVLink_global_position_message(MAVLink_message):
+        '''
+        The filtered global position (e.g. fused GPS and
+        accelerometers). Coordinate frame is right-handed, Z-axis up
+        (GPS frame)
+        '''
+        def __init__(self, usec, lat, lon, alt, vx, vy, vz):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION, 'GLOBAL_POSITION')
+                self._fieldnames = ['usec', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz']
+                self.usec = usec
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 147, struct.pack('>Qffffff', self.usec, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz))
+
+class MAVLink_gps_raw_message(MAVLink_message):
+        '''
+        The global position, as returned by the Global Positioning
+        System (GPS). This is NOT the global position estimate of the
+        sytem, but rather a RAW sensor value. See message
+        GLOBAL_POSITION for the global position estimate. Coordinate
+        frame is right-handed, Z-axis up (GPS frame)
+        '''
+        def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW, 'GPS_RAW')
+                self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg']
+                self.usec = usec
+                self.fix_type = fix_type
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.eph = eph
+                self.epv = epv
+                self.v = v
+                self.hdg = hdg
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 185, struct.pack('>QBfffffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg))
+
+class MAVLink_sys_status_message(MAVLink_message):
+        '''
+        The general system state. If the system is following the
+        MAVLink standard, the system state is mainly defined by three
+        orthogonal states/modes: The system mode, which is either
+        LOCKED (motors shut down and locked), MANUAL (system under RC
+        control), GUIDED (system with autonomous position control,
+        position setpoint controlled manually) or AUTO (system guided
+        by path/waypoint planner). The NAV_MODE defined the current
+        flight state: LIFTOFF (often an open-loop maneuver), LANDING,
+        WAYPOINTS or VECTOR. This represents the internal navigation
+        state machine. The system status shows wether the system is
+        currently active or not and if an emergency occured. During
+        the CRITICAL and EMERGENCY states the MAV is still considered
+        to be active, but should start emergency procedures
+        autonomously. After a failure occured it should first move
+        from active to critical to allow manual intervention and then
+        move to emergency after a certain timeout.
+        '''
+        def __init__(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
+                self._fieldnames = ['mode', 'nav_mode', 'status', 'load', 'vbat', 'battery_remaining', 'packet_drop']
+                self.mode = mode
+                self.nav_mode = nav_mode
+                self.status = status
+                self.load = load
+                self.vbat = vbat
+                self.battery_remaining = battery_remaining
+                self.packet_drop = packet_drop
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 112, struct.pack('>BBBHHHH', self.mode, self.nav_mode, self.status, self.load, self.vbat, self.battery_remaining, self.packet_drop))
+
+class MAVLink_rc_channels_raw_message(MAVLink_message):
+        '''
+        The RAW values of the RC channels received. The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%. Individual receivers/transmitters might
+        violate this specification.
+        '''
+        def __init__(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
+                self._fieldnames = ['chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
+                self.chan1_raw = chan1_raw
+                self.chan2_raw = chan2_raw
+                self.chan3_raw = chan3_raw
+                self.chan4_raw = chan4_raw
+                self.chan5_raw = chan5_raw
+                self.chan6_raw = chan6_raw
+                self.chan7_raw = chan7_raw
+                self.chan8_raw = chan8_raw
+                self.rssi = rssi
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 252, struct.pack('>HHHHHHHHB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.rssi))
+
+class MAVLink_rc_channels_scaled_message(MAVLink_message):
+        '''
+        The scaled values of the RC channels received. (-100%) -10000,
+        (0%) 0, (100%) 10000
+        '''
+        def __init__(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
+                self._fieldnames = ['chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
+                self.chan1_scaled = chan1_scaled
+                self.chan2_scaled = chan2_scaled
+                self.chan3_scaled = chan3_scaled
+                self.chan4_scaled = chan4_scaled
+                self.chan5_scaled = chan5_scaled
+                self.chan6_scaled = chan6_scaled
+                self.chan7_scaled = chan7_scaled
+                self.chan8_scaled = chan8_scaled
+                self.rssi = rssi
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 162, struct.pack('>hhhhhhhhB', self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.rssi))
+
+class MAVLink_servo_output_raw_message(MAVLink_message):
+        '''
+        The RAW values of the servo outputs (for RC input from the
+        remote, use the RC_CHANNELS messages). The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%.
+        '''
+        def __init__(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW')
+                self._fieldnames = ['servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw']
+                self.servo1_raw = servo1_raw
+                self.servo2_raw = servo2_raw
+                self.servo3_raw = servo3_raw
+                self.servo4_raw = servo4_raw
+                self.servo5_raw = servo5_raw
+                self.servo6_raw = servo6_raw
+                self.servo7_raw = servo7_raw
+                self.servo8_raw = servo8_raw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 215, struct.pack('>HHHHHHHH', self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw))
+
+class MAVLink_waypoint_message(MAVLink_message):
+        '''
+        Message encoding a waypoint. This message is emitted to
+        announce      the presence of a waypoint and to set a waypoint
+        on the system. The waypoint can be either in x, y, z meters
+        (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is
+        Z-down, right handed, global frame is Z-up, right handed
+        '''
+        def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT, 'WAYPOINT')
+                self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+                self.frame = frame
+                self.command = command
+                self.current = current
+                self.autocontinue = autocontinue
+                self.param1 = param1
+                self.param2 = param2
+                self.param3 = param3
+                self.param4 = param4
+                self.x = x
+                self.y = y
+                self.z = z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 128, struct.pack('>BBHBBBBfffffff', self.target_system, self.target_component, self.seq, self.frame, self.command, self.current, self.autocontinue, self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z))
+
+class MAVLink_waypoint_request_message(MAVLink_message):
+        '''
+        Request the information of the waypoint with the sequence
+        number seq. The response of the system to this message should
+        be a WAYPOINT message.
+        '''
+        def __init__(self, target_system, target_component, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST, 'WAYPOINT_REQUEST')
+                self._fieldnames = ['target_system', 'target_component', 'seq']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 9, struct.pack('>BBH', self.target_system, self.target_component, self.seq))
+
+class MAVLink_waypoint_set_current_message(MAVLink_message):
+        '''
+        Set the waypoint with sequence number seq as current waypoint.
+        This means that the MAV will continue to this waypoint on the
+        shortest path (not following the waypoints in-between).
+        '''
+        def __init__(self, target_system, target_component, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, 'WAYPOINT_SET_CURRENT')
+                self._fieldnames = ['target_system', 'target_component', 'seq']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 106, struct.pack('>BBH', self.target_system, self.target_component, self.seq))
+
+class MAVLink_waypoint_current_message(MAVLink_message):
+        '''
+        Message that announces the sequence number of the current
+        active waypoint. The MAV will fly towards this waypoint.
+        '''
+        def __init__(self, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CURRENT, 'WAYPOINT_CURRENT')
+                self._fieldnames = ['seq']
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 101, struct.pack('>H', self.seq))
+
+class MAVLink_waypoint_request_list_message(MAVLink_message):
+        '''
+        Request the overall list of waypoints from the
+        system/component.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, 'WAYPOINT_REQUEST_LIST')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 213, struct.pack('>BB', self.target_system, self.target_component))
+
+class MAVLink_waypoint_count_message(MAVLink_message):
+        '''
+        This message is emitted as response to WAYPOINT_REQUEST_LIST
+        by the MAV. The GCS can then request the individual waypoints
+        based on the knowledge of the total number of waypoints.
+        '''
+        def __init__(self, target_system, target_component, count):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_COUNT, 'WAYPOINT_COUNT')
+                self._fieldnames = ['target_system', 'target_component', 'count']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.count = count
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 4, struct.pack('>BBH', self.target_system, self.target_component, self.count))
+
+class MAVLink_waypoint_clear_all_message(MAVLink_message):
+        '''
+        Delete all waypoints at once.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, 'WAYPOINT_CLEAR_ALL')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 229, struct.pack('>BB', self.target_system, self.target_component))
+
+class MAVLink_waypoint_reached_message(MAVLink_message):
+        '''
+        A certain waypoint has been reached. The system will either
+        hold this position (or circle on the orbit) or (if the
+        autocontinue on the WP was set) continue to the next waypoint.
+        '''
+        def __init__(self, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REACHED, 'WAYPOINT_REACHED')
+                self._fieldnames = ['seq']
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('>H', self.seq))
+
+class MAVLink_waypoint_ack_message(MAVLink_message):
+        '''
+        Ack message during waypoint handling. The type field states if
+        this message is a positive ack (type=0) or if an error
+        happened (type=non-zero).
+        '''
+        def __init__(self, target_system, target_component, type):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_ACK, 'WAYPOINT_ACK')
+                self._fieldnames = ['target_system', 'target_component', 'type']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.type = type
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 214, struct.pack('>BBB', self.target_system, self.target_component, self.type))
+
+class MAVLink_gps_set_global_origin_message(MAVLink_message):
+        '''
+        As local waypoints exist, the global waypoint reference allows
+        to transform between the local coordinate frame and the global
+        (GPS) coordinate frame. This can be necessary when e.g. in-
+        and outdoor settings are connected and the MAV should move
+        from in- to outdoor.
+        '''
+        def __init__(self, target_system, target_component, latitude, longitude, altitude):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, 'GPS_SET_GLOBAL_ORIGIN')
+                self._fieldnames = ['target_system', 'target_component', 'latitude', 'longitude', 'altitude']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 215, struct.pack('>BBiii', self.target_system, self.target_component, self.latitude, self.longitude, self.altitude))
+
+class MAVLink_gps_local_origin_set_message(MAVLink_message):
+        '''
+        Once the MAV sets a new GPS-Local correspondence, this message
+        announces the origin (0,0,0) position
+        '''
+        def __init__(self, latitude, longitude, altitude):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, 'GPS_LOCAL_ORIGIN_SET')
+                self._fieldnames = ['latitude', 'longitude', 'altitude']
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 14, struct.pack('>iii', self.latitude, self.longitude, self.altitude))
+
+class MAVLink_local_position_setpoint_set_message(MAVLink_message):
+        '''
+        Set the setpoint for a local position controller. This is the
+        position in local coordinates the MAV should fly to. This
+        message is sent by the path/waypoint planner to the onboard
+        position controller. As some MAVs have a degree of freedom in
+        yaw (e.g. all helicopters/quadrotors), the desired yaw angle
+        is part of the message.
+        '''
+        def __init__(self, target_system, target_component, x, y, z, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, 'LOCAL_POSITION_SETPOINT_SET')
+                self._fieldnames = ['target_system', 'target_component', 'x', 'y', 'z', 'yaw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.x = x
+                self.y = y
+                self.z = z
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 206, struct.pack('>BBffff', self.target_system, self.target_component, self.x, self.y, self.z, self.yaw))
+
+class MAVLink_local_position_setpoint_message(MAVLink_message):
+        '''
+        Transmit the current local setpoint of the controller to other
+        MAVs (collision avoidance) and to the GCS.
+        '''
+        def __init__(self, x, y, z, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT')
+                self._fieldnames = ['x', 'y', 'z', 'yaw']
+                self.x = x
+                self.y = y
+                self.z = z
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 50, struct.pack('>ffff', self.x, self.y, self.z, self.yaw))
+
+class MAVLink_control_status_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CONTROL_STATUS, 'CONTROL_STATUS')
+                self._fieldnames = ['position_fix', 'vision_fix', 'gps_fix', 'ahrs_health', 'control_att', 'control_pos_xy', 'control_pos_z', 'control_pos_yaw']
+                self.position_fix = position_fix
+                self.vision_fix = vision_fix
+                self.gps_fix = gps_fix
+                self.ahrs_health = ahrs_health
+                self.control_att = control_att
+                self.control_pos_xy = control_pos_xy
+                self.control_pos_z = control_pos_z
+                self.control_pos_yaw = control_pos_yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 157, struct.pack('>BBBBBBBB', self.position_fix, self.vision_fix, self.gps_fix, self.ahrs_health, self.control_att, self.control_pos_xy, self.control_pos_z, self.control_pos_yaw))
+
+class MAVLink_safety_set_allowed_area_message(MAVLink_message):
+        '''
+        Set a safety zone (volume), which is defined by two corners of
+        a cube. This message can be used to tell the MAV which
+        setpoints/waypoints to accept and which to reject. Safety
+        areas are often enforced by national or competition
+        regulations.
+        '''
+        def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA')
+                self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.frame = frame
+                self.p1x = p1x
+                self.p1y = p1y
+                self.p1z = p1z
+                self.p2x = p2x
+                self.p2y = p2y
+                self.p2z = p2z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 126, struct.pack('>BBBffffff', self.target_system, self.target_component, self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z))
+
+class MAVLink_safety_allowed_area_message(MAVLink_message):
+        '''
+        Read out the safety zone the MAV currently assumes.
+        '''
+        def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA')
+                self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
+                self.frame = frame
+                self.p1x = p1x
+                self.p1y = p1y
+                self.p1z = p1z
+                self.p2x = p2x
+                self.p2y = p2y
+                self.p2z = p2z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 108, struct.pack('>Bffffff', self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z))
+
+class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message):
+        '''
+        Set roll, pitch and yaw.
+        '''
+        def __init__(self, target_system, target_component, roll, pitch, yaw, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST')
+                self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 213, struct.pack('>BBffff', self.target_system, self.target_component, self.roll, self.pitch, self.yaw, self.thrust))
+
+class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message):
+        '''
+        Set roll, pitch and yaw.
+        '''
+        def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST')
+                self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.roll_speed = roll_speed
+                self.pitch_speed = pitch_speed
+                self.yaw_speed = yaw_speed
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 95, struct.pack('>BBffff', self.target_system, self.target_component, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
+
+class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message):
+        '''
+        Setpoint in roll, pitch, yaw currently active on the system.
+        '''
+        def __init__(self, time_us, roll, pitch, yaw, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT')
+                self._fieldnames = ['time_us', 'roll', 'pitch', 'yaw', 'thrust']
+                self.time_us = time_us
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 5, struct.pack('>Qffff', self.time_us, self.roll, self.pitch, self.yaw, self.thrust))
+
+class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message):
+        '''
+        Setpoint in rollspeed, pitchspeed, yawspeed currently active
+        on the system.
+        '''
+        def __init__(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT')
+                self._fieldnames = ['time_us', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
+                self.time_us = time_us
+                self.roll_speed = roll_speed
+                self.pitch_speed = pitch_speed
+                self.yaw_speed = yaw_speed
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 127, struct.pack('>Qffff', self.time_us, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
+
+class MAVLink_nav_controller_output_message(MAVLink_message):
+        '''
+        Outputs of the APM navigation controller. The primary use of
+        this message is to check the response and signs of the
+        controller before actual flight and to assist with tuning
+        controller parameters
+        '''
+        def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT')
+                self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error']
+                self.nav_roll = nav_roll
+                self.nav_pitch = nav_pitch
+                self.nav_bearing = nav_bearing
+                self.target_bearing = target_bearing
+                self.wp_dist = wp_dist
+                self.alt_error = alt_error
+                self.aspd_error = aspd_error
+                self.xtrack_error = xtrack_error
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 57, struct.pack('>ffhhHfff', self.nav_roll, self.nav_pitch, self.nav_bearing, self.target_bearing, self.wp_dist, self.alt_error, self.aspd_error, self.xtrack_error))
+
+class MAVLink_position_target_message(MAVLink_message):
+        '''
+        The goal position of the system. This position is the input to
+        any navigation or path planning algorithm and does NOT
+        represent the current controller setpoint.
+        '''
+        def __init__(self, x, y, z, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_POSITION_TARGET, 'POSITION_TARGET')
+                self._fieldnames = ['x', 'y', 'z', 'yaw']
+                self.x = x
+                self.y = y
+                self.z = z
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 126, struct.pack('>ffff', self.x, self.y, self.z, self.yaw))
+
+class MAVLink_state_correction_message(MAVLink_message):
+        '''
+        Corrects the systems state by adding an error correction term
+        to the position and velocity, and by rotating the attitude by
+        a correction angle.
+        '''
+        def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION')
+                self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr']
+                self.xErr = xErr
+                self.yErr = yErr
+                self.zErr = zErr
+                self.rollErr = rollErr
+                self.pitchErr = pitchErr
+                self.yawErr = yawErr
+                self.vxErr = vxErr
+                self.vyErr = vyErr
+                self.vzErr = vzErr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 130, struct.pack('>fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr))
+
+class MAVLink_set_altitude_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, target, mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ALTITUDE, 'SET_ALTITUDE')
+                self._fieldnames = ['target', 'mode']
+                self.target = target
+                self.mode = mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 119, struct.pack('>BI', self.target, self.mode))
+
+class MAVLink_request_data_stream_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM')
+                self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.req_stream_id = req_stream_id
+                self.req_message_rate = req_message_rate
+                self.start_stop = start_stop
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 193, struct.pack('>BBBHB', self.target_system, self.target_component, self.req_stream_id, self.req_message_rate, self.start_stop))
+
+class MAVLink_hil_state_message(MAVLink_message):
+        '''
+        This packet is useful for high throughput
+        applications such as hardware in the loop simulations.
+        '''
+        def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE')
+                self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc']
+                self.usec = usec
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.rollspeed = rollspeed
+                self.pitchspeed = pitchspeed
+                self.yawspeed = yawspeed
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 191, struct.pack('>Qffffffiiihhhhhh', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc))
+
+class MAVLink_hil_controls_message(MAVLink_message):
+        '''
+        Hardware in the loop control outputs
+        '''
+        def __init__(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS')
+                self._fieldnames = ['time_us', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'mode', 'nav_mode']
+                self.time_us = time_us
+                self.roll_ailerons = roll_ailerons
+                self.pitch_elevator = pitch_elevator
+                self.yaw_rudder = yaw_rudder
+                self.throttle = throttle
+                self.mode = mode
+                self.nav_mode = nav_mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 236, struct.pack('>QffffBB', self.time_us, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.mode, self.nav_mode))
+
+class MAVLink_manual_control_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL')
+                self._fieldnames = ['target', 'roll', 'pitch', 'yaw', 'thrust', 'roll_manual', 'pitch_manual', 'yaw_manual', 'thrust_manual']
+                self.target = target
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+                self.roll_manual = roll_manual
+                self.pitch_manual = pitch_manual
+                self.yaw_manual = yaw_manual
+                self.thrust_manual = thrust_manual
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 158, struct.pack('>BffffBBBB', self.target, self.roll, self.pitch, self.yaw, self.thrust, self.roll_manual, self.pitch_manual, self.yaw_manual, self.thrust_manual))
+
+class MAVLink_rc_channels_override_message(MAVLink_message):
+        '''
+        The RAW values of the RC channels sent to the MAV to override
+        info received from the RC radio. A value of -1 means no change
+        to that channel. A value of 0 means control of that channel
+        should be released back to the RC radio. The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%. Individual receivers/transmitters might
+        violate this specification.
+        '''
+        def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE')
+                self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.chan1_raw = chan1_raw
+                self.chan2_raw = chan2_raw
+                self.chan3_raw = chan3_raw
+                self.chan4_raw = chan4_raw
+                self.chan5_raw = chan5_raw
+                self.chan6_raw = chan6_raw
+                self.chan7_raw = chan7_raw
+                self.chan8_raw = chan8_raw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 143, struct.pack('>BBHHHHHHHH', self.target_system, self.target_component, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw))
+
+class MAVLink_global_position_int_message(MAVLink_message):
+        '''
+        The filtered global position (e.g. fused GPS and
+        accelerometers). The position is in GPS-frame (right-handed,
+        Z-up)
+        '''
+        def __init__(self, lat, lon, alt, vx, vy, vz):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
+                self._fieldnames = ['lat', 'lon', 'alt', 'vx', 'vy', 'vz']
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 104, struct.pack('>iiihhh', self.lat, self.lon, self.alt, self.vx, self.vy, self.vz))
+
+class MAVLink_vfr_hud_message(MAVLink_message):
+        '''
+        Metrics typically displayed on a HUD for fixed wing aircraft
+        '''
+        def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD')
+                self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb']
+                self.airspeed = airspeed
+                self.groundspeed = groundspeed
+                self.heading = heading
+                self.throttle = throttle
+                self.alt = alt
+                self.climb = climb
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 123, struct.pack('>ffhHff', self.airspeed, self.groundspeed, self.heading, self.throttle, self.alt, self.climb))
+
+class MAVLink_command_message(MAVLink_message):
+        '''
+        Send a command with up to four parameters to the MAV
+        '''
+        def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND, 'COMMAND')
+                self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.command = command
+                self.confirmation = confirmation
+                self.param1 = param1
+                self.param2 = param2
+                self.param3 = param3
+                self.param4 = param4
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 131, struct.pack('>BBBBffff', self.target_system, self.target_component, self.command, self.confirmation, self.param1, self.param2, self.param3, self.param4))
+
+class MAVLink_command_ack_message(MAVLink_message):
+        '''
+        Report status of a command. Includes feedback wether the
+        command was executed
+        '''
+        def __init__(self, command, result):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK')
+                self._fieldnames = ['command', 'result']
+                self.command = command
+                self.result = result
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 8, struct.pack('>ff', self.command, self.result))
+
+class MAVLink_optical_flow_message(MAVLink_message):
+        '''
+        Optical flow from a flow sensor (e.g. optical mouse sensor)
+        '''
+        def __init__(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW')
+                self._fieldnames = ['time', 'sensor_id', 'flow_x', 'flow_y', 'quality', 'ground_distance']
+                self.time = time
+                self.sensor_id = sensor_id
+                self.flow_x = flow_x
+                self.flow_y = flow_y
+                self.quality = quality
+                self.ground_distance = ground_distance
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 174, struct.pack('>QBhhBf', self.time, self.sensor_id, self.flow_x, self.flow_y, self.quality, self.ground_distance))
+
+class MAVLink_object_detection_event_message(MAVLink_message):
+        '''
+        Object has been detected
+        '''
+        def __init__(self, time, object_id, type, name, quality, bearing, distance):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, 'OBJECT_DETECTION_EVENT')
+                self._fieldnames = ['time', 'object_id', 'type', 'name', 'quality', 'bearing', 'distance']
+                self.time = time
+                self.object_id = object_id
+                self.type = type
+                self.name = name
+                self.quality = quality
+                self.bearing = bearing
+                self.distance = distance
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 155, struct.pack('>IHB20sBff', self.time, self.object_id, self.type, self.name, self.quality, self.bearing, self.distance))
+
+class MAVLink_debug_vect_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, name, usec, x, y, z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT')
+                self._fieldnames = ['name', 'usec', 'x', 'y', 'z']
+                self.name = name
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 178, struct.pack('>10sQfff', self.name, self.usec, self.x, self.y, self.z))
+
+class MAVLink_named_value_float_message(MAVLink_message):
+        '''
+        Send a key-value pair as float. The use of this message is
+        discouraged for normal packets, but a quite efficient way for
+        testing new messages and getting experimental debug output.
+        '''
+        def __init__(self, name, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT')
+                self._fieldnames = ['name', 'value']
+                self.name = name
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 224, struct.pack('>10sf', self.name, self.value))
+
+class MAVLink_named_value_int_message(MAVLink_message):
+        '''
+        Send a key-value pair as integer. The use of this message is
+        discouraged for normal packets, but a quite efficient way for
+        testing new messages and getting experimental debug output.
+        '''
+        def __init__(self, name, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT')
+                self._fieldnames = ['name', 'value']
+                self.name = name
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 60, struct.pack('>10si', self.name, self.value))
+
+class MAVLink_statustext_message(MAVLink_message):
+        '''
+        Status text message. These messages are printed in yellow in
+        the COMM console of QGroundControl. WARNING: They consume
+        quite some bandwidth, so use only for important status and
+        error messages. If implemented wisely, these messages are
+        buffered on the MCU and sent only at a limited rate (e.g. 10
+        Hz).
+        '''
+        def __init__(self, severity, text):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT')
+                self._fieldnames = ['severity', 'text']
+                self.severity = severity
+                self.text = text
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 106, struct.pack('>B50s', self.severity, self.text))
+
+class MAVLink_debug_message(MAVLink_message):
+        '''
+        Send a debug value. The index is used to discriminate between
+        values. These values show up in the plot of QGroundControl as
+        DEBUG N.
+        '''
+        def __init__(self, ind, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG')
+                self._fieldnames = ['ind', 'value']
+                self.ind = ind
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 7, struct.pack('>Bf', self.ind, self.value))
+
+
+mavlink_map = {
+        MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '>hhhfiiffffff', MAVLink_sensor_offsets_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11], 143 ),
+        MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '>BBhhh', MAVLink_set_mag_offsets_message, [0, 1, 2, 3, 4], 29 ),
+        MAVLINK_MSG_ID_MEMINFO : ( '>HH', MAVLink_meminfo_message, [0, 1], 208 ),
+        MAVLINK_MSG_ID_AP_ADC : ( '>HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ),
+        MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '>BBBHBBBBBBf', MAVLink_digicam_configure_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 118 ),
+        MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '>BBBBbBBBBf', MAVLink_digicam_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 242 ),
+        MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '>BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ),
+        MAVLINK_MSG_ID_MOUNT_CONTROL : ( '>BBiiiB', MAVLink_mount_control_message, [0, 1, 2, 3, 4, 5], 97 ),
+        MAVLINK_MSG_ID_MOUNT_STATUS : ( '>BBiii', MAVLink_mount_status_message, [0, 1, 2, 3, 4], 233 ),
+        MAVLINK_MSG_ID_FENCE_POINT : ( '>BBBBff', MAVLink_fence_point_message, [0, 1, 2, 3, 4, 5], 18 ),
+        MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '>BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ),
+        MAVLINK_MSG_ID_FENCE_STATUS : ( '>BHBI', MAVLink_fence_status_message, [0, 1, 2, 3], 136 ),
+        MAVLINK_MSG_ID_AHRS : ( '>fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ),
+        MAVLINK_MSG_ID_SIMSTATE : ( '>fffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 42 ),
+        MAVLINK_MSG_ID_HWSTATUS : ( '>HB', MAVLink_hwstatus_message, [0, 1], 21 ),
+        MAVLINK_MSG_ID_RADIO : ( '>BBBBBHH', MAVLink_radio_message, [0, 1, 2, 3, 4, 5, 6], 93 ),
+        MAVLINK_MSG_ID_HEARTBEAT : ( '>BBB', MAVLink_heartbeat_message, [0, 1, 2], 72 ),
+        MAVLINK_MSG_ID_BOOT : ( '>I', MAVLink_boot_message, [0], 39 ),
+        MAVLINK_MSG_ID_SYSTEM_TIME : ( '>Q', MAVLink_system_time_message, [0], 190 ),
+        MAVLINK_MSG_ID_PING : ( '>IBBQ', MAVLink_ping_message, [0, 1, 2, 3], 92 ),
+        MAVLINK_MSG_ID_SYSTEM_TIME_UTC : ( '>II', MAVLink_system_time_utc_message, [0, 1], 191 ),
+        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '>BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ),
+        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '>BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ),
+        MAVLINK_MSG_ID_AUTH_KEY : ( '>32s', MAVLink_auth_key_message, [0], 119 ),
+        MAVLINK_MSG_ID_ACTION_ACK : ( '>BB', MAVLink_action_ack_message, [0, 1], 219 ),
+        MAVLINK_MSG_ID_ACTION : ( '>BBB', MAVLink_action_message, [0, 1, 2], 60 ),
+        MAVLINK_MSG_ID_SET_MODE : ( '>BB', MAVLink_set_mode_message, [0, 1], 186 ),
+        MAVLINK_MSG_ID_SET_NAV_MODE : ( '>BB', MAVLink_set_nav_mode_message, [0, 1], 10 ),
+        MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '>BB15sh', MAVLink_param_request_read_message, [0, 1, 2, 3], 89 ),
+        MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '>BB', MAVLink_param_request_list_message, [0, 1], 159 ),
+        MAVLINK_MSG_ID_PARAM_VALUE : ( '>15sfHH', MAVLink_param_value_message, [0, 1, 2, 3], 162 ),
+        MAVLINK_MSG_ID_PARAM_SET : ( '>BB15sf', MAVLink_param_set_message, [0, 1, 2, 3], 121 ),
+        MAVLINK_MSG_ID_GPS_RAW_INT : ( '>QBiiiffff', MAVLink_gps_raw_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 149 ),
+        MAVLINK_MSG_ID_SCALED_IMU : ( '>Qhhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 222 ),
+        MAVLINK_MSG_ID_GPS_STATUS : ( '>B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 110 ),
+        MAVLINK_MSG_ID_RAW_IMU : ( '>Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 179 ),
+        MAVLINK_MSG_ID_RAW_PRESSURE : ( '>Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 136 ),
+        MAVLINK_MSG_ID_SCALED_PRESSURE : ( '>Qffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 229 ),
+        MAVLINK_MSG_ID_ATTITUDE : ( '>Qffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 66 ),
+        MAVLINK_MSG_ID_LOCAL_POSITION : ( '>Qffffff', MAVLink_local_position_message, [0, 1, 2, 3, 4, 5, 6], 126 ),
+        MAVLINK_MSG_ID_GLOBAL_POSITION : ( '>Qffffff', MAVLink_global_position_message, [0, 1, 2, 3, 4, 5, 6], 147 ),
+        MAVLINK_MSG_ID_GPS_RAW : ( '>QBfffffff', MAVLink_gps_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 185 ),
+        MAVLINK_MSG_ID_SYS_STATUS : ( '>BBBHHHH', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 6], 112 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '>HHHHHHHHB', MAVLink_rc_channels_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 252 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '>hhhhhhhhB', MAVLink_rc_channels_scaled_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 162 ),
+        MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '>HHHHHHHH', MAVLink_servo_output_raw_message, [0, 1, 2, 3, 4, 5, 6, 7], 215 ),
+        MAVLINK_MSG_ID_WAYPOINT : ( '>BBHBBBBfffffff', MAVLink_waypoint_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 128 ),
+        MAVLINK_MSG_ID_WAYPOINT_REQUEST : ( '>BBH', MAVLink_waypoint_request_message, [0, 1, 2], 9 ),
+        MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT : ( '>BBH', MAVLink_waypoint_set_current_message, [0, 1, 2], 106 ),
+        MAVLINK_MSG_ID_WAYPOINT_CURRENT : ( '>H', MAVLink_waypoint_current_message, [0], 101 ),
+        MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST : ( '>BB', MAVLink_waypoint_request_list_message, [0, 1], 213 ),
+        MAVLINK_MSG_ID_WAYPOINT_COUNT : ( '>BBH', MAVLink_waypoint_count_message, [0, 1, 2], 4 ),
+        MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL : ( '>BB', MAVLink_waypoint_clear_all_message, [0, 1], 229 ),
+        MAVLINK_MSG_ID_WAYPOINT_REACHED : ( '>H', MAVLink_waypoint_reached_message, [0], 21 ),
+        MAVLINK_MSG_ID_WAYPOINT_ACK : ( '>BBB', MAVLink_waypoint_ack_message, [0, 1, 2], 214 ),
+        MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN : ( '>BBiii', MAVLink_gps_set_global_origin_message, [0, 1, 2, 3, 4], 215 ),
+        MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET : ( '>iii', MAVLink_gps_local_origin_set_message, [0, 1, 2], 14 ),
+        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET : ( '>BBffff', MAVLink_local_position_setpoint_set_message, [0, 1, 2, 3, 4, 5], 206 ),
+        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '>ffff', MAVLink_local_position_setpoint_message, [0, 1, 2, 3], 50 ),
+        MAVLINK_MSG_ID_CONTROL_STATUS : ( '>BBBBBBBB', MAVLink_control_status_message, [0, 1, 2, 3, 4, 5, 6, 7], 157 ),
+        MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '>BBBffffff', MAVLink_safety_set_allowed_area_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 126 ),
+        MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '>Bffffff', MAVLink_safety_allowed_area_message, [0, 1, 2, 3, 4, 5, 6], 108 ),
+        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_thrust_message, [0, 1, 2, 3, 4, 5], 213 ),
+        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [0, 1, 2, 3, 4, 5], 95 ),
+        MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 5 ),
+        MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 127 ),
+        MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '>ffhhHfff', MAVLink_nav_controller_output_message, [0, 1, 2, 3, 4, 5, 6, 7], 57 ),
+        MAVLINK_MSG_ID_POSITION_TARGET : ( '>ffff', MAVLink_position_target_message, [0, 1, 2, 3], 126 ),
+        MAVLINK_MSG_ID_STATE_CORRECTION : ( '>fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
+        MAVLINK_MSG_ID_SET_ALTITUDE : ( '>BI', MAVLink_set_altitude_message, [0, 1], 119 ),
+        MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '>BBBHB', MAVLink_request_data_stream_message, [0, 1, 2, 3, 4], 193 ),
+        MAVLINK_MSG_ID_HIL_STATE : ( '>Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 191 ),
+        MAVLINK_MSG_ID_HIL_CONTROLS : ( '>QffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6], 236 ),
+        MAVLINK_MSG_ID_MANUAL_CONTROL : ( '>BffffBBBB', MAVLink_manual_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 158 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '>BBHHHHHHHH', MAVLink_rc_channels_override_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 143 ),
+        MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '>iiihhh', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5], 104 ),
+        MAVLINK_MSG_ID_VFR_HUD : ( '>ffhHff', MAVLink_vfr_hud_message, [0, 1, 2, 3, 4, 5], 123 ),
+        MAVLINK_MSG_ID_COMMAND : ( '>BBBBffff', MAVLink_command_message, [0, 1, 2, 3, 4, 5, 6, 7], 131 ),
+        MAVLINK_MSG_ID_COMMAND_ACK : ( '>ff', MAVLink_command_ack_message, [0, 1], 8 ),
+        MAVLINK_MSG_ID_OPTICAL_FLOW : ( '>QBhhBf', MAVLink_optical_flow_message, [0, 1, 2, 3, 4, 5], 174 ),
+        MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT : ( '>IHB20sBff', MAVLink_object_detection_event_message, [0, 1, 2, 3, 4, 5, 6], 155 ),
+        MAVLINK_MSG_ID_DEBUG_VECT : ( '>10sQfff', MAVLink_debug_vect_message, [0, 1, 2, 3, 4], 178 ),
+        MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '>10sf', MAVLink_named_value_float_message, [0, 1], 224 ),
+        MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '>10si', MAVLink_named_value_int_message, [0, 1], 60 ),
+        MAVLINK_MSG_ID_STATUSTEXT : ( '>B50s', MAVLink_statustext_message, [0, 1], 106 ),
+        MAVLINK_MSG_ID_DEBUG : ( '>Bf', MAVLink_debug_message, [0, 1], 7 ),
+}
+
+class MAVError(Exception):
+        '''MAVLink error class'''
+        def __init__(self, msg):
+            Exception.__init__(self, msg)
+            self.message = msg
+
+class MAVString(str):
+        '''NUL terminated string'''
+        def __init__(self, s):
+                str.__init__(self)
+        def __str__(self):
+            i = self.find(chr(0))
+            if i == -1:
+                return self[:]
+            return self[0:i]
+
+class MAVLink_bad_data(MAVLink_message):
+        '''
+        a piece of bad data in a mavlink stream
+        '''
+        def __init__(self, data, reason):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
+                self._fieldnames = ['data', 'reason']
+                self.data = data
+                self.reason = reason
+                self._msgbuf = data
+            
+class MAVLink(object):
+        '''MAVLink protocol handling class'''
+        def __init__(self, file, srcSystem=0, srcComponent=0):
+                self.seq = 0
+                self.file = file
+                self.srcSystem = srcSystem
+                self.srcComponent = srcComponent
+                self.callback = None
+                self.callback_args = None
+                self.callback_kwargs = None
+                self.buf = array.array('B')
+                self.expected_length = 6
+                self.have_prefix_error = False
+                self.robust_parsing = False
+                self.protocol_marker = 85
+                self.little_endian = False
+                self.crc_extra = False
+                self.sort_fields = False
+                self.total_packets_sent = 0
+                self.total_bytes_sent = 0
+                self.total_packets_received = 0
+                self.total_bytes_received = 0
+                self.total_receive_errors = 0
+                self.startup_time = time.time()
+
+        def set_callback(self, callback, *args, **kwargs):
+            self.callback = callback
+            self.callback_args = args
+            self.callback_kwargs = kwargs
+            
+        def send(self, mavmsg):
+                '''send a MAVLink message'''
+                buf = mavmsg.pack(self)
+                self.file.write(buf)
+                self.seq = (self.seq + 1) % 255
+                self.total_packets_sent += 1
+                self.total_bytes_sent += len(buf)
+
+        def bytes_needed(self):
+            '''return number of bytes needed for next parsing stage'''
+            ret = self.expected_length - len(self.buf)
+            if ret <= 0:
+                return 1
+            return ret
+
+        def parse_char(self, c):
+            '''input some data bytes, possibly returning a new message'''
+            if isinstance(c, str):
+                self.buf.fromstring(c)
+            else:
+                self.buf.extend(c)
+            self.total_bytes_received += len(c)
+            if len(self.buf) >= 1 and self.buf[0] != 85:
+                magic = self.buf[0]
+                self.buf = self.buf[1:]
+                if self.robust_parsing:
+                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
+                    if self.callback:
+                        self.callback(m, *self.callback_args, **self.callback_kwargs)
+                    self.expected_length = 6
+                    self.total_receive_errors += 1
+                    return m
+                if self.have_prefix_error:
+                    return None
+                self.have_prefix_error = True
+                self.total_receive_errors += 1
+                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
+            self.have_prefix_error = False
+            if len(self.buf) >= 2:
+                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
+                self.expected_length += 8
+            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
+                mbuf = self.buf[0:self.expected_length]
+                self.buf = self.buf[self.expected_length:]
+                self.expected_length = 6
+                if self.robust_parsing:
+                    try:
+                        m = self.decode(mbuf)
+                        self.total_packets_received += 1
+                    except MAVError as reason:
+                        m = MAVLink_bad_data(mbuf, reason.message)
+                        self.total_receive_errors += 1
+                else:
+                    m = self.decode(mbuf)
+                    self.total_packets_received += 1
+                if self.callback:
+                    self.callback(m, *self.callback_args, **self.callback_kwargs)
+                return m
+            return None
+
+        def parse_buffer(self, s):
+            '''input some data bytes, possibly returning a list of new messages'''
+            m = self.parse_char(s)
+            if m is None:
+                return None
+            ret = [m]
+            while True:
+                m = self.parse_char("")
+                if m is None:
+                    return ret
+                ret.append(m)
+            return ret
+
+        def decode(self, msgbuf):
+                '''decode a buffer as a MAVLink message'''
+                # decode the header
+                try:
+                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
+                if ord(magic) != 85:
+                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
+                if mlen != len(msgbuf)-8:
+                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
+
+                if not msgId in mavlink_map:
+                    raise MAVError('unknown MAVLink message ID %u' % msgId)
+
+                # decode the payload
+                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
+
+                # decode the checksum
+                try:
+                    crc, = struct.unpack('<H', msgbuf[-2:])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
+                crc2 = mavutil.x25crc(msgbuf[1:-2])
+                if False: # using CRC extra 
+                    crc2.accumulate(chr(crc_extra))
+                if crc != crc2.crc:
+                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
+
+                try:
+                    t = struct.unpack(fmt, msgbuf[6:-2])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
+                        type, fmt, len(msgbuf[6:-2]), emsg))
+
+                tlist = list(t)
+                # handle sorted fields
+                if False:
+                    t = tlist[:]
+                    for i in range(0, len(tlist)):
+                        tlist[i] = t[order_map[i]]
+
+                # terminate any strings
+                for i in range(0, len(tlist)):
+                    if isinstance(tlist[i], str):
+                        tlist[i] = MAVString(tlist[i])
+                t = tuple(tlist)
+                # construct the message object
+                try:
+                    m = type(*t)
+                except Exception as emsg:
+                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
+                m._msgbuf = msgbuf
+                m._payload = msgbuf[6:-2]
+                m._crc = crc
+                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
+                return m
+        def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                '''
+                Offsets and calibrations values for hardware         sensors. This
+                makes it easier to debug the calibration process.
+
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+                mag_declination           : magnetic declination (radians) (float)
+                raw_press                 : raw pressure from barometer (int32_t)
+                raw_temp                  : raw temperature from barometer (int32_t)
+                gyro_cal_x                : gyro X calibration (float)
+                gyro_cal_y                : gyro Y calibration (float)
+                gyro_cal_z                : gyro Z calibration (float)
+                accel_cal_x               : accel X calibration (float)
+                accel_cal_y               : accel Y calibration (float)
+                accel_cal_z               : accel Z calibration (float)
+
+                '''
+                msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)
+                msg.pack(self)
+                return msg
+            
+        def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                '''
+                Offsets and calibrations values for hardware         sensors. This
+                makes it easier to debug the calibration process.
+
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+                mag_declination           : magnetic declination (radians) (float)
+                raw_press                 : raw pressure from barometer (int32_t)
+                raw_temp                  : raw temperature from barometer (int32_t)
+                gyro_cal_x                : gyro X calibration (float)
+                gyro_cal_y                : gyro Y calibration (float)
+                gyro_cal_z                : gyro Z calibration (float)
+                accel_cal_x               : accel X calibration (float)
+                accel_cal_y               : accel Y calibration (float)
+                accel_cal_z               : accel Z calibration (float)
+
+                '''
+                return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z))
+            
+        def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                '''
+                set the magnetometer offsets
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+
+                '''
+                msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)
+                msg.pack(self)
+                return msg
+            
+        def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                '''
+                set the magnetometer offsets
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+
+                '''
+                return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z))
+            
+        def meminfo_encode(self, brkval, freemem):
+                '''
+                state of APM memory
+
+                brkval                    : heap top (uint16_t)
+                freemem                   : free memory (uint16_t)
+
+                '''
+                msg = MAVLink_meminfo_message(brkval, freemem)
+                msg.pack(self)
+                return msg
+            
+        def meminfo_send(self, brkval, freemem):
+                '''
+                state of APM memory
+
+                brkval                    : heap top (uint16_t)
+                freemem                   : free memory (uint16_t)
+
+                '''
+                return self.send(self.meminfo_encode(brkval, freemem))
+            
+        def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                '''
+                raw ADC output
+
+                adc1                      : ADC output 1 (uint16_t)
+                adc2                      : ADC output 2 (uint16_t)
+                adc3                      : ADC output 3 (uint16_t)
+                adc4                      : ADC output 4 (uint16_t)
+                adc5                      : ADC output 5 (uint16_t)
+                adc6                      : ADC output 6 (uint16_t)
+
+                '''
+                msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6)
+                msg.pack(self)
+                return msg
+            
+        def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                '''
+                raw ADC output
+
+                adc1                      : ADC output 1 (uint16_t)
+                adc2                      : ADC output 2 (uint16_t)
+                adc3                      : ADC output 3 (uint16_t)
+                adc4                      : ADC output 4 (uint16_t)
+                adc5                      : ADC output 5 (uint16_t)
+                adc6                      : ADC output 6 (uint16_t)
+
+                '''
+                return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6))
+            
+        def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                '''
+                Configure on-board Camera Control System.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
+                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
+                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
+                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
+                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)
+                msg.pack(self)
+                return msg
+            
+        def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                '''
+                Configure on-board Camera Control System.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
+                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
+                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
+                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
+                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value))
+            
+        def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                '''
+                Control on-board Camera Control System to take shots.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
+                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
+                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
+                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
+                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)
+                msg.pack(self)
+                return msg
+            
+        def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                '''
+                Control on-board Camera Control System to take shots.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
+                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
+                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
+                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
+                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value))
+            
+        def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                '''
+                Message to configure a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
+                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
+                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
+                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
+
+                '''
+                msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)
+                msg.pack(self)
+                return msg
+            
+        def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                '''
+                Message to configure a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
+                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
+                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
+                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
+
+                '''
+                return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw))
+            
+        def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                '''
+                Message to control a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
+                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
+
+                '''
+                msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position)
+                msg.pack(self)
+                return msg
+            
+        def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                '''
+                Message to control a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
+                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
+
+                '''
+                return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position))
+            
+        def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                '''
+                Message with some status from APM to GCS about camera or antenna mount
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
+                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+
+                '''
+                msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c)
+                msg.pack(self)
+                return msg
+            
+        def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                '''
+                Message with some status from APM to GCS about camera or antenna mount
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
+                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+
+                '''
+                return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c))
+            
+        def fence_point_encode(self, target_system, target_component, idx, count, lat, lng):
+                '''
+                A fence point. Used to set a point when from               GCS -> MAV.
+                Also used to return a point from MAV -> GCS
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+                count                     : total number of points (for sanity checking) (uint8_t)
+                lat                       : Latitude of point (float)
+                lng                       : Longitude of point (float)
+
+                '''
+                msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng)
+                msg.pack(self)
+                return msg
+            
+        def fence_point_send(self, target_system, target_component, idx, count, lat, lng):
+                '''
+                A fence point. Used to set a point when from               GCS -> MAV.
+                Also used to return a point from MAV -> GCS
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+                count                     : total number of points (for sanity checking) (uint8_t)
+                lat                       : Latitude of point (float)
+                lng                       : Longitude of point (float)
+
+                '''
+                return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng))
+            
+        def fence_fetch_point_encode(self, target_system, target_component, idx):
+                '''
+                Request a current fence point from MAV
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+
+                '''
+                msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx)
+                msg.pack(self)
+                return msg
+            
+        def fence_fetch_point_send(self, target_system, target_component, idx):
+                '''
+                Request a current fence point from MAV
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+
+                '''
+                return self.send(self.fence_fetch_point_encode(target_system, target_component, idx))
+            
+        def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time):
+                '''
+                Status of geo-fencing. Sent in extended             status stream when
+                fencing enabled
+
+                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
+                breach_count              : number of fence breaches (uint16_t)
+                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
+                breach_time               : time of last breach in milliseconds since boot (uint32_t)
+
+                '''
+                msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time)
+                msg.pack(self)
+                return msg
+            
+        def fence_status_send(self, breach_status, breach_count, breach_type, breach_time):
+                '''
+                Status of geo-fencing. Sent in extended             status stream when
+                fencing enabled
+
+                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
+                breach_count              : number of fence breaches (uint16_t)
+                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
+                breach_time               : time of last breach in milliseconds since boot (uint32_t)
+
+                '''
+                return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time))
+            
+        def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                '''
+                Status of DCM attitude estimator
+
+                omegaIx                   : X gyro drift estimate rad/s (float)
+                omegaIy                   : Y gyro drift estimate rad/s (float)
+                omegaIz                   : Z gyro drift estimate rad/s (float)
+                accel_weight              : average accel_weight (float)
+                renorm_val                : average renormalisation value (float)
+                error_rp                  : average error_roll_pitch value (float)
+                error_yaw                 : average error_yaw value (float)
+
+                '''
+                msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
+                msg.pack(self)
+                return msg
+            
+        def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                '''
+                Status of DCM attitude estimator
+
+                omegaIx                   : X gyro drift estimate rad/s (float)
+                omegaIy                   : Y gyro drift estimate rad/s (float)
+                omegaIz                   : Z gyro drift estimate rad/s (float)
+                accel_weight              : average accel_weight (float)
+                renorm_val                : average renormalisation value (float)
+                error_rp                  : average error_roll_pitch value (float)
+                error_yaw                 : average error_yaw value (float)
+
+                '''
+                return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw))
+            
+        def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                '''
+                Status of simulation environment, if used
+
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                xacc                      : X acceleration m/s/s (float)
+                yacc                      : Y acceleration m/s/s (float)
+                zacc                      : Z acceleration m/s/s (float)
+                xgyro                     : Angular speed around X axis rad/s (float)
+                ygyro                     : Angular speed around Y axis rad/s (float)
+                zgyro                     : Angular speed around Z axis rad/s (float)
+
+                '''
+                msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)
+                msg.pack(self)
+                return msg
+            
+        def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                '''
+                Status of simulation environment, if used
+
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                xacc                      : X acceleration m/s/s (float)
+                yacc                      : Y acceleration m/s/s (float)
+                zacc                      : Z acceleration m/s/s (float)
+                xgyro                     : Angular speed around X axis rad/s (float)
+                ygyro                     : Angular speed around Y axis rad/s (float)
+                zgyro                     : Angular speed around Z axis rad/s (float)
+
+                '''
+                return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro))
+            
+        def hwstatus_encode(self, Vcc, I2Cerr):
+                '''
+                Status of key hardware
+
+                Vcc                       : board voltage (mV) (uint16_t)
+                I2Cerr                    : I2C error count (uint8_t)
+
+                '''
+                msg = MAVLink_hwstatus_message(Vcc, I2Cerr)
+                msg.pack(self)
+                return msg
+            
+        def hwstatus_send(self, Vcc, I2Cerr):
+                '''
+                Status of key hardware
+
+                Vcc                       : board voltage (mV) (uint16_t)
+                I2Cerr                    : I2C error count (uint8_t)
+
+                '''
+                return self.send(self.hwstatus_encode(Vcc, I2Cerr))
+            
+        def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                '''
+                Status generated by radio
+
+                rssi                      : local signal strength (uint8_t)
+                remrssi                   : remote signal strength (uint8_t)
+                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
+                noise                     : background noise level (uint8_t)
+                remnoise                  : remote background noise level (uint8_t)
+                rxerrors                  : receive errors (uint16_t)
+                fixed                     : count of error corrected packets (uint16_t)
+
+                '''
+                msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
+                msg.pack(self)
+                return msg
+            
+        def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                '''
+                Status generated by radio
+
+                rssi                      : local signal strength (uint8_t)
+                remrssi                   : remote signal strength (uint8_t)
+                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
+                noise                     : background noise level (uint8_t)
+                remnoise                  : remote background noise level (uint8_t)
+                rxerrors                  : receive errors (uint16_t)
+                fixed                     : count of error corrected packets (uint16_t)
+
+                '''
+                return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed))
+            
+        def heartbeat_encode(self, type, autopilot, mavlink_version=2):
+                '''
+                The heartbeat message shows that a system is present and responding.
+                The type of the MAV and Autopilot hardware allow the
+                receiving system to treat further messages from this
+                system appropriate (e.g. by laying out the user
+                interface based on the autopilot).
+
+                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
+                autopilot                 : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t)
+                mavlink_version           : MAVLink version (uint8_t)
+
+                '''
+                msg = MAVLink_heartbeat_message(type, autopilot, mavlink_version)
+                msg.pack(self)
+                return msg
+            
+        def heartbeat_send(self, type, autopilot, mavlink_version=2):
+                '''
+                The heartbeat message shows that a system is present and responding.
+                The type of the MAV and Autopilot hardware allow the
+                receiving system to treat further messages from this
+                system appropriate (e.g. by laying out the user
+                interface based on the autopilot).
+
+                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
+                autopilot                 : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t)
+                mavlink_version           : MAVLink version (uint8_t)
+
+                '''
+                return self.send(self.heartbeat_encode(type, autopilot, mavlink_version))
+            
+        def boot_encode(self, version):
+                '''
+                The boot message indicates that a system is starting. The onboard
+                software version allows to keep track of onboard
+                soft/firmware revisions.
+
+                version                   : The onboard software version (uint32_t)
+
+                '''
+                msg = MAVLink_boot_message(version)
+                msg.pack(self)
+                return msg
+            
+        def boot_send(self, version):
+                '''
+                The boot message indicates that a system is starting. The onboard
+                software version allows to keep track of onboard
+                soft/firmware revisions.
+
+                version                   : The onboard software version (uint32_t)
+
+                '''
+                return self.send(self.boot_encode(version))
+            
+        def system_time_encode(self, time_usec):
+                '''
+                The system time is the time of the master clock, typically the
+                computer clock of the main onboard computer.
+
+                time_usec                 : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
+
+                '''
+                msg = MAVLink_system_time_message(time_usec)
+                msg.pack(self)
+                return msg
+            
+        def system_time_send(self, time_usec):
+                '''
+                The system time is the time of the master clock, typically the
+                computer clock of the main onboard computer.
+
+                time_usec                 : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
+
+                '''
+                return self.send(self.system_time_encode(time_usec))
+            
+        def ping_encode(self, seq, target_system, target_component, time):
+                '''
+                A ping message either requesting or responding to a ping. This allows
+                to measure the system latencies, including serial
+                port, radio modem and UDP connections.
+
+                seq                       : PING sequence (uint32_t)
+                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                time                      : Unix timestamp in microseconds (uint64_t)
+
+                '''
+                msg = MAVLink_ping_message(seq, target_system, target_component, time)
+                msg.pack(self)
+                return msg
+            
+        def ping_send(self, seq, target_system, target_component, time):
+                '''
+                A ping message either requesting or responding to a ping. This allows
+                to measure the system latencies, including serial
+                port, radio modem and UDP connections.
+
+                seq                       : PING sequence (uint32_t)
+                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                time                      : Unix timestamp in microseconds (uint64_t)
+
+                '''
+                return self.send(self.ping_encode(seq, target_system, target_component, time))
+            
+        def system_time_utc_encode(self, utc_date, utc_time):
+                '''
+                UTC date and time from GPS module
+
+                utc_date                  : GPS UTC date ddmmyy (uint32_t)
+                utc_time                  : GPS UTC time hhmmss (uint32_t)
+
+                '''
+                msg = MAVLink_system_time_utc_message(utc_date, utc_time)
+                msg.pack(self)
+                return msg
+            
+        def system_time_utc_send(self, utc_date, utc_time):
+                '''
+                UTC date and time from GPS module
+
+                utc_date                  : GPS UTC date ddmmyy (uint32_t)
+                utc_time                  : GPS UTC time hhmmss (uint32_t)
+
+                '''
+                return self.send(self.system_time_utc_encode(utc_date, utc_time))
+            
+        def change_operator_control_encode(self, target_system, control_request, version, passkey):
+                '''
+                Request to control this MAV
+
+                target_system             : System the GCS requests control for (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
+                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
+
+                '''
+                msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey)
+                msg.pack(self)
+                return msg
+            
+        def change_operator_control_send(self, target_system, control_request, version, passkey):
+                '''
+                Request to control this MAV
+
+                target_system             : System the GCS requests control for (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
+                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
+
+                '''
+                return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey))
+            
+        def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack):
+                '''
+                Accept / deny control of this MAV
+
+                gcs_system_id             : ID of the GCS this message (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
+
+                '''
+                msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack)
+                msg.pack(self)
+                return msg
+            
+        def change_operator_control_ack_send(self, gcs_system_id, control_request, ack):
+                '''
+                Accept / deny control of this MAV
+
+                gcs_system_id             : ID of the GCS this message (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
+
+                '''
+                return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack))
+            
+        def auth_key_encode(self, key):
+                '''
+                Emit an encrypted signature / key identifying this system. PLEASE
+                NOTE: This protocol has been kept simple, so
+                transmitting the key requires an encrypted channel for
+                true safety.
+
+                key                       : key (char)
+
+                '''
+                msg = MAVLink_auth_key_message(key)
+                msg.pack(self)
+                return msg
+            
+        def auth_key_send(self, key):
+                '''
+                Emit an encrypted signature / key identifying this system. PLEASE
+                NOTE: This protocol has been kept simple, so
+                transmitting the key requires an encrypted channel for
+                true safety.
+
+                key                       : key (char)
+
+                '''
+                return self.send(self.auth_key_encode(key))
+            
+        def action_ack_encode(self, action, result):
+                '''
+                This message acknowledges an action. IMPORTANT: The acknowledgement
+                can be also negative, e.g. the MAV rejects a reset
+                message because it is in-flight. The action ids are
+                defined in ENUM MAV_ACTION in
+                mavlink/include/mavlink_types.h
+
+                action                    : The action id (uint8_t)
+                result                    : 0: Action DENIED, 1: Action executed (uint8_t)
+
+                '''
+                msg = MAVLink_action_ack_message(action, result)
+                msg.pack(self)
+                return msg
+            
+        def action_ack_send(self, action, result):
+                '''
+                This message acknowledges an action. IMPORTANT: The acknowledgement
+                can be also negative, e.g. the MAV rejects a reset
+                message because it is in-flight. The action ids are
+                defined in ENUM MAV_ACTION in
+                mavlink/include/mavlink_types.h
+
+                action                    : The action id (uint8_t)
+                result                    : 0: Action DENIED, 1: Action executed (uint8_t)
+
+                '''
+                return self.send(self.action_ack_encode(action, result))
+            
+        def action_encode(self, target, target_component, action):
+                '''
+                An action message allows to execute a certain onboard action. These
+                include liftoff, land, storing parameters too EEPROM,
+                shutddown, etc. The action ids are defined in ENUM
+                MAV_ACTION in mavlink/include/mavlink_types.h
+
+                target                    : The system executing the action (uint8_t)
+                target_component          : The component executing the action (uint8_t)
+                action                    : The action id (uint8_t)
+
+                '''
+                msg = MAVLink_action_message(target, target_component, action)
+                msg.pack(self)
+                return msg
+            
+        def action_send(self, target, target_component, action):
+                '''
+                An action message allows to execute a certain onboard action. These
+                include liftoff, land, storing parameters too EEPROM,
+                shutddown, etc. The action ids are defined in ENUM
+                MAV_ACTION in mavlink/include/mavlink_types.h
+
+                target                    : The system executing the action (uint8_t)
+                target_component          : The component executing the action (uint8_t)
+                action                    : The action id (uint8_t)
+
+                '''
+                return self.send(self.action_encode(target, target_component, action))
+            
+        def set_mode_encode(self, target, mode):
+                '''
+                Set the system mode, as defined by enum MAV_MODE in
+                mavlink/include/mavlink_types.h. There is no target
+                component id as the mode is by definition for the
+                overall aircraft, not only for one component.
+
+                target                    : The system setting the mode (uint8_t)
+                mode                      : The new mode (uint8_t)
+
+                '''
+                msg = MAVLink_set_mode_message(target, mode)
+                msg.pack(self)
+                return msg
+            
+        def set_mode_send(self, target, mode):
+                '''
+                Set the system mode, as defined by enum MAV_MODE in
+                mavlink/include/mavlink_types.h. There is no target
+                component id as the mode is by definition for the
+                overall aircraft, not only for one component.
+
+                target                    : The system setting the mode (uint8_t)
+                mode                      : The new mode (uint8_t)
+
+                '''
+                return self.send(self.set_mode_encode(target, mode))
+            
+        def set_nav_mode_encode(self, target, nav_mode):
+                '''
+                Set the system navigation mode, as defined by enum MAV_NAV_MODE in
+                mavlink/include/mavlink_types.h. The navigation mode
+                applies to the whole aircraft and thus all components.
+
+                target                    : The system setting the mode (uint8_t)
+                nav_mode                  : The new navigation mode (uint8_t)
+
+                '''
+                msg = MAVLink_set_nav_mode_message(target, nav_mode)
+                msg.pack(self)
+                return msg
+            
+        def set_nav_mode_send(self, target, nav_mode):
+                '''
+                Set the system navigation mode, as defined by enum MAV_NAV_MODE in
+                mavlink/include/mavlink_types.h. The navigation mode
+                applies to the whole aircraft and thus all components.
+
+                target                    : The system setting the mode (uint8_t)
+                nav_mode                  : The new navigation mode (uint8_t)
+
+                '''
+                return self.send(self.set_nav_mode_encode(target, nav_mode))
+            
+        def param_request_read_encode(self, target_system, target_component, param_id, param_index):
+                '''
+                Request to read the onboard parameter with the param_id string id.
+                Onboard parameters are stored as key[const char*] ->
+                value[float]. This allows to send a parameter to any
+                other component (such as the GCS) without the need of
+                previous knowledge of possible parameter names. Thus
+                the same GCS can store different parameters for
+                different autopilots. See also
+                http://qgroundcontrol.org/parameter_interface for a
+                full documentation of QGroundControl and IMU code.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (int8_t)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+
+                '''
+                msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
+                msg.pack(self)
+                return msg
+            
+        def param_request_read_send(self, target_system, target_component, param_id, param_index):
+                '''
+                Request to read the onboard parameter with the param_id string id.
+                Onboard parameters are stored as key[const char*] ->
+                value[float]. This allows to send a parameter to any
+                other component (such as the GCS) without the need of
+                previous knowledge of possible parameter names. Thus
+                the same GCS can store different parameters for
+                different autopilots. See also
+                http://qgroundcontrol.org/parameter_interface for a
+                full documentation of QGroundControl and IMU code.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (int8_t)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+
+                '''
+                return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
+            
+        def param_request_list_encode(self, target_system, target_component):
+                '''
+                Request all parameters of this component. After his request, all
+                parameters are emitted.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_param_request_list_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def param_request_list_send(self, target_system, target_component):
+                '''
+                Request all parameters of this component. After his request, all
+                parameters are emitted.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.param_request_list_encode(target_system, target_component))
+            
+        def param_value_encode(self, param_id, param_value, param_count, param_index):
+                '''
+                Emit the value of a onboard parameter. The inclusion of param_count
+                and param_index in the message allows the recipient to
+                keep track of received parameters and allows him to
+                re-request missing parameters after a loss or timeout.
+
+                param_id                  : Onboard parameter id (int8_t)
+                param_value               : Onboard parameter value (float)
+                param_count               : Total number of onboard parameters (uint16_t)
+                param_index               : Index of this onboard parameter (uint16_t)
+
+                '''
+                msg = MAVLink_param_value_message(param_id, param_value, param_count, param_index)
+                msg.pack(self)
+                return msg
+            
+        def param_value_send(self, param_id, param_value, param_count, param_index):
+                '''
+                Emit the value of a onboard parameter. The inclusion of param_count
+                and param_index in the message allows the recipient to
+                keep track of received parameters and allows him to
+                re-request missing parameters after a loss or timeout.
+
+                param_id                  : Onboard parameter id (int8_t)
+                param_value               : Onboard parameter value (float)
+                param_count               : Total number of onboard parameters (uint16_t)
+                param_index               : Index of this onboard parameter (uint16_t)
+
+                '''
+                return self.send(self.param_value_encode(param_id, param_value, param_count, param_index))
+            
+        def param_set_encode(self, target_system, target_component, param_id, param_value):
+                '''
+                Set a parameter value TEMPORARILY to RAM. It will be reset to default
+                on system reboot. Send the ACTION
+                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
+                contents to EEPROM. IMPORTANT: The receiving component
+                should acknowledge the new parameter value by sending
+                a param_value message to all communication partners.
+                This will also ensure that multiple GCS all have an
+                up-to-date list of all parameters. If the sending GCS
+                did not receive a PARAM_VALUE message within its
+                timeout time, it should re-send the PARAM_SET message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (int8_t)
+                param_value               : Onboard parameter value (float)
+
+                '''
+                msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value)
+                msg.pack(self)
+                return msg
+            
+        def param_set_send(self, target_system, target_component, param_id, param_value):
+                '''
+                Set a parameter value TEMPORARILY to RAM. It will be reset to default
+                on system reboot. Send the ACTION
+                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
+                contents to EEPROM. IMPORTANT: The receiving component
+                should acknowledge the new parameter value by sending
+                a param_value message to all communication partners.
+                This will also ensure that multiple GCS all have an
+                up-to-date list of all parameters. If the sending GCS
+                did not receive a PARAM_VALUE message within its
+                timeout time, it should re-send the PARAM_SET message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (int8_t)
+                param_value               : Onboard parameter value (float)
+
+                '''
+                return self.send(self.param_set_encode(target_system, target_component, param_id, param_value))
+            
+        def gps_raw_int_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is NOT the global position estimate of the
+                sytem, but rather a RAW sensor value. See message
+                GLOBAL_POSITION for the global position estimate.
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in 1E7 degrees (int32_t)
+                lon                       : Longitude in 1E7 degrees (int32_t)
+                alt                       : Altitude in 1E3 meters (millimeters) (int32_t)
+                eph                       : GPS HDOP (float)
+                epv                       : GPS VDOP (float)
+                v                         : GPS ground speed (m/s) (float)
+                hdg                       : Compass heading in degrees, 0..360 degrees (float)
+
+                '''
+                msg = MAVLink_gps_raw_int_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)
+                msg.pack(self)
+                return msg
+            
+        def gps_raw_int_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is NOT the global position estimate of the
+                sytem, but rather a RAW sensor value. See message
+                GLOBAL_POSITION for the global position estimate.
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in 1E7 degrees (int32_t)
+                lon                       : Longitude in 1E7 degrees (int32_t)
+                alt                       : Altitude in 1E3 meters (millimeters) (int32_t)
+                eph                       : GPS HDOP (float)
+                epv                       : GPS VDOP (float)
+                v                         : GPS ground speed (m/s) (float)
+                hdg                       : Compass heading in degrees, 0..360 degrees (float)
+
+                '''
+                return self.send(self.gps_raw_int_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg))
+            
+        def scaled_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should contain the scaled values to the described
+                units
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
+                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
+                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
+                xmag                      : X Magnetic field (milli tesla) (int16_t)
+                ymag                      : Y Magnetic field (milli tesla) (int16_t)
+                zmag                      : Z Magnetic field (milli tesla) (int16_t)
+
+                '''
+                msg = MAVLink_scaled_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
+                msg.pack(self)
+                return msg
+            
+        def scaled_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should contain the scaled values to the described
+                units
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
+                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
+                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
+                xmag                      : X Magnetic field (milli tesla) (int16_t)
+                ymag                      : Y Magnetic field (milli tesla) (int16_t)
+                zmag                      : Z Magnetic field (milli tesla) (int16_t)
+
+                '''
+                return self.send(self.scaled_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
+            
+        def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                '''
+                The positioning status, as reported by GPS. This message is intended
+                to display status information about each satellite
+                visible to the receiver. See message GLOBAL_POSITION
+                for the global position estimate. This message can
+                contain information for up to 20 satellites.
+
+                satellites_visible        : Number of satellites visible (uint8_t)
+                satellite_prn             : Global satellite ID (int8_t)
+                satellite_used            : 0: Satellite not used, 1: used for localization (int8_t)
+                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t)
+                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t)
+                satellite_snr             : Signal to noise ratio of satellite (int8_t)
+
+                '''
+                msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)
+                msg.pack(self)
+                return msg
+            
+        def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                '''
+                The positioning status, as reported by GPS. This message is intended
+                to display status information about each satellite
+                visible to the receiver. See message GLOBAL_POSITION
+                for the global position estimate. This message can
+                contain information for up to 20 satellites.
+
+                satellites_visible        : Number of satellites visible (uint8_t)
+                satellite_prn             : Global satellite ID (int8_t)
+                satellite_used            : 0: Satellite not used, 1: used for localization (int8_t)
+                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t)
+                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t)
+                satellite_snr             : Signal to noise ratio of satellite (int8_t)
+
+                '''
+                return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr))
+            
+        def raw_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should always contain the true raw values without any
+                scaling to allow data capture and system debugging.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (raw) (int16_t)
+                yacc                      : Y acceleration (raw) (int16_t)
+                zacc                      : Z acceleration (raw) (int16_t)
+                xgyro                     : Angular speed around X axis (raw) (int16_t)
+                ygyro                     : Angular speed around Y axis (raw) (int16_t)
+                zgyro                     : Angular speed around Z axis (raw) (int16_t)
+                xmag                      : X Magnetic field (raw) (int16_t)
+                ymag                      : Y Magnetic field (raw) (int16_t)
+                zmag                      : Z Magnetic field (raw) (int16_t)
+
+                '''
+                msg = MAVLink_raw_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
+                msg.pack(self)
+                return msg
+            
+        def raw_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should always contain the true raw values without any
+                scaling to allow data capture and system debugging.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (raw) (int16_t)
+                yacc                      : Y acceleration (raw) (int16_t)
+                zacc                      : Z acceleration (raw) (int16_t)
+                xgyro                     : Angular speed around X axis (raw) (int16_t)
+                ygyro                     : Angular speed around Y axis (raw) (int16_t)
+                zgyro                     : Angular speed around Z axis (raw) (int16_t)
+                xmag                      : X Magnetic field (raw) (int16_t)
+                ymag                      : Y Magnetic field (raw) (int16_t)
+                zmag                      : Z Magnetic field (raw) (int16_t)
+
+                '''
+                return self.send(self.raw_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
+            
+        def raw_pressure_encode(self, usec, press_abs, press_diff1, press_diff2, temperature):
+                '''
+                The RAW pressure readings for the typical setup of one absolute
+                pressure and one differential pressure sensor. The
+                sensor values should be the raw, UNSCALED ADC values.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (raw) (int16_t)
+                press_diff1               : Differential pressure 1 (raw) (int16_t)
+                press_diff2               : Differential pressure 2 (raw) (int16_t)
+                temperature               : Raw Temperature measurement (raw) (int16_t)
+
+                '''
+                msg = MAVLink_raw_pressure_message(usec, press_abs, press_diff1, press_diff2, temperature)
+                msg.pack(self)
+                return msg
+            
+        def raw_pressure_send(self, usec, press_abs, press_diff1, press_diff2, temperature):
+                '''
+                The RAW pressure readings for the typical setup of one absolute
+                pressure and one differential pressure sensor. The
+                sensor values should be the raw, UNSCALED ADC values.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (raw) (int16_t)
+                press_diff1               : Differential pressure 1 (raw) (int16_t)
+                press_diff2               : Differential pressure 2 (raw) (int16_t)
+                temperature               : Raw Temperature measurement (raw) (int16_t)
+
+                '''
+                return self.send(self.raw_pressure_encode(usec, press_abs, press_diff1, press_diff2, temperature))
+            
+        def scaled_pressure_encode(self, usec, press_abs, press_diff, temperature):
+                '''
+                The pressure readings for the typical setup of one absolute and
+                differential pressure sensor. The units are as
+                specified in each field.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (hectopascal) (float)
+                press_diff                : Differential pressure 1 (hectopascal) (float)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+
+                '''
+                msg = MAVLink_scaled_pressure_message(usec, press_abs, press_diff, temperature)
+                msg.pack(self)
+                return msg
+            
+        def scaled_pressure_send(self, usec, press_abs, press_diff, temperature):
+                '''
+                The pressure readings for the typical setup of one absolute and
+                differential pressure sensor. The units are as
+                specified in each field.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (hectopascal) (float)
+                press_diff                : Differential pressure 1 (hectopascal) (float)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+
+                '''
+                return self.send(self.scaled_pressure_encode(usec, press_abs, press_diff, temperature))
+            
+        def attitude_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right).
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                msg = MAVLink_attitude_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)
+                msg.pack(self)
+                return msg
+            
+        def attitude_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right).
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                return self.send(self.attitude_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed))
+            
+        def local_position_encode(self, usec, x, y, z, vx, vy, vz):
+                '''
+                The filtered local position (e.g. fused computer vision and
+                accelerometers). Coordinate frame is right-handed,
+                Z-axis down (aeronautical frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                x                         : X Position (float)
+                y                         : Y Position (float)
+                z                         : Z Position (float)
+                vx                        : X Speed (float)
+                vy                        : Y Speed (float)
+                vz                        : Z Speed (float)
+
+                '''
+                msg = MAVLink_local_position_message(usec, x, y, z, vx, vy, vz)
+                msg.pack(self)
+                return msg
+            
+        def local_position_send(self, usec, x, y, z, vx, vy, vz):
+                '''
+                The filtered local position (e.g. fused computer vision and
+                accelerometers). Coordinate frame is right-handed,
+                Z-axis down (aeronautical frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                x                         : X Position (float)
+                y                         : Y Position (float)
+                z                         : Z Position (float)
+                vx                        : X Speed (float)
+                vy                        : Y Speed (float)
+                vz                        : Z Speed (float)
+
+                '''
+                return self.send(self.local_position_encode(usec, x, y, z, vx, vy, vz))
+            
+        def global_position_encode(self, usec, lat, lon, alt, vx, vy, vz):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers).
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since unix epoch) (uint64_t)
+                lat                       : Latitude, in degrees (float)
+                lon                       : Longitude, in degrees (float)
+                alt                       : Absolute altitude, in meters (float)
+                vx                        : X Speed (in Latitude direction, positive: going north) (float)
+                vy                        : Y Speed (in Longitude direction, positive: going east) (float)
+                vz                        : Z Speed (in Altitude direction, positive: going up) (float)
+
+                '''
+                msg = MAVLink_global_position_message(usec, lat, lon, alt, vx, vy, vz)
+                msg.pack(self)
+                return msg
+            
+        def global_position_send(self, usec, lat, lon, alt, vx, vy, vz):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers).
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since unix epoch) (uint64_t)
+                lat                       : Latitude, in degrees (float)
+                lon                       : Longitude, in degrees (float)
+                alt                       : Absolute altitude, in meters (float)
+                vx                        : X Speed (in Latitude direction, positive: going north) (float)
+                vy                        : Y Speed (in Longitude direction, positive: going east) (float)
+                vz                        : Z Speed (in Altitude direction, positive: going up) (float)
+
+                '''
+                return self.send(self.global_position_encode(usec, lat, lon, alt, vx, vy, vz))
+            
+        def gps_raw_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is NOT the global position estimate of the
+                sytem, but rather a RAW sensor value. See message
+                GLOBAL_POSITION for the global position estimate.
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in degrees (float)
+                lon                       : Longitude in degrees (float)
+                alt                       : Altitude in meters (float)
+                eph                       : GPS HDOP (float)
+                epv                       : GPS VDOP (float)
+                v                         : GPS ground speed (float)
+                hdg                       : Compass heading in degrees, 0..360 degrees (float)
+
+                '''
+                msg = MAVLink_gps_raw_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)
+                msg.pack(self)
+                return msg
+            
+        def gps_raw_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is NOT the global position estimate of the
+                sytem, but rather a RAW sensor value. See message
+                GLOBAL_POSITION for the global position estimate.
+                Coordinate frame is right-handed, Z-axis up (GPS
+                frame)
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in degrees (float)
+                lon                       : Longitude in degrees (float)
+                alt                       : Altitude in meters (float)
+                eph                       : GPS HDOP (float)
+                epv                       : GPS VDOP (float)
+                v                         : GPS ground speed (float)
+                hdg                       : Compass heading in degrees, 0..360 degrees (float)
+
+                '''
+                return self.send(self.gps_raw_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg))
+            
+        def sys_status_encode(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
+                '''
+                The general system state. If the system is following the MAVLink
+                standard, the system state is mainly defined by three
+                orthogonal states/modes: The system mode, which is
+                either LOCKED (motors shut down and locked), MANUAL
+                (system under RC control), GUIDED (system with
+                autonomous position control, position setpoint
+                controlled manually) or AUTO (system guided by
+                path/waypoint planner). The NAV_MODE defined the
+                current flight state: LIFTOFF (often an open-loop
+                maneuver), LANDING, WAYPOINTS or VECTOR. This
+                represents the internal navigation state machine. The
+                system status shows wether the system is currently
+                active or not and if an emergency occured. During the
+                CRITICAL and EMERGENCY states the MAV is still
+                considered to be active, but should start emergency
+                procedures autonomously. After a failure occured it
+                should first move from active to critical to allow
+                manual intervention and then move to emergency after a
+                certain timeout.
+
+                mode                      : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t)
+                nav_mode                  : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t)
+                status                    : System status flag, see MAV_STATUS ENUM (uint8_t)
+                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
+                vbat                      : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
+                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t)
+                packet_drop               : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t)
+
+                '''
+                msg = MAVLink_sys_status_message(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop)
+                msg.pack(self)
+                return msg
+            
+        def sys_status_send(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
+                '''
+                The general system state. If the system is following the MAVLink
+                standard, the system state is mainly defined by three
+                orthogonal states/modes: The system mode, which is
+                either LOCKED (motors shut down and locked), MANUAL
+                (system under RC control), GUIDED (system with
+                autonomous position control, position setpoint
+                controlled manually) or AUTO (system guided by
+                path/waypoint planner). The NAV_MODE defined the
+                current flight state: LIFTOFF (often an open-loop
+                maneuver), LANDING, WAYPOINTS or VECTOR. This
+                represents the internal navigation state machine. The
+                system status shows wether the system is currently
+                active or not and if an emergency occured. During the
+                CRITICAL and EMERGENCY states the MAV is still
+                considered to be active, but should start emergency
+                procedures autonomously. After a failure occured it
+                should first move from active to critical to allow
+                manual intervention and then move to emergency after a
+                certain timeout.
+
+                mode                      : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t)
+                nav_mode                  : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t)
+                status                    : System status flag, see MAV_STATUS ENUM (uint8_t)
+                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
+                vbat                      : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
+                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t)
+                packet_drop               : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t)
+
+                '''
+                return self.send(self.sys_status_encode(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop))
+            
+        def rc_channels_raw_encode(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                '''
+                The RAW values of the RC channels received. The standard PPM
+                modulation is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%. Individual receivers/transmitters
+                might violate this specification.
+
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                msg = MAVLink_rc_channels_raw_message(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_raw_send(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                '''
+                The RAW values of the RC channels received. The standard PPM
+                modulation is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%. Individual receivers/transmitters
+                might violate this specification.
+
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                return self.send(self.rc_channels_raw_encode(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi))
+            
+        def rc_channels_scaled_encode(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                '''
+                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
+                (100%) 10000
+
+                chan1_scaled              : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan2_scaled              : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan3_scaled              : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan4_scaled              : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan5_scaled              : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan6_scaled              : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan7_scaled              : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan8_scaled              : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                msg = MAVLink_rc_channels_scaled_message(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_scaled_send(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                '''
+                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
+                (100%) 10000
+
+                chan1_scaled              : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan2_scaled              : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan3_scaled              : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan4_scaled              : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan5_scaled              : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan6_scaled              : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan7_scaled              : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan8_scaled              : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                return self.send(self.rc_channels_scaled_encode(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi))
+            
+        def servo_output_raw_encode(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                '''
+                The RAW values of the servo outputs (for RC input from the remote, use
+                the RC_CHANNELS messages). The standard PPM modulation
+                is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%.
+
+                servo1_raw                : Servo output 1 value, in microseconds (uint16_t)
+                servo2_raw                : Servo output 2 value, in microseconds (uint16_t)
+                servo3_raw                : Servo output 3 value, in microseconds (uint16_t)
+                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
+                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
+                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
+                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
+                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
+
+                '''
+                msg = MAVLink_servo_output_raw_message(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)
+                msg.pack(self)
+                return msg
+            
+        def servo_output_raw_send(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                '''
+                The RAW values of the servo outputs (for RC input from the remote, use
+                the RC_CHANNELS messages). The standard PPM modulation
+                is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%.
+
+                servo1_raw                : Servo output 1 value, in microseconds (uint16_t)
+                servo2_raw                : Servo output 2 value, in microseconds (uint16_t)
+                servo3_raw                : Servo output 3 value, in microseconds (uint16_t)
+                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
+                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
+                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
+                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
+                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
+
+                '''
+                return self.send(self.servo_output_raw_encode(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw))
+            
+        def waypoint_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                '''
+                Message encoding a waypoint. This message is emitted to announce
+                the presence of a waypoint and to set a waypoint on
+                the system. The waypoint can be either in x, y, z
+                meters (type: LOCAL) or x:lat, y:lon, z:altitude.
+                Local frame is Z-down, right handed, global frame is
+                Z-up, right handed
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+                frame                     : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t)
+                command                   : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t)
+                current                   : false:0, true:1 (uint8_t)
+                autocontinue              : autocontinue to next wp (uint8_t)
+                param1                    : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float)
+                param2                    : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
+                param3                    : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
+                param4                    : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
+                x                         : PARAM5 / local: x position, global: latitude (float)
+                y                         : PARAM6 / y position: global: longitude (float)
+                z                         : PARAM7 / z position: global: altitude (float)
+
+                '''
+                msg = MAVLink_waypoint_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                '''
+                Message encoding a waypoint. This message is emitted to announce
+                the presence of a waypoint and to set a waypoint on
+                the system. The waypoint can be either in x, y, z
+                meters (type: LOCAL) or x:lat, y:lon, z:altitude.
+                Local frame is Z-down, right handed, global frame is
+                Z-up, right handed
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+                frame                     : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t)
+                command                   : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t)
+                current                   : false:0, true:1 (uint8_t)
+                autocontinue              : autocontinue to next wp (uint8_t)
+                param1                    : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float)
+                param2                    : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
+                param3                    : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
+                param4                    : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
+                x                         : PARAM5 / local: x position, global: latitude (float)
+                y                         : PARAM6 / y position: global: longitude (float)
+                z                         : PARAM7 / z position: global: altitude (float)
+
+                '''
+                return self.send(self.waypoint_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z))
+            
+        def waypoint_request_encode(self, target_system, target_component, seq):
+                '''
+                Request the information of the waypoint with the sequence number seq.
+                The response of the system to this message should be a
+                WAYPOINT message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_waypoint_request_message(target_system, target_component, seq)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_request_send(self, target_system, target_component, seq):
+                '''
+                Request the information of the waypoint with the sequence number seq.
+                The response of the system to this message should be a
+                WAYPOINT message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.waypoint_request_encode(target_system, target_component, seq))
+            
+        def waypoint_set_current_encode(self, target_system, target_component, seq):
+                '''
+                Set the waypoint with sequence number seq as current waypoint. This
+                means that the MAV will continue to this waypoint on
+                the shortest path (not following the waypoints in-
+                between).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_waypoint_set_current_message(target_system, target_component, seq)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_set_current_send(self, target_system, target_component, seq):
+                '''
+                Set the waypoint with sequence number seq as current waypoint. This
+                means that the MAV will continue to this waypoint on
+                the shortest path (not following the waypoints in-
+                between).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.waypoint_set_current_encode(target_system, target_component, seq))
+            
+        def waypoint_current_encode(self, seq):
+                '''
+                Message that announces the sequence number of the current active
+                waypoint. The MAV will fly towards this waypoint.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_waypoint_current_message(seq)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_current_send(self, seq):
+                '''
+                Message that announces the sequence number of the current active
+                waypoint. The MAV will fly towards this waypoint.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.waypoint_current_encode(seq))
+            
+        def waypoint_request_list_encode(self, target_system, target_component):
+                '''
+                Request the overall list of waypoints from the system/component.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_waypoint_request_list_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_request_list_send(self, target_system, target_component):
+                '''
+                Request the overall list of waypoints from the system/component.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.waypoint_request_list_encode(target_system, target_component))
+            
+        def waypoint_count_encode(self, target_system, target_component, count):
+                '''
+                This message is emitted as response to WAYPOINT_REQUEST_LIST by the
+                MAV. The GCS can then request the individual waypoints
+                based on the knowledge of the total number of
+                waypoints.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                count                     : Number of Waypoints in the Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_waypoint_count_message(target_system, target_component, count)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_count_send(self, target_system, target_component, count):
+                '''
+                This message is emitted as response to WAYPOINT_REQUEST_LIST by the
+                MAV. The GCS can then request the individual waypoints
+                based on the knowledge of the total number of
+                waypoints.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                count                     : Number of Waypoints in the Sequence (uint16_t)
+
+                '''
+                return self.send(self.waypoint_count_encode(target_system, target_component, count))
+            
+        def waypoint_clear_all_encode(self, target_system, target_component):
+                '''
+                Delete all waypoints at once.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_waypoint_clear_all_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_clear_all_send(self, target_system, target_component):
+                '''
+                Delete all waypoints at once.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.waypoint_clear_all_encode(target_system, target_component))
+            
+        def waypoint_reached_encode(self, seq):
+                '''
+                A certain waypoint has been reached. The system will either hold this
+                position (or circle on the orbit) or (if the
+                autocontinue on the WP was set) continue to the next
+                waypoint.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_waypoint_reached_message(seq)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_reached_send(self, seq):
+                '''
+                A certain waypoint has been reached. The system will either hold this
+                position (or circle on the orbit) or (if the
+                autocontinue on the WP was set) continue to the next
+                waypoint.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.waypoint_reached_encode(seq))
+            
+        def waypoint_ack_encode(self, target_system, target_component, type):
+                '''
+                Ack message during waypoint handling. The type field states if this
+                message is a positive ack (type=0) or if an error
+                happened (type=non-zero).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                type                      : 0: OK, 1: Error (uint8_t)
+
+                '''
+                msg = MAVLink_waypoint_ack_message(target_system, target_component, type)
+                msg.pack(self)
+                return msg
+            
+        def waypoint_ack_send(self, target_system, target_component, type):
+                '''
+                Ack message during waypoint handling. The type field states if this
+                message is a positive ack (type=0) or if an error
+                happened (type=non-zero).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                type                      : 0: OK, 1: Error (uint8_t)
+
+                '''
+                return self.send(self.waypoint_ack_encode(target_system, target_component, type))
+            
+        def gps_set_global_origin_encode(self, target_system, target_component, latitude, longitude, altitude):
+                '''
+                As local waypoints exist, the global waypoint reference allows to
+                transform between the local coordinate frame and the
+                global (GPS) coordinate frame. This can be necessary
+                when e.g. in- and outdoor settings are connected and
+                the MAV should move from in- to outdoor.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                latitude                  : global position * 1E7 (int32_t)
+                longitude                 : global position * 1E7 (int32_t)
+                altitude                  : global position * 1000 (int32_t)
+
+                '''
+                msg = MAVLink_gps_set_global_origin_message(target_system, target_component, latitude, longitude, altitude)
+                msg.pack(self)
+                return msg
+            
+        def gps_set_global_origin_send(self, target_system, target_component, latitude, longitude, altitude):
+                '''
+                As local waypoints exist, the global waypoint reference allows to
+                transform between the local coordinate frame and the
+                global (GPS) coordinate frame. This can be necessary
+                when e.g. in- and outdoor settings are connected and
+                the MAV should move from in- to outdoor.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                latitude                  : global position * 1E7 (int32_t)
+                longitude                 : global position * 1E7 (int32_t)
+                altitude                  : global position * 1000 (int32_t)
+
+                '''
+                return self.send(self.gps_set_global_origin_encode(target_system, target_component, latitude, longitude, altitude))
+            
+        def gps_local_origin_set_encode(self, latitude, longitude, altitude):
+                '''
+                Once the MAV sets a new GPS-Local correspondence, this message
+                announces the origin (0,0,0) position
+
+                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
+                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
+                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
+
+                '''
+                msg = MAVLink_gps_local_origin_set_message(latitude, longitude, altitude)
+                msg.pack(self)
+                return msg
+            
+        def gps_local_origin_set_send(self, latitude, longitude, altitude):
+                '''
+                Once the MAV sets a new GPS-Local correspondence, this message
+                announces the origin (0,0,0) position
+
+                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
+                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
+                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
+
+                '''
+                return self.send(self.gps_local_origin_set_encode(latitude, longitude, altitude))
+            
+        def local_position_setpoint_set_encode(self, target_system, target_component, x, y, z, yaw):
+                '''
+                Set the setpoint for a local position controller. This is the position
+                in local coordinates the MAV should fly to. This
+                message is sent by the path/waypoint planner to the
+                onboard position controller. As some MAVs have a
+                degree of freedom in yaw (e.g. all
+                helicopters/quadrotors), the desired yaw angle is part
+                of the message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                msg = MAVLink_local_position_setpoint_set_message(target_system, target_component, x, y, z, yaw)
+                msg.pack(self)
+                return msg
+            
+        def local_position_setpoint_set_send(self, target_system, target_component, x, y, z, yaw):
+                '''
+                Set the setpoint for a local position controller. This is the position
+                in local coordinates the MAV should fly to. This
+                message is sent by the path/waypoint planner to the
+                onboard position controller. As some MAVs have a
+                degree of freedom in yaw (e.g. all
+                helicopters/quadrotors), the desired yaw angle is part
+                of the message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                return self.send(self.local_position_setpoint_set_encode(target_system, target_component, x, y, z, yaw))
+            
+        def local_position_setpoint_encode(self, x, y, z, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                msg = MAVLink_local_position_setpoint_message(x, y, z, yaw)
+                msg.pack(self)
+                return msg
+            
+        def local_position_setpoint_send(self, x, y, z, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                return self.send(self.local_position_setpoint_encode(x, y, z, yaw))
+            
+        def control_status_encode(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
+                '''
+                
+
+                position_fix              : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t)
+                vision_fix                : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t)
+                gps_fix                   : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t)
+                ahrs_health               : Attitude estimation health: 0: poor, 255: excellent (uint8_t)
+                control_att               : 0: Attitude control disabled, 1: enabled (uint8_t)
+                control_pos_xy            : 0: X, Y position control disabled, 1: enabled (uint8_t)
+                control_pos_z             : 0: Z position control disabled, 1: enabled (uint8_t)
+                control_pos_yaw           : 0: Yaw angle control disabled, 1: enabled (uint8_t)
+
+                '''
+                msg = MAVLink_control_status_message(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw)
+                msg.pack(self)
+                return msg
+            
+        def control_status_send(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
+                '''
+                
+
+                position_fix              : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t)
+                vision_fix                : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t)
+                gps_fix                   : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t)
+                ahrs_health               : Attitude estimation health: 0: poor, 255: excellent (uint8_t)
+                control_att               : 0: Attitude control disabled, 1: enabled (uint8_t)
+                control_pos_xy            : 0: X, Y position control disabled, 1: enabled (uint8_t)
+                control_pos_z             : 0: Z position control disabled, 1: enabled (uint8_t)
+                control_pos_yaw           : 0: Yaw angle control disabled, 1: enabled (uint8_t)
+
+                '''
+                return self.send(self.control_status_encode(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw))
+            
+        def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Set a safety zone (volume), which is defined by two corners of a cube.
+                This message can be used to tell the MAV which
+                setpoints/waypoints to accept and which to reject.
+                Safety areas are often enforced by national or
+                competition regulations.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)
+                msg.pack(self)
+                return msg
+            
+        def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Set a safety zone (volume), which is defined by two corners of a cube.
+                This message can be used to tell the MAV which
+                setpoints/waypoints to accept and which to reject.
+                Safety areas are often enforced by national or
+                competition regulations.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z))
+            
+        def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Read out the safety zone the MAV currently assumes.
+
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z)
+                msg.pack(self)
+                return msg
+            
+        def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Read out the safety zone the MAV currently assumes.
+
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z))
+            
+        def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust)
+                msg.pack(self)
+                return msg
+            
+        def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust))
+            
+        def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)
+                msg.pack(self)
+                return msg
+            
+        def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust))
+            
+        def roll_pitch_yaw_thrust_setpoint_encode(self, time_us, roll, pitch, yaw, thrust):
+                '''
+                Setpoint in roll, pitch, yaw currently active on the system.
+
+                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_us, roll, pitch, yaw, thrust)
+                msg.pack(self)
+                return msg
+            
+        def roll_pitch_yaw_thrust_setpoint_send(self, time_us, roll, pitch, yaw, thrust):
+                '''
+                Setpoint in roll, pitch, yaw currently active on the system.
+
+                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_us, roll, pitch, yaw, thrust))
+            
+        def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
+                system.
+
+                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_us, roll_speed, pitch_speed, yaw_speed, thrust)
+                msg.pack(self)
+                return msg
+            
+        def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
+                system.
+
+                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_us, roll_speed, pitch_speed, yaw_speed, thrust))
+            
+        def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                '''
+                Outputs of the APM navigation controller. The primary use of this
+                message is to check the response and signs of the
+                controller before actual flight and to assist with
+                tuning controller parameters
+
+                nav_roll                  : Current desired roll in degrees (float)
+                nav_pitch                 : Current desired pitch in degrees (float)
+                nav_bearing               : Current desired heading in degrees (int16_t)
+                target_bearing            : Bearing to current waypoint/target in degrees (int16_t)
+                wp_dist                   : Distance to active waypoint in meters (uint16_t)
+                alt_error                 : Current altitude error in meters (float)
+                aspd_error                : Current airspeed error in meters/second (float)
+                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
+
+                '''
+                msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)
+                msg.pack(self)
+                return msg
+            
+        def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                '''
+                Outputs of the APM navigation controller. The primary use of this
+                message is to check the response and signs of the
+                controller before actual flight and to assist with
+                tuning controller parameters
+
+                nav_roll                  : Current desired roll in degrees (float)
+                nav_pitch                 : Current desired pitch in degrees (float)
+                nav_bearing               : Current desired heading in degrees (int16_t)
+                target_bearing            : Bearing to current waypoint/target in degrees (int16_t)
+                wp_dist                   : Distance to active waypoint in meters (uint16_t)
+                alt_error                 : Current altitude error in meters (float)
+                aspd_error                : Current airspeed error in meters/second (float)
+                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
+
+                '''
+                return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
+            
+        def position_target_encode(self, x, y, z, yaw):
+                '''
+                The goal position of the system. This position is the input to any
+                navigation or path planning algorithm and does NOT
+                represent the current controller setpoint.
+
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : yaw orientation in radians, 0 = NORTH (float)
+
+                '''
+                msg = MAVLink_position_target_message(x, y, z, yaw)
+                msg.pack(self)
+                return msg
+            
+        def position_target_send(self, x, y, z, yaw):
+                '''
+                The goal position of the system. This position is the input to any
+                navigation or path planning algorithm and does NOT
+                represent the current controller setpoint.
+
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : yaw orientation in radians, 0 = NORTH (float)
+
+                '''
+                return self.send(self.position_target_encode(x, y, z, yaw))
+            
+        def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                '''
+                Corrects the systems state by adding an error correction term to the
+                position and velocity, and by rotating the attitude by
+                a correction angle.
+
+                xErr                      : x position error (float)
+                yErr                      : y position error (float)
+                zErr                      : z position error (float)
+                rollErr                   : roll error (radians) (float)
+                pitchErr                  : pitch error (radians) (float)
+                yawErr                    : yaw error (radians) (float)
+                vxErr                     : x velocity (float)
+                vyErr                     : y velocity (float)
+                vzErr                     : z velocity (float)
+
+                '''
+                msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)
+                msg.pack(self)
+                return msg
+            
+        def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                '''
+                Corrects the systems state by adding an error correction term to the
+                position and velocity, and by rotating the attitude by
+                a correction angle.
+
+                xErr                      : x position error (float)
+                yErr                      : y position error (float)
+                zErr                      : z position error (float)
+                rollErr                   : roll error (radians) (float)
+                pitchErr                  : pitch error (radians) (float)
+                yawErr                    : yaw error (radians) (float)
+                vxErr                     : x velocity (float)
+                vyErr                     : y velocity (float)
+                vzErr                     : z velocity (float)
+
+                '''
+                return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr))
+            
+        def set_altitude_encode(self, target, mode):
+                '''
+                
+
+                target                    : The system setting the altitude (uint8_t)
+                mode                      : The new altitude in meters (uint32_t)
+
+                '''
+                msg = MAVLink_set_altitude_message(target, mode)
+                msg.pack(self)
+                return msg
+            
+        def set_altitude_send(self, target, mode):
+                '''
+                
+
+                target                    : The system setting the altitude (uint8_t)
+                mode                      : The new altitude in meters (uint32_t)
+
+                '''
+                return self.send(self.set_altitude_encode(target, mode))
+            
+        def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                '''
+                
+
+                target_system             : The target requested to send the message stream. (uint8_t)
+                target_component          : The target requested to send the message stream. (uint8_t)
+                req_stream_id             : The ID of the requested message type (uint8_t)
+                req_message_rate          : Update rate in Hertz (uint16_t)
+                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
+
+                '''
+                msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop)
+                msg.pack(self)
+                return msg
+            
+        def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                '''
+                
+
+                target_system             : The target requested to send the message stream. (uint8_t)
+                target_component          : The target requested to send the message stream. (uint8_t)
+                req_stream_id             : The ID of the requested message type (uint8_t)
+                req_message_rate          : Update rate in Hertz (uint16_t)
+                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
+
+                '''
+                return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop))
+            
+        def hil_state_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                '''
+                This packet is useful for high throughput                 applications
+                such as hardware in the loop simulations.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+
+                '''
+                msg = MAVLink_hil_state_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)
+                msg.pack(self)
+                return msg
+            
+        def hil_state_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                '''
+                This packet is useful for high throughput                 applications
+                such as hardware in the loop simulations.
+
+                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+
+                '''
+                return self.send(self.hil_state_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc))
+            
+        def hil_controls_encode(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
+                '''
+                Hardware in the loop control outputs
+
+                time_us                   : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll_ailerons             : Control output -3 .. 1 (float)
+                pitch_elevator            : Control output -1 .. 1 (float)
+                yaw_rudder                : Control output -1 .. 1 (float)
+                throttle                  : Throttle 0 .. 1 (float)
+                mode                      : System mode (MAV_MODE) (uint8_t)
+                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
+
+                '''
+                msg = MAVLink_hil_controls_message(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode)
+                msg.pack(self)
+                return msg
+            
+        def hil_controls_send(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
+                '''
+                Hardware in the loop control outputs
+
+                time_us                   : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll_ailerons             : Control output -3 .. 1 (float)
+                pitch_elevator            : Control output -1 .. 1 (float)
+                yaw_rudder                : Control output -1 .. 1 (float)
+                throttle                  : Throttle 0 .. 1 (float)
+                mode                      : System mode (MAV_MODE) (uint8_t)
+                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
+
+                '''
+                return self.send(self.hil_controls_encode(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode))
+            
+        def manual_control_encode(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                '''
+                
+
+                target                    : The system to be controlled (uint8_t)
+                roll                      : roll (float)
+                pitch                     : pitch (float)
+                yaw                       : yaw (float)
+                thrust                    : thrust (float)
+                roll_manual               : roll control enabled auto:0, manual:1 (uint8_t)
+                pitch_manual              : pitch auto:0, manual:1 (uint8_t)
+                yaw_manual                : yaw auto:0, manual:1 (uint8_t)
+                thrust_manual             : thrust auto:0, manual:1 (uint8_t)
+
+                '''
+                msg = MAVLink_manual_control_message(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual)
+                msg.pack(self)
+                return msg
+            
+        def manual_control_send(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                '''
+                
+
+                target                    : The system to be controlled (uint8_t)
+                roll                      : roll (float)
+                pitch                     : pitch (float)
+                yaw                       : yaw (float)
+                thrust                    : thrust (float)
+                roll_manual               : roll control enabled auto:0, manual:1 (uint8_t)
+                pitch_manual              : pitch auto:0, manual:1 (uint8_t)
+                yaw_manual                : yaw auto:0, manual:1 (uint8_t)
+                thrust_manual             : thrust auto:0, manual:1 (uint8_t)
+
+                '''
+                return self.send(self.manual_control_encode(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual))
+            
+        def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                '''
+                The RAW values of the RC channels sent to the MAV to override info
+                received from the RC radio. A value of -1 means no
+                change to that channel. A value of 0 means control of
+                that channel should be released back to the RC radio.
+                The standard PPM modulation is as follows: 1000
+                microseconds: 0%, 2000 microseconds: 100%. Individual
+                receivers/transmitters might violate this
+                specification.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+
+                '''
+                msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                '''
+                The RAW values of the RC channels sent to the MAV to override info
+                received from the RC radio. A value of -1 means no
+                change to that channel. A value of 0 means control of
+                that channel should be released back to the RC radio.
+                The standard PPM modulation is as follows: 1000
+                microseconds: 0%, 2000 microseconds: 100%. Individual
+                receivers/transmitters might violate this
+                specification.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+
+                '''
+                return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw))
+            
+        def global_position_int_encode(self, lat, lon, alt, vx, vy, vz):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers). The
+                position is in GPS-frame (right-handed, Z-up)
+
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+
+                '''
+                msg = MAVLink_global_position_int_message(lat, lon, alt, vx, vy, vz)
+                msg.pack(self)
+                return msg
+            
+        def global_position_int_send(self, lat, lon, alt, vx, vy, vz):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers). The
+                position is in GPS-frame (right-handed, Z-up)
+
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+
+                '''
+                return self.send(self.global_position_int_encode(lat, lon, alt, vx, vy, vz))
+            
+        def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                '''
+                Metrics typically displayed on a HUD for fixed wing aircraft
+
+                airspeed                  : Current airspeed in m/s (float)
+                groundspeed               : Current ground speed in m/s (float)
+                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
+                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
+                alt                       : Current altitude (MSL), in meters (float)
+                climb                     : Current climb rate in meters/second (float)
+
+                '''
+                msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb)
+                msg.pack(self)
+                return msg
+            
+        def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                '''
+                Metrics typically displayed on a HUD for fixed wing aircraft
+
+                airspeed                  : Current airspeed in m/s (float)
+                groundspeed               : Current ground speed in m/s (float)
+                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
+                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
+                alt                       : Current altitude (MSL), in meters (float)
+                climb                     : Current climb rate in meters/second (float)
+
+                '''
+                return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb))
+            
+        def command_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
+                '''
+                Send a command with up to four parameters to the MAV
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                command                   : Command ID, as defined by MAV_CMD enum. (uint8_t)
+                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
+                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
+                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
+                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
+                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
+
+                '''
+                msg = MAVLink_command_message(target_system, target_component, command, confirmation, param1, param2, param3, param4)
+                msg.pack(self)
+                return msg
+            
+        def command_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
+                '''
+                Send a command with up to four parameters to the MAV
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                command                   : Command ID, as defined by MAV_CMD enum. (uint8_t)
+                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
+                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
+                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
+                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
+                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
+
+                '''
+                return self.send(self.command_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4))
+            
+        def command_ack_encode(self, command, result):
+                '''
+                Report status of a command. Includes feedback wether the command was
+                executed
+
+                command                   : Current airspeed in m/s (float)
+                result                    : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float)
+
+                '''
+                msg = MAVLink_command_ack_message(command, result)
+                msg.pack(self)
+                return msg
+            
+        def command_ack_send(self, command, result):
+                '''
+                Report status of a command. Includes feedback wether the command was
+                executed
+
+                command                   : Current airspeed in m/s (float)
+                result                    : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float)
+
+                '''
+                return self.send(self.command_ack_encode(command, result))
+            
+        def optical_flow_encode(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
+                '''
+                Optical flow from a flow sensor (e.g. optical mouse sensor)
+
+                time                      : Timestamp (UNIX) (uint64_t)
+                sensor_id                 : Sensor ID (uint8_t)
+                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
+                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
+                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
+                ground_distance           : Ground distance in meters (float)
+
+                '''
+                msg = MAVLink_optical_flow_message(time, sensor_id, flow_x, flow_y, quality, ground_distance)
+                msg.pack(self)
+                return msg
+            
+        def optical_flow_send(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
+                '''
+                Optical flow from a flow sensor (e.g. optical mouse sensor)
+
+                time                      : Timestamp (UNIX) (uint64_t)
+                sensor_id                 : Sensor ID (uint8_t)
+                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
+                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
+                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
+                ground_distance           : Ground distance in meters (float)
+
+                '''
+                return self.send(self.optical_flow_encode(time, sensor_id, flow_x, flow_y, quality, ground_distance))
+            
+        def object_detection_event_encode(self, time, object_id, type, name, quality, bearing, distance):
+                '''
+                Object has been detected
+
+                time                      : Timestamp in milliseconds since system boot (uint32_t)
+                object_id                 : Object ID (uint16_t)
+                type                      : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t)
+                name                      : Name of the object as defined by the detector (char)
+                quality                   : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t)
+                bearing                   : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float)
+                distance                  : Ground distance in meters (float)
+
+                '''
+                msg = MAVLink_object_detection_event_message(time, object_id, type, name, quality, bearing, distance)
+                msg.pack(self)
+                return msg
+            
+        def object_detection_event_send(self, time, object_id, type, name, quality, bearing, distance):
+                '''
+                Object has been detected
+
+                time                      : Timestamp in milliseconds since system boot (uint32_t)
+                object_id                 : Object ID (uint16_t)
+                type                      : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t)
+                name                      : Name of the object as defined by the detector (char)
+                quality                   : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t)
+                bearing                   : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float)
+                distance                  : Ground distance in meters (float)
+
+                '''
+                return self.send(self.object_detection_event_encode(time, object_id, type, name, quality, bearing, distance))
+            
+        def debug_vect_encode(self, name, usec, x, y, z):
+                '''
+                
+
+                name                      : Name (char)
+                usec                      : Timestamp (uint64_t)
+                x                         : x (float)
+                y                         : y (float)
+                z                         : z (float)
+
+                '''
+                msg = MAVLink_debug_vect_message(name, usec, x, y, z)
+                msg.pack(self)
+                return msg
+            
+        def debug_vect_send(self, name, usec, x, y, z):
+                '''
+                
+
+                name                      : Name (char)
+                usec                      : Timestamp (uint64_t)
+                x                         : x (float)
+                y                         : y (float)
+                z                         : z (float)
+
+                '''
+                return self.send(self.debug_vect_encode(name, usec, x, y, z))
+            
+        def named_value_float_encode(self, name, value):
+                '''
+                Send a key-value pair as float. The use of this message is discouraged
+                for normal packets, but a quite efficient way for
+                testing new messages and getting experimental debug
+                output.
+
+                name                      : Name of the debug variable (char)
+                value                     : Floating point value (float)
+
+                '''
+                msg = MAVLink_named_value_float_message(name, value)
+                msg.pack(self)
+                return msg
+            
+        def named_value_float_send(self, name, value):
+                '''
+                Send a key-value pair as float. The use of this message is discouraged
+                for normal packets, but a quite efficient way for
+                testing new messages and getting experimental debug
+                output.
+
+                name                      : Name of the debug variable (char)
+                value                     : Floating point value (float)
+
+                '''
+                return self.send(self.named_value_float_encode(name, value))
+            
+        def named_value_int_encode(self, name, value):
+                '''
+                Send a key-value pair as integer. The use of this message is
+                discouraged for normal packets, but a quite efficient
+                way for testing new messages and getting experimental
+                debug output.
+
+                name                      : Name of the debug variable (char)
+                value                     : Signed integer value (int32_t)
+
+                '''
+                msg = MAVLink_named_value_int_message(name, value)
+                msg.pack(self)
+                return msg
+            
+        def named_value_int_send(self, name, value):
+                '''
+                Send a key-value pair as integer. The use of this message is
+                discouraged for normal packets, but a quite efficient
+                way for testing new messages and getting experimental
+                debug output.
+
+                name                      : Name of the debug variable (char)
+                value                     : Signed integer value (int32_t)
+
+                '''
+                return self.send(self.named_value_int_encode(name, value))
+            
+        def statustext_encode(self, severity, text):
+                '''
+                Status text message. These messages are printed in yellow in the COMM
+                console of QGroundControl. WARNING: They consume quite
+                some bandwidth, so use only for important status and
+                error messages. If implemented wisely, these messages
+                are buffered on the MCU and sent only at a limited
+                rate (e.g. 10 Hz).
+
+                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
+                text                      : Status text message, without null termination character (int8_t)
+
+                '''
+                msg = MAVLink_statustext_message(severity, text)
+                msg.pack(self)
+                return msg
+            
+        def statustext_send(self, severity, text):
+                '''
+                Status text message. These messages are printed in yellow in the COMM
+                console of QGroundControl. WARNING: They consume quite
+                some bandwidth, so use only for important status and
+                error messages. If implemented wisely, these messages
+                are buffered on the MCU and sent only at a limited
+                rate (e.g. 10 Hz).
+
+                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
+                text                      : Status text message, without null termination character (int8_t)
+
+                '''
+                return self.send(self.statustext_encode(severity, text))
+            
+        def debug_encode(self, ind, value):
+                '''
+                Send a debug value. The index is used to discriminate between values.
+                These values show up in the plot of QGroundControl as
+                DEBUG N.
+
+                ind                       : index of debug variable (uint8_t)
+                value                     : DEBUG value (float)
+
+                '''
+                msg = MAVLink_debug_message(ind, value)
+                msg.pack(self)
+                return msg
+            
+        def debug_send(self, ind, value):
+                '''
+                Send a debug value. The index is used to discriminate between values.
+                These values show up in the plot of QGroundControl as
+                DEBUG N.
+
+                ind                       : index of debug variable (uint8_t)
+                value                     : DEBUG value (float)
+
+                '''
+                return self.send(self.debug_encode(ind, value))
+            
diff --git a/mavlink/share/pyshared/pymavlink/mavlinkv10.py b/mavlink/share/pyshared/pymavlink/mavlinkv10.py
new file mode 100644
index 000000000..a87e8e904
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/mavlinkv10.py
@@ -0,0 +1,5394 @@
+'''
+MAVLink protocol implementation (auto-generated by mavgen.py)
+
+Generated from: ardupilotmega.xml,common.xml
+
+Note: this file has been auto-generated. DO NOT EDIT
+'''
+
+import struct, array, mavutil, time
+
+WIRE_PROTOCOL_VERSION = "1.0"
+
+class MAVLink_header(object):
+    '''MAVLink message header'''
+    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
+        self.mlen = mlen
+        self.seq = seq
+        self.srcSystem = srcSystem
+        self.srcComponent = srcComponent
+        self.msgId = msgId
+
+    def pack(self):
+        return struct.pack('BBBBBB', 254, self.mlen, self.seq,
+                          self.srcSystem, self.srcComponent, self.msgId)
+
+class MAVLink_message(object):
+    '''base MAVLink message class'''
+    def __init__(self, msgId, name):
+        self._header     = MAVLink_header(msgId)
+        self._payload    = None
+        self._msgbuf     = None
+        self._crc        = None
+        self._fieldnames = []
+        self._type       = name
+
+    def get_msgbuf(self):
+        return self._msgbuf
+
+    def get_header(self):
+        return self._header
+
+    def get_payload(self):
+        return self._payload
+
+    def get_crc(self):
+        return self._crc
+
+    def get_fieldnames(self):
+        return self._fieldnames
+
+    def get_type(self):
+        return self._type
+
+    def get_msgId(self):
+        return self._header.msgId
+
+    def get_srcSystem(self):
+        return self._header.srcSystem
+
+    def get_srcComponent(self):
+        return self._header.srcComponent
+
+    def get_seq(self):
+        return self._header.seq
+
+    def __str__(self):
+        ret = '%s {' % self._type
+        for a in self._fieldnames:
+            v = getattr(self, a)
+            ret += '%s : %s, ' % (a, v)
+        ret = ret[0:-2] + '}'
+        return ret            
+
+    def pack(self, mav, crc_extra, payload):
+        self._payload = payload
+        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
+                                       mav.srcSystem, mav.srcComponent)
+        self._msgbuf = self._header.pack() + payload
+        crc = mavutil.x25crc(self._msgbuf[1:])
+        if True: # using CRC extra
+            crc.accumulate(chr(crc_extra))
+        self._crc = crc.crc
+        self._msgbuf += struct.pack('<H', self._crc)
+        return self._msgbuf
+
+
+# enums
+
+# MAV_MOUNT_MODE
+MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop
+                        # stabilization
+MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.
+MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with
+                        # stabilization
+MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with
+                        # stabilization
+MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt
+MAV_MOUNT_MODE_ENUM_END = 5 # 
+
+# MAV_CMD
+MAV_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION.
+MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time
+MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns
+MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds
+MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
+MAV_CMD_NAV_LAND = 21 # Land at location
+MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
+MAV_CMD_NAV_ROI = 80 # 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.
+MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
+MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
+                        # NAV/ACTION commands in the enumeration
+MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
+MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate.  Delay mission state machine until desired
+                        # altitude reached.
+MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
+                        # point.
+MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
+MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
+                        # CONDITION commands in the enumeration
+MAV_CMD_DO_SET_MODE = 176 # Set system mode.
+MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list.  Repeat this action
+                        # only the specified number of times
+MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
+MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
+                        # specified location.
+MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter.  Caution!  Use of this command requires
+                        # knowledge of the numeric enumeration value
+                        # of the parameter.
+MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
+MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
+                        # period.
+MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
+MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
+                        # number of cycles with a desired period.
+MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system.
+MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system.
+MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system.
+MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount
+MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount
+MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
+                        # commands in the enumeration
+MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
+                        # flight mode.
+MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-
+                        # flight mode.
+MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
+                        # will be only accepted if in pre-flight mode.
+MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components.
+MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action
+MAV_CMD_MISSION_START = 300 # start running a mission
+MAV_CMD_ENUM_END = 301 # 
+
+# FENCE_ACTION
+FENCE_ACTION_NONE = 0 # Disable fenced mode
+FENCE_ACTION_GUIDED = 1 # Switched to guided mode to return point (fence point 0)
+FENCE_ACTION_ENUM_END = 2 # 
+
+# FENCE_BREACH
+FENCE_BREACH_NONE = 0 # No last fence breach
+FENCE_BREACH_MINALT = 1 # Breached minimum altitude
+FENCE_BREACH_MAXALT = 2 # Breached minimum altitude
+FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary
+FENCE_BREACH_ENUM_END = 4 # 
+
+# MAV_AUTOPILOT
+MAV_AUTOPILOT_GENERIC = 0 # Generic autopilot, full support for everything
+MAV_AUTOPILOT_PIXHAWK = 1 # PIXHAWK autopilot, http://pixhawk.ethz.ch
+MAV_AUTOPILOT_SLUGS = 2 # SLUGS autopilot, http://slugsuav.soe.ucsc.edu
+MAV_AUTOPILOT_ARDUPILOTMEGA = 3 # ArduPilotMega / ArduCopter, http://diydrones.com
+MAV_AUTOPILOT_OPENPILOT = 4 # OpenPilot, http://openpilot.org
+MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 # Generic autopilot only supporting simple waypoints
+MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 # Generic autopilot supporting waypoints and other simple navigation
+                        # commands
+MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 # Generic autopilot supporting the full mission command set
+MAV_AUTOPILOT_INVALID = 8 # No valid autopilot, e.g. a GCS or other MAVLink component
+MAV_AUTOPILOT_PPZ = 9 # PPZ UAV - http://nongnu.org/paparazzi
+MAV_AUTOPILOT_UDB = 10 # UAV Dev Board
+MAV_AUTOPILOT_FP = 11 # FlexiPilot
+MAV_AUTOPILOT_ENUM_END = 12 # 
+
+# MAV_MODE_FLAG
+MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
+MAV_MODE_FLAG_TEST_ENABLED = 2 # 0b00000010 system has a test mode enabled. This flag is intended for
+                        # temporary system tests and should not be
+                        # used for stable implementations.
+MAV_MODE_FLAG_AUTO_ENABLED = 4 # 0b00000100 autonomous mode enabled, system finds its own goal
+                        # positions. Guided flag can be set or not,
+                        # depends on the actual implementation.
+MAV_MODE_FLAG_GUIDED_ENABLED = 8 # 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
+MAV_MODE_FLAG_STABILIZE_ENABLED = 16 # 0b00010000 system stabilizes electronically its attitude (and
+                        # optionally position). It needs however
+                        # further control inputs to move around.
+MAV_MODE_FLAG_HIL_ENABLED = 32 # 0b00100000 hardware in the loop simulation. All motors / actuators are
+                        # blocked, but internal software is full
+                        # operational.
+MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 # 0b01000000 remote control input is enabled.
+MAV_MODE_FLAG_SAFETY_ARMED = 128 # 0b10000000 MAV safety set to armed. Motors are enabled / running / can
+                        # start. Ready to fly.
+MAV_MODE_FLAG_ENUM_END = 129 # 
+
+# MAV_MODE_FLAG_DECODE_POSITION
+MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 # Eighth bit: 00000001
+MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 # Seventh bit: 00000010
+MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 # Sixt bit:   00000100
+MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 # Fifth bit:  00001000
+MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 # Fourth bit: 00010000
+MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 # Third bit:  00100000
+MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 # Second bit: 01000000
+MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 # First bit:  10000000
+MAV_MODE_FLAG_DECODE_POSITION_ENUM_END = 129 # 
+
+# MAV_GOTO
+MAV_GOTO_DO_HOLD = 0 # Hold at the current position.
+MAV_GOTO_DO_CONTINUE = 1 # Continue with the next item in mission execution.
+MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2 # Hold at the current position of the system
+MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3 # Hold at the position specified in the parameters of the DO_HOLD action
+MAV_GOTO_ENUM_END = 4 # 
+
+# MAV_MODE
+MAV_MODE_PREFLIGHT = 0 # System is not ready to fly, booting, calibrating, etc. No flag is set.
+MAV_MODE_MANUAL_DISARMED = 64 # System is allowed to be active, under manual (RC) control, no
+                        # stabilization
+MAV_MODE_TEST_DISARMED = 66 # UNDEFINED mode. This solely depends on the autopilot - use with
+                        # caution, intended for developers only.
+MAV_MODE_STABILIZE_DISARMED = 80 # System is allowed to be active, under assisted RC control.
+MAV_MODE_GUIDED_DISARMED = 88 # System is allowed to be active, under autonomous control, manual
+                        # setpoint
+MAV_MODE_AUTO_DISARMED = 92 # System is allowed to be active, under autonomous control and
+                        # navigation (the trajectory is decided
+                        # onboard and not pre-programmed by MISSIONs)
+MAV_MODE_MANUAL_ARMED = 192 # System is allowed to be active, under manual (RC) control, no
+                        # stabilization
+MAV_MODE_TEST_ARMED = 194 # UNDEFINED mode. This solely depends on the autopilot - use with
+                        # caution, intended for developers only.
+MAV_MODE_STABILIZE_ARMED = 208 # System is allowed to be active, under assisted RC control.
+MAV_MODE_GUIDED_ARMED = 216 # System is allowed to be active, under autonomous control, manual
+                        # setpoint
+MAV_MODE_AUTO_ARMED = 220 # System is allowed to be active, under autonomous control and
+                        # navigation (the trajectory is decided
+                        # onboard and not pre-programmed by MISSIONs)
+MAV_MODE_ENUM_END = 221 # 
+
+# MAV_STATE
+MAV_STATE_UNINIT = 0 # Uninitialized system, state is unknown.
+MAV_STATE_BOOT = 1 # System is booting up.
+MAV_STATE_CALIBRATING = 2 # System is calibrating and not flight-ready.
+MAV_STATE_STANDBY = 3 # System is grounded and on standby. It can be launched any time.
+MAV_STATE_ACTIVE = 4 # System is active and might be already airborne. Motors are engaged.
+MAV_STATE_CRITICAL = 5 # System is in a non-normal flight mode. It can however still navigate.
+MAV_STATE_EMERGENCY = 6 # System is in a non-normal flight mode. It lost control over parts or
+                        # over the whole airframe. It is in mayday and
+                        # going down.
+MAV_STATE_POWEROFF = 7 # System just initialized its power-down sequence, will shut down now.
+MAV_STATE_ENUM_END = 8 # 
+
+# MAV_TYPE
+MAV_TYPE_GENERIC = 0 # Generic micro air vehicle.
+MAV_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
+MAV_TYPE_QUADROTOR = 2 # Quadrotor
+MAV_TYPE_COAXIAL = 3 # Coaxial helicopter
+MAV_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
+MAV_TYPE_ANTENNA_TRACKER = 5 # Ground installation
+MAV_TYPE_GCS = 6 # Operator control unit / ground control station
+MAV_TYPE_AIRSHIP = 7 # Airship, controlled
+MAV_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
+MAV_TYPE_ROCKET = 9 # Rocket
+MAV_TYPE_GROUND_ROVER = 10 # Ground rover
+MAV_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
+MAV_TYPE_SUBMARINE = 12 # Submarine
+MAV_TYPE_HEXAROTOR = 13 # Hexarotor
+MAV_TYPE_OCTOROTOR = 14 # Octorotor
+MAV_TYPE_TRICOPTER = 15 # Octorotor
+MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
+MAV_TYPE_ENUM_END = 17 # 
+
+# MAV_COMPONENT
+MAV_COMP_ID_ALL = 0 # 
+MAV_COMP_ID_CAMERA = 100 # 
+MAV_COMP_ID_SERVO1 = 140 # 
+MAV_COMP_ID_SERVO2 = 141 # 
+MAV_COMP_ID_SERVO3 = 142 # 
+MAV_COMP_ID_SERVO4 = 143 # 
+MAV_COMP_ID_SERVO5 = 144 # 
+MAV_COMP_ID_SERVO6 = 145 # 
+MAV_COMP_ID_SERVO7 = 146 # 
+MAV_COMP_ID_SERVO8 = 147 # 
+MAV_COMP_ID_SERVO9 = 148 # 
+MAV_COMP_ID_SERVO10 = 149 # 
+MAV_COMP_ID_SERVO11 = 150 # 
+MAV_COMP_ID_SERVO12 = 151 # 
+MAV_COMP_ID_SERVO13 = 152 # 
+MAV_COMP_ID_SERVO14 = 153 # 
+MAV_COMP_ID_MAPPER = 180 # 
+MAV_COMP_ID_MISSIONPLANNER = 190 # 
+MAV_COMP_ID_PATHPLANNER = 195 # 
+MAV_COMP_ID_IMU = 200 # 
+MAV_COMP_ID_IMU_2 = 201 # 
+MAV_COMP_ID_IMU_3 = 202 # 
+MAV_COMP_ID_GPS = 220 # 
+MAV_COMP_ID_UDP_BRIDGE = 240 # 
+MAV_COMP_ID_UART_BRIDGE = 241 # 
+MAV_COMP_ID_SYSTEM_CONTROL = 250 # 
+MAV_COMPONENT_ENUM_END = 251 # 
+
+# MAV_FRAME
+MAV_FRAME_GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x:
+                        # latitude, second value / y: longitude, third
+                        # value / z: positive altitude over mean sea
+                        # level (MSL)
+MAV_FRAME_LOCAL_NED = 1 # Local coordinate frame, Z-up (x: north, y: east, z: down).
+MAV_FRAME_MISSION = 2 # NOT a coordinate frame, indicates a mission command.
+MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 # 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.
+MAV_FRAME_LOCAL_ENU = 4 # Local coordinate frame, Z-down (x: east, y: north, z: up)
+MAV_FRAME_ENUM_END = 5 # 
+
+# MAVLINK_DATA_STREAM_TYPE
+MAVLINK_DATA_STREAM_IMG_JPEG = 1 # 
+MAVLINK_DATA_STREAM_IMG_BMP = 2 # 
+MAVLINK_DATA_STREAM_IMG_RAW8U = 3 # 
+MAVLINK_DATA_STREAM_IMG_RAW32U = 4 # 
+MAVLINK_DATA_STREAM_IMG_PGM = 5 # 
+MAVLINK_DATA_STREAM_IMG_PNG = 6 # 
+MAVLINK_DATA_STREAM_TYPE_ENUM_END = 7 # 
+
+# MAV_DATA_STREAM
+MAV_DATA_STREAM_ALL = 0 # Enable all data streams
+MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
+MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
+MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
+MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
+                        # NAV_CONTROLLER_OUTPUT.
+MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
+MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
+MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
+MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
+MAV_DATA_STREAM_ENUM_END = 13 # 
+
+# MAV_ROI
+MAV_ROI_NONE = 0 # No region of interest.
+MAV_ROI_WPNEXT = 1 # Point toward next MISSION.
+MAV_ROI_WPINDEX = 2 # Point toward given MISSION.
+MAV_ROI_LOCATION = 3 # Point toward fixed location.
+MAV_ROI_TARGET = 4 # Point toward of given id.
+MAV_ROI_ENUM_END = 5 # 
+
+# MAV_CMD_ACK
+MAV_CMD_ACK_OK = 1 # Command / mission item is ok.
+MAV_CMD_ACK_ERR_FAIL = 2 # Generic error message if none of the other reasons fails or if no
+                        # detailed error reporting is implemented.
+MAV_CMD_ACK_ERR_ACCESS_DENIED = 3 # The system is refusing to accept this command from this source /
+                        # communication partner.
+MAV_CMD_ACK_ERR_NOT_SUPPORTED = 4 # Command or mission item is not supported, other commands would be
+                        # accepted.
+MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED = 5 # The coordinate frame of this command / mission item is not supported.
+MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE = 6 # The coordinate frame of this command is ok, but he coordinate values
+                        # exceed the safety limits of this system.
+                        # This is a generic error, please use the more
+                        # specific error messages below if possible.
+MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE = 7 # The X or latitude value is out of range.
+MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of range.
+MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range.
+MAV_CMD_ACK_ENUM_END = 10 # 
+
+# MAV_VAR
+MAV_VAR_FLOAT = 0 # 32 bit float
+MAV_VAR_UINT8 = 1 # 8 bit unsigned integer
+MAV_VAR_INT8 = 2 # 8 bit signed integer
+MAV_VAR_UINT16 = 3 # 16 bit unsigned integer
+MAV_VAR_INT16 = 4 # 16 bit signed integer
+MAV_VAR_UINT32 = 5 # 32 bit unsigned integer
+MAV_VAR_INT32 = 6 # 32 bit signed integer
+MAV_VAR_ENUM_END = 7 # 
+
+# MAV_RESULT
+MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
+MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
+MAV_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
+MAV_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
+MAV_RESULT_FAILED = 4 # Command executed, but failed
+MAV_RESULT_ENUM_END = 5 # 
+
+# MAV_MISSION_RESULT
+MAV_MISSION_ACCEPTED = 0 # mission accepted OK
+MAV_MISSION_ERROR = 1 # generic error / not accepting mission commands at all right now
+MAV_MISSION_UNSUPPORTED_FRAME = 2 # coordinate frame is not supported
+MAV_MISSION_UNSUPPORTED = 3 # command is not supported
+MAV_MISSION_NO_SPACE = 4 # mission item exceeds storage space
+MAV_MISSION_INVALID = 5 # one of the parameters has an invalid value
+MAV_MISSION_INVALID_PARAM1 = 6 # param1 has an invalid value
+MAV_MISSION_INVALID_PARAM2 = 7 # param2 has an invalid value
+MAV_MISSION_INVALID_PARAM3 = 8 # param3 has an invalid value
+MAV_MISSION_INVALID_PARAM4 = 9 # param4 has an invalid value
+MAV_MISSION_INVALID_PARAM5_X = 10 # x/param5 has an invalid value
+MAV_MISSION_INVALID_PARAM6_Y = 11 # y/param6 has an invalid value
+MAV_MISSION_INVALID_PARAM7 = 12 # param7 has an invalid value
+MAV_MISSION_INVALID_SEQUENCE = 13 # received waypoint out of sequence
+MAV_MISSION_DENIED = 14 # not accepting any mission commands from this communication partner
+MAV_MISSION_RESULT_ENUM_END = 15 # 
+
+# message IDs
+MAVLINK_MSG_ID_BAD_DATA = -1
+MAVLINK_MSG_ID_SENSOR_OFFSETS = 150
+MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151
+MAVLINK_MSG_ID_MEMINFO = 152
+MAVLINK_MSG_ID_AP_ADC = 153
+MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154
+MAVLINK_MSG_ID_DIGICAM_CONTROL = 155
+MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156
+MAVLINK_MSG_ID_MOUNT_CONTROL = 157
+MAVLINK_MSG_ID_MOUNT_STATUS = 158
+MAVLINK_MSG_ID_FENCE_POINT = 160
+MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161
+MAVLINK_MSG_ID_FENCE_STATUS = 162
+MAVLINK_MSG_ID_AHRS = 163
+MAVLINK_MSG_ID_SIMSTATE = 164
+MAVLINK_MSG_ID_HWSTATUS = 165
+MAVLINK_MSG_ID_RADIO = 166
+MAVLINK_MSG_ID_HEARTBEAT = 0
+MAVLINK_MSG_ID_SYS_STATUS = 1
+MAVLINK_MSG_ID_SYSTEM_TIME = 2
+MAVLINK_MSG_ID_PING = 4
+MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
+MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
+MAVLINK_MSG_ID_AUTH_KEY = 7
+MAVLINK_MSG_ID_SET_MODE = 11
+MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
+MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
+MAVLINK_MSG_ID_PARAM_VALUE = 22
+MAVLINK_MSG_ID_PARAM_SET = 23
+MAVLINK_MSG_ID_GPS_RAW_INT = 24
+MAVLINK_MSG_ID_GPS_STATUS = 25
+MAVLINK_MSG_ID_SCALED_IMU = 26
+MAVLINK_MSG_ID_RAW_IMU = 27
+MAVLINK_MSG_ID_RAW_PRESSURE = 28
+MAVLINK_MSG_ID_SCALED_PRESSURE = 29
+MAVLINK_MSG_ID_ATTITUDE = 30
+MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31
+MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32
+MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33
+MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34
+MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
+MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36
+MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37
+MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38
+MAVLINK_MSG_ID_MISSION_ITEM = 39
+MAVLINK_MSG_ID_MISSION_REQUEST = 40
+MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41
+MAVLINK_MSG_ID_MISSION_CURRENT = 42
+MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43
+MAVLINK_MSG_ID_MISSION_COUNT = 44
+MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45
+MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46
+MAVLINK_MSG_ID_MISSION_ACK = 47
+MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48
+MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49
+MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50
+MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
+MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52
+MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53
+MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54
+MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55
+MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56
+MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57
+MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58
+MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59
+MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
+MAVLINK_MSG_ID_STATE_CORRECTION = 64
+MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
+MAVLINK_MSG_ID_DATA_STREAM = 67
+MAVLINK_MSG_ID_MANUAL_CONTROL = 69
+MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
+MAVLINK_MSG_ID_VFR_HUD = 74
+MAVLINK_MSG_ID_COMMAND_LONG = 76
+MAVLINK_MSG_ID_COMMAND_ACK = 77
+MAVLINK_MSG_ID_HIL_STATE = 90
+MAVLINK_MSG_ID_HIL_CONTROLS = 91
+MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92
+MAVLINK_MSG_ID_OPTICAL_FLOW = 100
+MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101
+MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102
+MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103
+MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104
+MAVLINK_MSG_ID_MEMORY_VECT = 249
+MAVLINK_MSG_ID_DEBUG_VECT = 250
+MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251
+MAVLINK_MSG_ID_NAMED_VALUE_INT = 252
+MAVLINK_MSG_ID_STATUSTEXT = 253
+MAVLINK_MSG_ID_DEBUG = 254
+MAVLINK_MSG_ID_EXTENDED_MESSAGE = 255
+
+class MAVLink_sensor_offsets_message(MAVLink_message):
+        '''
+        Offsets and calibrations values for hardware         sensors.
+        This makes it easier to debug the calibration process.
+        '''
+        def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS')
+                self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z']
+                self.mag_ofs_x = mag_ofs_x
+                self.mag_ofs_y = mag_ofs_y
+                self.mag_ofs_z = mag_ofs_z
+                self.mag_declination = mag_declination
+                self.raw_press = raw_press
+                self.raw_temp = raw_temp
+                self.gyro_cal_x = gyro_cal_x
+                self.gyro_cal_y = gyro_cal_y
+                self.gyro_cal_z = gyro_cal_z
+                self.accel_cal_x = accel_cal_x
+                self.accel_cal_y = accel_cal_y
+                self.accel_cal_z = accel_cal_z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 134, struct.pack('<fiiffffffhhh', self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z))
+
+class MAVLink_set_mag_offsets_message(MAVLink_message):
+        '''
+        set the magnetometer offsets
+        '''
+        def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS')
+                self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mag_ofs_x = mag_ofs_x
+                self.mag_ofs_y = mag_ofs_y
+                self.mag_ofs_z = mag_ofs_z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 219, struct.pack('<hhhBB', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.target_system, self.target_component))
+
+class MAVLink_meminfo_message(MAVLink_message):
+        '''
+        state of APM memory
+        '''
+        def __init__(self, brkval, freemem):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO')
+                self._fieldnames = ['brkval', 'freemem']
+                self.brkval = brkval
+                self.freemem = freemem
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 208, struct.pack('<HH', self.brkval, self.freemem))
+
+class MAVLink_ap_adc_message(MAVLink_message):
+        '''
+        raw ADC output
+        '''
+        def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC')
+                self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6']
+                self.adc1 = adc1
+                self.adc2 = adc2
+                self.adc3 = adc3
+                self.adc4 = adc4
+                self.adc5 = adc5
+                self.adc6 = adc6
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 188, struct.pack('<HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6))
+
+class MAVLink_digicam_configure_message(MAVLink_message):
+        '''
+        Configure on-board Camera Control System.
+        '''
+        def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE')
+                self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mode = mode
+                self.shutter_speed = shutter_speed
+                self.aperture = aperture
+                self.iso = iso
+                self.exposure_type = exposure_type
+                self.command_id = command_id
+                self.engine_cut_off = engine_cut_off
+                self.extra_param = extra_param
+                self.extra_value = extra_value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 84, struct.pack('<fHBBBBBBBBB', self.extra_value, self.shutter_speed, self.target_system, self.target_component, self.mode, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param))
+
+class MAVLink_digicam_control_message(MAVLink_message):
+        '''
+        Control on-board Camera Control System to take shots.
+        '''
+        def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL')
+                self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.session = session
+                self.zoom_pos = zoom_pos
+                self.zoom_step = zoom_step
+                self.focus_lock = focus_lock
+                self.shot = shot
+                self.command_id = command_id
+                self.extra_param = extra_param
+                self.extra_value = extra_value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 22, struct.pack('<fBBBBbBBBB', self.extra_value, self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param))
+
+class MAVLink_mount_configure_message(MAVLink_message):
+        '''
+        Message to configure a camera mount, directional antenna, etc.
+        '''
+        def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE')
+                self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.mount_mode = mount_mode
+                self.stab_roll = stab_roll
+                self.stab_pitch = stab_pitch
+                self.stab_yaw = stab_yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 19, struct.pack('<BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw))
+
+class MAVLink_mount_control_message(MAVLink_message):
+        '''
+        Message to control a camera mount, directional antenna, etc.
+        '''
+        def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL')
+                self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.input_a = input_a
+                self.input_b = input_b
+                self.input_c = input_c
+                self.save_position = save_position
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('<iiiBBB', self.input_a, self.input_b, self.input_c, self.target_system, self.target_component, self.save_position))
+
+class MAVLink_mount_status_message(MAVLink_message):
+        '''
+        Message with some status from APM to GCS about camera or
+        antenna mount
+        '''
+        def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS')
+                self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.pointing_a = pointing_a
+                self.pointing_b = pointing_b
+                self.pointing_c = pointing_c
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 134, struct.pack('<iiiBB', self.pointing_a, self.pointing_b, self.pointing_c, self.target_system, self.target_component))
+
+class MAVLink_fence_point_message(MAVLink_message):
+        '''
+        A fence point. Used to set a point when from               GCS
+        -> MAV. Also used to return a point from MAV -> GCS
+        '''
+        def __init__(self, target_system, target_component, idx, count, lat, lng):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT')
+                self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.idx = idx
+                self.count = count
+                self.lat = lat
+                self.lng = lng
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 78, struct.pack('<ffBBBB', self.lat, self.lng, self.target_system, self.target_component, self.idx, self.count))
+
+class MAVLink_fence_fetch_point_message(MAVLink_message):
+        '''
+        Request a current fence point from MAV
+        '''
+        def __init__(self, target_system, target_component, idx):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT')
+                self._fieldnames = ['target_system', 'target_component', 'idx']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.idx = idx
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 68, struct.pack('<BBB', self.target_system, self.target_component, self.idx))
+
+class MAVLink_fence_status_message(MAVLink_message):
+        '''
+        Status of geo-fencing. Sent in extended             status
+        stream when fencing enabled
+        '''
+        def __init__(self, breach_status, breach_count, breach_type, breach_time):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS')
+                self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time']
+                self.breach_status = breach_status
+                self.breach_count = breach_count
+                self.breach_type = breach_type
+                self.breach_time = breach_time
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 189, struct.pack('<IHBB', self.breach_time, self.breach_count, self.breach_status, self.breach_type))
+
+class MAVLink_ahrs_message(MAVLink_message):
+        '''
+        Status of DCM attitude estimator
+        '''
+        def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS')
+                self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw']
+                self.omegaIx = omegaIx
+                self.omegaIy = omegaIy
+                self.omegaIz = omegaIz
+                self.accel_weight = accel_weight
+                self.renorm_val = renorm_val
+                self.error_rp = error_rp
+                self.error_yaw = error_yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 127, struct.pack('<fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw))
+
+class MAVLink_simstate_message(MAVLink_message):
+        '''
+        Status of simulation environment, if used
+        '''
+        def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE')
+                self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro']
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 42, struct.pack('<fffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro))
+
+class MAVLink_hwstatus_message(MAVLink_message):
+        '''
+        Status of key hardware
+        '''
+        def __init__(self, Vcc, I2Cerr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS')
+                self._fieldnames = ['Vcc', 'I2Cerr']
+                self.Vcc = Vcc
+                self.I2Cerr = I2Cerr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('<HB', self.Vcc, self.I2Cerr))
+
+class MAVLink_radio_message(MAVLink_message):
+        '''
+        Status generated by radio
+        '''
+        def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO')
+                self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed']
+                self.rssi = rssi
+                self.remrssi = remrssi
+                self.txbuf = txbuf
+                self.noise = noise
+                self.remnoise = remnoise
+                self.rxerrors = rxerrors
+                self.fixed = fixed
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('<HHBBBBB', self.rxerrors, self.fixed, self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise))
+
+class MAVLink_heartbeat_message(MAVLink_message):
+        '''
+        The heartbeat message shows that a system is present and
+        responding. The type of the MAV and Autopilot hardware allow
+        the receiving system to treat further messages from this
+        system appropriate (e.g. by laying out the user interface
+        based on the autopilot).
+        '''
+        def __init__(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
+                self._fieldnames = ['type', 'autopilot', 'base_mode', 'custom_mode', 'system_status', 'mavlink_version']
+                self.type = type
+                self.autopilot = autopilot
+                self.base_mode = base_mode
+                self.custom_mode = custom_mode
+                self.system_status = system_status
+                self.mavlink_version = mavlink_version
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 50, struct.pack('<IBBBBB', self.custom_mode, self.type, self.autopilot, self.base_mode, self.system_status, self.mavlink_version))
+
+class MAVLink_sys_status_message(MAVLink_message):
+        '''
+        The general system state. If the system is following the
+        MAVLink standard, the system state is mainly defined by three
+        orthogonal states/modes: The system mode, which is either
+        LOCKED (motors shut down and locked), MANUAL (system under RC
+        control), GUIDED (system with autonomous position control,
+        position setpoint controlled manually) or AUTO (system guided
+        by path/waypoint planner). The NAV_MODE defined the current
+        flight state: LIFTOFF (often an open-loop maneuver), LANDING,
+        WAYPOINTS or VECTOR. This represents the internal navigation
+        state machine. The system status shows wether the system is
+        currently active or not and if an emergency occured. During
+        the CRITICAL and EMERGENCY states the MAV is still considered
+        to be active, but should start emergency procedures
+        autonomously. After a failure occured it should first move
+        from active to critical to allow manual intervention and then
+        move to emergency after a certain timeout.
+        '''
+        def __init__(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
+                self._fieldnames = ['onboard_control_sensors_present', 'onboard_control_sensors_enabled', 'onboard_control_sensors_health', 'load', 'voltage_battery', 'current_battery', 'battery_remaining', 'drop_rate_comm', 'errors_comm', 'errors_count1', 'errors_count2', 'errors_count3', 'errors_count4']
+                self.onboard_control_sensors_present = onboard_control_sensors_present
+                self.onboard_control_sensors_enabled = onboard_control_sensors_enabled
+                self.onboard_control_sensors_health = onboard_control_sensors_health
+                self.load = load
+                self.voltage_battery = voltage_battery
+                self.current_battery = current_battery
+                self.battery_remaining = battery_remaining
+                self.drop_rate_comm = drop_rate_comm
+                self.errors_comm = errors_comm
+                self.errors_count1 = errors_count1
+                self.errors_count2 = errors_count2
+                self.errors_count3 = errors_count3
+                self.errors_count4 = errors_count4
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 124, struct.pack('<IIIHHhHHHHHHb', self.onboard_control_sensors_present, self.onboard_control_sensors_enabled, self.onboard_control_sensors_health, self.load, self.voltage_battery, self.current_battery, self.drop_rate_comm, self.errors_comm, self.errors_count1, self.errors_count2, self.errors_count3, self.errors_count4, self.battery_remaining))
+
+class MAVLink_system_time_message(MAVLink_message):
+        '''
+        The system time is the time of the master clock, typically the
+        computer clock of the main onboard computer.
+        '''
+        def __init__(self, time_unix_usec, time_boot_ms):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
+                self._fieldnames = ['time_unix_usec', 'time_boot_ms']
+                self.time_unix_usec = time_unix_usec
+                self.time_boot_ms = time_boot_ms
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 137, struct.pack('<QI', self.time_unix_usec, self.time_boot_ms))
+
+class MAVLink_ping_message(MAVLink_message):
+        '''
+        A ping message either requesting or responding to a ping. This
+        allows to measure the system latencies, including serial port,
+        radio modem and UDP connections.
+        '''
+        def __init__(self, time_usec, seq, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
+                self._fieldnames = ['time_usec', 'seq', 'target_system', 'target_component']
+                self.time_usec = time_usec
+                self.seq = seq
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 237, struct.pack('<QIBB', self.time_usec, self.seq, self.target_system, self.target_component))
+
+class MAVLink_change_operator_control_message(MAVLink_message):
+        '''
+        Request to control this MAV
+        '''
+        def __init__(self, target_system, control_request, version, passkey):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
+                self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
+                self.target_system = target_system
+                self.control_request = control_request
+                self.version = version
+                self.passkey = passkey
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 217, struct.pack('<BBB25s', self.target_system, self.control_request, self.version, self.passkey))
+
+class MAVLink_change_operator_control_ack_message(MAVLink_message):
+        '''
+        Accept / deny control of this MAV
+        '''
+        def __init__(self, gcs_system_id, control_request, ack):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
+                self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
+                self.gcs_system_id = gcs_system_id
+                self.control_request = control_request
+                self.ack = ack
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 104, struct.pack('<BBB', self.gcs_system_id, self.control_request, self.ack))
+
+class MAVLink_auth_key_message(MAVLink_message):
+        '''
+        Emit an encrypted signature / key identifying this system.
+        PLEASE NOTE: This protocol has been kept simple, so
+        transmitting the key requires an encrypted channel for true
+        safety.
+        '''
+        def __init__(self, key):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
+                self._fieldnames = ['key']
+                self.key = key
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 119, struct.pack('<32s', self.key))
+
+class MAVLink_set_mode_message(MAVLink_message):
+        '''
+        Set the system mode, as defined by enum MAV_MODE. There is no
+        target component id as the mode is by definition for the
+        overall aircraft, not only for one component.
+        '''
+        def __init__(self, target_system, base_mode, custom_mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
+                self._fieldnames = ['target_system', 'base_mode', 'custom_mode']
+                self.target_system = target_system
+                self.base_mode = base_mode
+                self.custom_mode = custom_mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode))
+
+class MAVLink_param_request_read_message(MAVLink_message):
+        '''
+        Request to read the onboard parameter with the param_id string
+        id. Onboard parameters are stored as key[const char*] ->
+        value[float]. This allows to send a parameter to any other
+        component (such as the GCS) without the need of previous
+        knowledge of possible parameter names. Thus the same GCS can
+        store different parameters for different autopilots. See also
+        http://qgroundcontrol.org/parameter_interface for a full
+        documentation of QGroundControl and IMU code.
+        '''
+        def __init__(self, target_system, target_component, param_id, param_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
+                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.param_id = param_id
+                self.param_index = param_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 214, struct.pack('<hBB16s', self.param_index, self.target_system, self.target_component, self.param_id))
+
+class MAVLink_param_request_list_message(MAVLink_message):
+        '''
+        Request all parameters of this component. After his request,
+        all parameters are emitted.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 159, struct.pack('<BB', self.target_system, self.target_component))
+
+class MAVLink_param_value_message(MAVLink_message):
+        '''
+        Emit the value of a onboard parameter. The inclusion of
+        param_count and param_index in the message allows the
+        recipient to keep track of received parameters and allows him
+        to re-request missing parameters after a loss or timeout.
+        '''
+        def __init__(self, param_id, param_value, param_type, param_count, param_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
+                self._fieldnames = ['param_id', 'param_value', 'param_type', 'param_count', 'param_index']
+                self.param_id = param_id
+                self.param_value = param_value
+                self.param_type = param_type
+                self.param_count = param_count
+                self.param_index = param_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 220, struct.pack('<fHH16sB', self.param_value, self.param_count, self.param_index, self.param_id, self.param_type))
+
+class MAVLink_param_set_message(MAVLink_message):
+        '''
+        Set a parameter value TEMPORARILY to RAM. It will be reset to
+        default on system reboot. Send the ACTION
+        MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
+        to EEPROM. IMPORTANT: The receiving component should
+        acknowledge the new parameter value by sending a param_value
+        message to all communication partners. This will also ensure
+        that multiple GCS all have an up-to-date list of all
+        parameters. If the sending GCS did not receive a PARAM_VALUE
+        message within its timeout time, it should re-send the
+        PARAM_SET message.
+        '''
+        def __init__(self, target_system, target_component, param_id, param_value, param_type):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
+                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value', 'param_type']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.param_id = param_id
+                self.param_value = param_value
+                self.param_type = param_type
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 168, struct.pack('<fBB16sB', self.param_value, self.target_system, self.target_component, self.param_id, self.param_type))
+
+class MAVLink_gps_raw_int_message(MAVLink_message):
+        '''
+        The global position, as returned by the Global Positioning
+        System (GPS). This is                 NOT the global position
+        estimate of the sytem, but rather a RAW sensor value. See
+        message GLOBAL_POSITION for the global position estimate.
+        Coordinate frame is right-handed, Z-axis up (GPS frame)
+        '''
+        def __init__(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
+                self._fieldnames = ['time_usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible']
+                self.time_usec = time_usec
+                self.fix_type = fix_type
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.eph = eph
+                self.epv = epv
+                self.vel = vel
+                self.cog = cog
+                self.satellites_visible = satellites_visible
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 24, struct.pack('<QiiiHHHHBB', self.time_usec, self.lat, self.lon, self.alt, self.eph, self.epv, self.vel, self.cog, self.fix_type, self.satellites_visible))
+
+class MAVLink_gps_status_message(MAVLink_message):
+        '''
+        The positioning status, as reported by GPS. This message is
+        intended to display status information about each satellite
+        visible to the receiver. See message GLOBAL_POSITION for the
+        global position estimate. This message can contain information
+        for up to 20 satellites.
+        '''
+        def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
+                self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
+                self.satellites_visible = satellites_visible
+                self.satellite_prn = satellite_prn
+                self.satellite_used = satellite_used
+                self.satellite_elevation = satellite_elevation
+                self.satellite_azimuth = satellite_azimuth
+                self.satellite_snr = satellite_snr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 23, struct.pack('<B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
+
+class MAVLink_scaled_imu_message(MAVLink_message):
+        '''
+        The RAW IMU readings for the usual 9DOF sensor setup. This
+        message should contain the scaled values to the described
+        units
+        '''
+        def __init__(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
+                self._fieldnames = ['time_boot_ms', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
+                self.time_boot_ms = time_boot_ms
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+                self.xmag = xmag
+                self.ymag = ymag
+                self.zmag = zmag
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 170, struct.pack('<Ihhhhhhhhh', self.time_boot_ms, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
+
+class MAVLink_raw_imu_message(MAVLink_message):
+        '''
+        The RAW IMU readings for the usual 9DOF sensor setup. This
+        message should always contain the true raw values without any
+        scaling to allow data capture and system debugging.
+        '''
+        def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
+                self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
+                self.time_usec = time_usec
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+                self.xgyro = xgyro
+                self.ygyro = ygyro
+                self.zgyro = zgyro
+                self.xmag = xmag
+                self.ymag = ymag
+                self.zmag = zmag
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 144, struct.pack('<Qhhhhhhhhh', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
+
+class MAVLink_raw_pressure_message(MAVLink_message):
+        '''
+        The RAW pressure readings for the typical setup of one
+        absolute pressure and one differential pressure sensor. The
+        sensor values should be the raw, UNSCALED ADC values.
+        '''
+        def __init__(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
+                self._fieldnames = ['time_usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
+                self.time_usec = time_usec
+                self.press_abs = press_abs
+                self.press_diff1 = press_diff1
+                self.press_diff2 = press_diff2
+                self.temperature = temperature
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 67, struct.pack('<Qhhhh', self.time_usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
+
+class MAVLink_scaled_pressure_message(MAVLink_message):
+        '''
+        The pressure readings for the typical setup of one absolute
+        and differential pressure sensor. The units are as specified
+        in each field.
+        '''
+        def __init__(self, time_boot_ms, press_abs, press_diff, temperature):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
+                self._fieldnames = ['time_boot_ms', 'press_abs', 'press_diff', 'temperature']
+                self.time_boot_ms = time_boot_ms
+                self.press_abs = press_abs
+                self.press_diff = press_diff
+                self.temperature = temperature
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 115, struct.pack('<Iffh', self.time_boot_ms, self.press_abs, self.press_diff, self.temperature))
+
+class MAVLink_attitude_message(MAVLink_message):
+        '''
+        The attitude in the aeronautical frame (right-handed, Z-down,
+        X-front, Y-right).
+        '''
+        def __init__(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
+                self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
+                self.time_boot_ms = time_boot_ms
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.rollspeed = rollspeed
+                self.pitchspeed = pitchspeed
+                self.yawspeed = yawspeed
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 39, struct.pack('<Iffffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
+
+class MAVLink_attitude_quaternion_message(MAVLink_message):
+        '''
+        The attitude in the aeronautical frame (right-handed, Z-down,
+        X-front, Y-right), expressed as quaternion.
+        '''
+        def __init__(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, 'ATTITUDE_QUATERNION')
+                self._fieldnames = ['time_boot_ms', 'q1', 'q2', 'q3', 'q4', 'rollspeed', 'pitchspeed', 'yawspeed']
+                self.time_boot_ms = time_boot_ms
+                self.q1 = q1
+                self.q2 = q2
+                self.q3 = q3
+                self.q4 = q4
+                self.rollspeed = rollspeed
+                self.pitchspeed = pitchspeed
+                self.yawspeed = yawspeed
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 246, struct.pack('<Ifffffff', self.time_boot_ms, self.q1, self.q2, self.q3, self.q4, self.rollspeed, self.pitchspeed, self.yawspeed))
+
+class MAVLink_local_position_ned_message(MAVLink_message):
+        '''
+        The filtered local position (e.g. fused computer vision and
+        accelerometers). Coordinate frame is right-handed, Z-axis down
+        (aeronautical frame, NED / north-east-down convention)
+        '''
+        def __init__(self, time_boot_ms, x, y, z, vx, vy, vz):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 'LOCAL_POSITION_NED')
+                self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'vx', 'vy', 'vz']
+                self.time_boot_ms = time_boot_ms
+                self.x = x
+                self.y = y
+                self.z = z
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 185, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.vx, self.vy, self.vz))
+
+class MAVLink_global_position_int_message(MAVLink_message):
+        '''
+        The filtered global position (e.g. fused GPS and
+        accelerometers). The position is in GPS-frame (right-handed,
+        Z-up). It                is designed as scaled integer message
+        since the resolution of float is not sufficient.
+        '''
+        def __init__(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
+                self._fieldnames = ['time_boot_ms', 'lat', 'lon', 'alt', 'relative_alt', 'vx', 'vy', 'vz', 'hdg']
+                self.time_boot_ms = time_boot_ms
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.relative_alt = relative_alt
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+                self.hdg = hdg
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 104, struct.pack('<IiiiihhhH', self.time_boot_ms, self.lat, self.lon, self.alt, self.relative_alt, self.vx, self.vy, self.vz, self.hdg))
+
+class MAVLink_rc_channels_scaled_message(MAVLink_message):
+        '''
+        The scaled values of the RC channels received. (-100%) -10000,
+        (0%) 0, (100%) 10000
+        '''
+        def __init__(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
+                self._fieldnames = ['time_boot_ms', 'port', 'chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
+                self.time_boot_ms = time_boot_ms
+                self.port = port
+                self.chan1_scaled = chan1_scaled
+                self.chan2_scaled = chan2_scaled
+                self.chan3_scaled = chan3_scaled
+                self.chan4_scaled = chan4_scaled
+                self.chan5_scaled = chan5_scaled
+                self.chan6_scaled = chan6_scaled
+                self.chan7_scaled = chan7_scaled
+                self.chan8_scaled = chan8_scaled
+                self.rssi = rssi
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 237, struct.pack('<IhhhhhhhhBB', self.time_boot_ms, self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.port, self.rssi))
+
+class MAVLink_rc_channels_raw_message(MAVLink_message):
+        '''
+        The RAW values of the RC channels received. The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%. Individual receivers/transmitters might
+        violate this specification.
+        '''
+        def __init__(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
+                self._fieldnames = ['time_boot_ms', 'port', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
+                self.time_boot_ms = time_boot_ms
+                self.port = port
+                self.chan1_raw = chan1_raw
+                self.chan2_raw = chan2_raw
+                self.chan3_raw = chan3_raw
+                self.chan4_raw = chan4_raw
+                self.chan5_raw = chan5_raw
+                self.chan6_raw = chan6_raw
+                self.chan7_raw = chan7_raw
+                self.chan8_raw = chan8_raw
+                self.rssi = rssi
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 244, struct.pack('<IHHHHHHHHBB', self.time_boot_ms, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.port, self.rssi))
+
+class MAVLink_servo_output_raw_message(MAVLink_message):
+        '''
+        The RAW values of the servo outputs (for RC input from the
+        remote, use the RC_CHANNELS messages). The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%.
+        '''
+        def __init__(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW')
+                self._fieldnames = ['time_usec', 'port', 'servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw']
+                self.time_usec = time_usec
+                self.port = port
+                self.servo1_raw = servo1_raw
+                self.servo2_raw = servo2_raw
+                self.servo3_raw = servo3_raw
+                self.servo4_raw = servo4_raw
+                self.servo5_raw = servo5_raw
+                self.servo6_raw = servo6_raw
+                self.servo7_raw = servo7_raw
+                self.servo8_raw = servo8_raw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 222, struct.pack('<IHHHHHHHHB', self.time_usec, self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw, self.port))
+
+class MAVLink_mission_request_partial_list_message(MAVLink_message):
+        '''
+        Request the overall list of MISSIONs from the
+        system/component.
+        http://qgroundcontrol.org/mavlink/waypoint_protocol
+        '''
+        def __init__(self, target_system, target_component, start_index, end_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, 'MISSION_REQUEST_PARTIAL_LIST')
+                self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.start_index = start_index
+                self.end_index = end_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 212, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
+
+class MAVLink_mission_write_partial_list_message(MAVLink_message):
+        '''
+        This message is sent to the MAV to write a partial list. If
+        start index == end index, only one item will be transmitted /
+        updated. If the start index is NOT 0 and above the current
+        list size, this request should be REJECTED!
+        '''
+        def __init__(self, target_system, target_component, start_index, end_index):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, 'MISSION_WRITE_PARTIAL_LIST')
+                self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.start_index = start_index
+                self.end_index = end_index
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 9, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
+
+class MAVLink_mission_item_message(MAVLink_message):
+        '''
+        Message encoding a mission item. This message is emitted to
+        announce                 the presence of a mission item and to
+        set a mission item on the system. The mission item can be
+        either in x, y, z meters (type: LOCAL) or x:lat, y:lon,
+        z:altitude. Local frame is Z-down, right handed (NED), global
+        frame is Z-up, right handed (ENU).
+        http://qgroundcontrol.org/mavlink/waypoint_protocol
+        '''
+        def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM, 'MISSION_ITEM')
+                self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+                self.frame = frame
+                self.command = command
+                self.current = current
+                self.autocontinue = autocontinue
+                self.param1 = param1
+                self.param2 = param2
+                self.param3 = param3
+                self.param4 = param4
+                self.x = x
+                self.y = y
+                self.z = z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 254, struct.pack('<fffffffHHBBBBB', self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z, self.seq, self.command, self.target_system, self.target_component, self.frame, self.current, self.autocontinue))
+
+class MAVLink_mission_request_message(MAVLink_message):
+        '''
+        Request the information of the mission item with the sequence
+        number seq. The response of the system to this message should
+        be a MISSION_ITEM message.
+        http://qgroundcontrol.org/mavlink/waypoint_protocol
+        '''
+        def __init__(self, target_system, target_component, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST, 'MISSION_REQUEST')
+                self._fieldnames = ['target_system', 'target_component', 'seq']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 230, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
+
+class MAVLink_mission_set_current_message(MAVLink_message):
+        '''
+        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).
+        '''
+        def __init__(self, target_system, target_component, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_SET_CURRENT, 'MISSION_SET_CURRENT')
+                self._fieldnames = ['target_system', 'target_component', 'seq']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 28, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
+
+class MAVLink_mission_current_message(MAVLink_message):
+        '''
+        Message that announces the sequence number of the current
+        active mission item. The MAV will fly towards this mission
+        item.
+        '''
+        def __init__(self, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CURRENT, 'MISSION_CURRENT')
+                self._fieldnames = ['seq']
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 28, struct.pack('<H', self.seq))
+
+class MAVLink_mission_request_list_message(MAVLink_message):
+        '''
+        Request the overall list of mission items from the
+        system/component.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, 'MISSION_REQUEST_LIST')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 132, struct.pack('<BB', self.target_system, self.target_component))
+
+class MAVLink_mission_count_message(MAVLink_message):
+        '''
+        This message is emitted as response to MISSION_REQUEST_LIST by
+        the MAV and to initiate a write transaction. The GCS can then
+        request the individual mission item based on the knowledge of
+        the total number of MISSIONs.
+        '''
+        def __init__(self, target_system, target_component, count):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_COUNT, 'MISSION_COUNT')
+                self._fieldnames = ['target_system', 'target_component', 'count']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.count = count
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 221, struct.pack('<HBB', self.count, self.target_system, self.target_component))
+
+class MAVLink_mission_clear_all_message(MAVLink_message):
+        '''
+        Delete all mission items at once.
+        '''
+        def __init__(self, target_system, target_component):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, 'MISSION_CLEAR_ALL')
+                self._fieldnames = ['target_system', 'target_component']
+                self.target_system = target_system
+                self.target_component = target_component
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 232, struct.pack('<BB', self.target_system, self.target_component))
+
+class MAVLink_mission_item_reached_message(MAVLink_message):
+        '''
+        A certain mission item has been reached. The system will
+        either hold this position (or circle on the orbit) or (if the
+        autocontinue on the WP was set) continue to the next MISSION.
+        '''
+        def __init__(self, seq):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, 'MISSION_ITEM_REACHED')
+                self._fieldnames = ['seq']
+                self.seq = seq
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 11, struct.pack('<H', self.seq))
+
+class MAVLink_mission_ack_message(MAVLink_message):
+        '''
+        Ack message during MISSION handling. The type field states if
+        this message is a positive ack (type=0) or if an error
+        happened (type=non-zero).
+        '''
+        def __init__(self, target_system, target_component, type):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ACK, 'MISSION_ACK')
+                self._fieldnames = ['target_system', 'target_component', 'type']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.type = type
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 153, struct.pack('<BBB', self.target_system, self.target_component, self.type))
+
+class MAVLink_set_gps_global_origin_message(MAVLink_message):
+        '''
+        As local MISSIONs exist, the global MISSION reference allows
+        to transform between the local coordinate frame and the global
+        (GPS) coordinate frame. This can be necessary when e.g. in-
+        and outdoor settings are connected and the MAV should move
+        from in- to outdoor.
+        '''
+        def __init__(self, target_system, latitude, longitude, altitude):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, 'SET_GPS_GLOBAL_ORIGIN')
+                self._fieldnames = ['target_system', 'latitude', 'longitude', 'altitude']
+                self.target_system = target_system
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 41, struct.pack('<iiiB', self.latitude, self.longitude, self.altitude, self.target_system))
+
+class MAVLink_gps_global_origin_message(MAVLink_message):
+        '''
+        Once the MAV sets a new GPS-Local correspondence, this message
+        announces the origin (0,0,0) position
+        '''
+        def __init__(self, latitude, longitude, altitude):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, 'GPS_GLOBAL_ORIGIN')
+                self._fieldnames = ['latitude', 'longitude', 'altitude']
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 39, struct.pack('<iii', self.latitude, self.longitude, self.altitude))
+
+class MAVLink_set_local_position_setpoint_message(MAVLink_message):
+        '''
+        Set the setpoint for a local position controller. This is the
+        position in local coordinates the MAV should fly to. This
+        message is sent by the path/MISSION planner to the onboard
+        position controller. As some MAVs have a degree of freedom in
+        yaw (e.g. all helicopters/quadrotors), the desired yaw angle
+        is part of the message.
+        '''
+        def __init__(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, 'SET_LOCAL_POSITION_SETPOINT')
+                self._fieldnames = ['target_system', 'target_component', 'coordinate_frame', 'x', 'y', 'z', 'yaw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.coordinate_frame = coordinate_frame
+                self.x = x
+                self.y = y
+                self.z = z
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 214, struct.pack('<ffffBBB', self.x, self.y, self.z, self.yaw, self.target_system, self.target_component, self.coordinate_frame))
+
+class MAVLink_local_position_setpoint_message(MAVLink_message):
+        '''
+        Transmit the current local setpoint of the controller to other
+        MAVs (collision avoidance) and to the GCS.
+        '''
+        def __init__(self, coordinate_frame, x, y, z, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT')
+                self._fieldnames = ['coordinate_frame', 'x', 'y', 'z', 'yaw']
+                self.coordinate_frame = coordinate_frame
+                self.x = x
+                self.y = y
+                self.z = z
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 223, struct.pack('<ffffB', self.x, self.y, self.z, self.yaw, self.coordinate_frame))
+
+class MAVLink_global_position_setpoint_int_message(MAVLink_message):
+        '''
+        Transmit the current local setpoint of the controller to other
+        MAVs (collision avoidance) and to the GCS.
+        '''
+        def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, 'GLOBAL_POSITION_SETPOINT_INT')
+                self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
+                self.coordinate_frame = coordinate_frame
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 141, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
+
+class MAVLink_set_global_position_setpoint_int_message(MAVLink_message):
+        '''
+        Set the current global position setpoint.
+        '''
+        def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, 'SET_GLOBAL_POSITION_SETPOINT_INT')
+                self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
+                self.coordinate_frame = coordinate_frame
+                self.latitude = latitude
+                self.longitude = longitude
+                self.altitude = altitude
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 33, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
+
+class MAVLink_safety_set_allowed_area_message(MAVLink_message):
+        '''
+        Set a safety zone (volume), which is defined by two corners of
+        a cube. This message can be used to tell the MAV which
+        setpoints/MISSIONs to accept and which to reject. Safety areas
+        are often enforced by national or competition regulations.
+        '''
+        def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA')
+                self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.frame = frame
+                self.p1x = p1x
+                self.p1y = p1y
+                self.p1z = p1z
+                self.p2x = p2x
+                self.p2y = p2y
+                self.p2z = p2z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffBBB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.target_system, self.target_component, self.frame))
+
+class MAVLink_safety_allowed_area_message(MAVLink_message):
+        '''
+        Read out the safety zone the MAV currently assumes.
+        '''
+        def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA')
+                self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
+                self.frame = frame
+                self.p1x = p1x
+                self.p1y = p1y
+                self.p1z = p1z
+                self.p2x = p2x
+                self.p2y = p2y
+                self.p2z = p2z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 3, struct.pack('<ffffffB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.frame))
+
+class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message):
+        '''
+        Set roll, pitch and yaw.
+        '''
+        def __init__(self, target_system, target_component, roll, pitch, yaw, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST')
+                self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 100, struct.pack('<ffffBB', self.roll, self.pitch, self.yaw, self.thrust, self.target_system, self.target_component))
+
+class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message):
+        '''
+        Set roll, pitch and yaw.
+        '''
+        def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST')
+                self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.roll_speed = roll_speed
+                self.pitch_speed = pitch_speed
+                self.yaw_speed = yaw_speed
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 24, struct.pack('<ffffBB', self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust, self.target_system, self.target_component))
+
+class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message):
+        '''
+        Setpoint in roll, pitch, yaw currently active on the system.
+        '''
+        def __init__(self, time_boot_ms, roll, pitch, yaw, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT')
+                self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust']
+                self.time_boot_ms = time_boot_ms
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 239, struct.pack('<Iffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust))
+
+class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message):
+        '''
+        Setpoint in rollspeed, pitchspeed, yawspeed currently active
+        on the system.
+        '''
+        def __init__(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT')
+                self._fieldnames = ['time_boot_ms', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
+                self.time_boot_ms = time_boot_ms
+                self.roll_speed = roll_speed
+                self.pitch_speed = pitch_speed
+                self.yaw_speed = yaw_speed
+                self.thrust = thrust
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 238, struct.pack('<Iffff', self.time_boot_ms, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
+
+class MAVLink_nav_controller_output_message(MAVLink_message):
+        '''
+        Outputs of the APM navigation controller. The primary use of
+        this message is to check the response and signs
+        of the controller before actual flight and to assist with
+        tuning controller parameters
+        '''
+        def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT')
+                self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error']
+                self.nav_roll = nav_roll
+                self.nav_pitch = nav_pitch
+                self.nav_bearing = nav_bearing
+                self.target_bearing = target_bearing
+                self.wp_dist = wp_dist
+                self.alt_error = alt_error
+                self.aspd_error = aspd_error
+                self.xtrack_error = xtrack_error
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 183, struct.pack('<fffffhhH', self.nav_roll, self.nav_pitch, self.alt_error, self.aspd_error, self.xtrack_error, self.nav_bearing, self.target_bearing, self.wp_dist))
+
+class MAVLink_state_correction_message(MAVLink_message):
+        '''
+        Corrects the systems state by adding an error correction term
+        to the position and velocity, and by rotating the attitude by
+        a correction angle.
+        '''
+        def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION')
+                self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr']
+                self.xErr = xErr
+                self.yErr = yErr
+                self.zErr = zErr
+                self.rollErr = rollErr
+                self.pitchErr = pitchErr
+                self.yawErr = yawErr
+                self.vxErr = vxErr
+                self.vyErr = vyErr
+                self.vzErr = vzErr
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 130, struct.pack('<fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr))
+
+class MAVLink_request_data_stream_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM')
+                self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.req_stream_id = req_stream_id
+                self.req_message_rate = req_message_rate
+                self.start_stop = start_stop
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 148, struct.pack('<HBBBB', self.req_message_rate, self.target_system, self.target_component, self.req_stream_id, self.start_stop))
+
+class MAVLink_data_stream_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, stream_id, message_rate, on_off):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA_STREAM, 'DATA_STREAM')
+                self._fieldnames = ['stream_id', 'message_rate', 'on_off']
+                self.stream_id = stream_id
+                self.message_rate = message_rate
+                self.on_off = on_off
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 21, struct.pack('<HBB', self.message_rate, self.stream_id, self.on_off))
+
+class MAVLink_manual_control_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL')
+                self._fieldnames = ['target', 'roll', 'pitch', 'yaw', 'thrust', 'roll_manual', 'pitch_manual', 'yaw_manual', 'thrust_manual']
+                self.target = target
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.thrust = thrust
+                self.roll_manual = roll_manual
+                self.pitch_manual = pitch_manual
+                self.yaw_manual = yaw_manual
+                self.thrust_manual = thrust_manual
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 52, struct.pack('<ffffBBBBB', self.roll, self.pitch, self.yaw, self.thrust, self.target, self.roll_manual, self.pitch_manual, self.yaw_manual, self.thrust_manual))
+
+class MAVLink_rc_channels_override_message(MAVLink_message):
+        '''
+        The RAW values of the RC channels sent to the MAV to override
+        info received from the RC radio. A value of -1 means no change
+        to that channel. A value of 0 means control of that channel
+        should be released back to the RC radio. The standard PPM
+        modulation is as follows: 1000 microseconds: 0%, 2000
+        microseconds: 100%. Individual receivers/transmitters might
+        violate this specification.
+        '''
+        def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE')
+                self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.chan1_raw = chan1_raw
+                self.chan2_raw = chan2_raw
+                self.chan3_raw = chan3_raw
+                self.chan4_raw = chan4_raw
+                self.chan5_raw = chan5_raw
+                self.chan6_raw = chan6_raw
+                self.chan7_raw = chan7_raw
+                self.chan8_raw = chan8_raw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 124, struct.pack('<HHHHHHHHBB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.target_system, self.target_component))
+
+class MAVLink_vfr_hud_message(MAVLink_message):
+        '''
+        Metrics typically displayed on a HUD for fixed wing aircraft
+        '''
+        def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD')
+                self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb']
+                self.airspeed = airspeed
+                self.groundspeed = groundspeed
+                self.heading = heading
+                self.throttle = throttle
+                self.alt = alt
+                self.climb = climb
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 20, struct.pack('<ffffhH', self.airspeed, self.groundspeed, self.alt, self.climb, self.heading, self.throttle))
+
+class MAVLink_command_long_message(MAVLink_message):
+        '''
+        Send a command with up to four parameters to the MAV
+        '''
+        def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_LONG, 'COMMAND_LONG')
+                self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4', 'param5', 'param6', 'param7']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.command = command
+                self.confirmation = confirmation
+                self.param1 = param1
+                self.param2 = param2
+                self.param3 = param3
+                self.param4 = param4
+                self.param5 = param5
+                self.param6 = param6
+                self.param7 = param7
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 152, struct.pack('<fffffffHBBB', self.param1, self.param2, self.param3, self.param4, self.param5, self.param6, self.param7, self.command, self.target_system, self.target_component, self.confirmation))
+
+class MAVLink_command_ack_message(MAVLink_message):
+        '''
+        Report status of a command. Includes feedback wether the
+        command was executed
+        '''
+        def __init__(self, command, result):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK')
+                self._fieldnames = ['command', 'result']
+                self.command = command
+                self.result = result
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 143, struct.pack('<HB', self.command, self.result))
+
+class MAVLink_hil_state_message(MAVLink_message):
+        '''
+        Sent from simulation to autopilot. This packet is useful for
+        high throughput                 applications such as hardware
+        in the loop simulations.
+        '''
+        def __init__(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE')
+                self._fieldnames = ['time_usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc']
+                self.time_usec = time_usec
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+                self.rollspeed = rollspeed
+                self.pitchspeed = pitchspeed
+                self.yawspeed = yawspeed
+                self.lat = lat
+                self.lon = lon
+                self.alt = alt
+                self.vx = vx
+                self.vy = vy
+                self.vz = vz
+                self.xacc = xacc
+                self.yacc = yacc
+                self.zacc = zacc
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 183, struct.pack('<Qffffffiiihhhhhh', self.time_usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc))
+
+class MAVLink_hil_controls_message(MAVLink_message):
+        '''
+        Sent from autopilot to simulation. Hardware in the loop
+        control outputs
+        '''
+        def __init__(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS')
+                self._fieldnames = ['time_usec', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'aux1', 'aux2', 'aux3', 'aux4', 'mode', 'nav_mode']
+                self.time_usec = time_usec
+                self.roll_ailerons = roll_ailerons
+                self.pitch_elevator = pitch_elevator
+                self.yaw_rudder = yaw_rudder
+                self.throttle = throttle
+                self.aux1 = aux1
+                self.aux2 = aux2
+                self.aux3 = aux3
+                self.aux4 = aux4
+                self.mode = mode
+                self.nav_mode = nav_mode
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 63, struct.pack('<QffffffffBB', self.time_usec, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.aux1, self.aux2, self.aux3, self.aux4, self.mode, self.nav_mode))
+
+class MAVLink_hil_rc_inputs_raw_message(MAVLink_message):
+        '''
+        Sent from simulation to autopilot. The RAW values of the RC
+        channels received. The standard PPM modulation is as follows:
+        1000 microseconds: 0%, 2000 microseconds: 100%. Individual
+        receivers/transmitters might violate this specification.
+        '''
+        def __init__(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, 'HIL_RC_INPUTS_RAW')
+                self._fieldnames = ['time_usec', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'chan9_raw', 'chan10_raw', 'chan11_raw', 'chan12_raw', 'rssi']
+                self.time_usec = time_usec
+                self.chan1_raw = chan1_raw
+                self.chan2_raw = chan2_raw
+                self.chan3_raw = chan3_raw
+                self.chan4_raw = chan4_raw
+                self.chan5_raw = chan5_raw
+                self.chan6_raw = chan6_raw
+                self.chan7_raw = chan7_raw
+                self.chan8_raw = chan8_raw
+                self.chan9_raw = chan9_raw
+                self.chan10_raw = chan10_raw
+                self.chan11_raw = chan11_raw
+                self.chan12_raw = chan12_raw
+                self.rssi = rssi
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 54, struct.pack('<QHHHHHHHHHHHHB', self.time_usec, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.chan9_raw, self.chan10_raw, self.chan11_raw, self.chan12_raw, self.rssi))
+
+class MAVLink_optical_flow_message(MAVLink_message):
+        '''
+        Optical flow from a flow sensor (e.g. optical mouse sensor)
+        '''
+        def __init__(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW')
+                self._fieldnames = ['time_usec', 'sensor_id', 'flow_x', 'flow_y', 'quality', 'ground_distance']
+                self.time_usec = time_usec
+                self.sensor_id = sensor_id
+                self.flow_x = flow_x
+                self.flow_y = flow_y
+                self.quality = quality
+                self.ground_distance = ground_distance
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 19, struct.pack('<QfhhBB', self.time_usec, self.ground_distance, self.flow_x, self.flow_y, self.sensor_id, self.quality))
+
+class MAVLink_global_vision_position_estimate_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, usec, x, y, z, roll, pitch, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, 'GLOBAL_VISION_POSITION_ESTIMATE')
+                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 102, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
+
+class MAVLink_vision_position_estimate_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, usec, x, y, z, roll, pitch, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, 'VISION_POSITION_ESTIMATE')
+                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 158, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
+
+class MAVLink_vision_speed_estimate_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, usec, x, y, z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, 'VISION_SPEED_ESTIMATE')
+                self._fieldnames = ['usec', 'x', 'y', 'z']
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 208, struct.pack('<Qfff', self.usec, self.x, self.y, self.z))
+
+class MAVLink_vicon_position_estimate_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, usec, x, y, z, roll, pitch, yaw):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, 'VICON_POSITION_ESTIMATE')
+                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
+                self.usec = usec
+                self.x = x
+                self.y = y
+                self.z = z
+                self.roll = roll
+                self.pitch = pitch
+                self.yaw = yaw
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 56, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
+
+class MAVLink_memory_vect_message(MAVLink_message):
+        '''
+        Send raw controller memory. The use of this message is
+        discouraged for normal packets, but a quite efficient way for
+        testing new messages and getting experimental debug output.
+        '''
+        def __init__(self, address, ver, type, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMORY_VECT, 'MEMORY_VECT')
+                self._fieldnames = ['address', 'ver', 'type', 'value']
+                self.address = address
+                self.ver = ver
+                self.type = type
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 204, struct.pack('<HBB32s', self.address, self.ver, self.type, self.value))
+
+class MAVLink_debug_vect_message(MAVLink_message):
+        '''
+
+        '''
+        def __init__(self, name, time_usec, x, y, z):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT')
+                self._fieldnames = ['name', 'time_usec', 'x', 'y', 'z']
+                self.name = name
+                self.time_usec = time_usec
+                self.x = x
+                self.y = y
+                self.z = z
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 49, struct.pack('<Qfff10s', self.time_usec, self.x, self.y, self.z, self.name))
+
+class MAVLink_named_value_float_message(MAVLink_message):
+        '''
+        Send a key-value pair as float. The use of this message is
+        discouraged for normal packets, but a quite efficient way for
+        testing new messages and getting experimental debug output.
+        '''
+        def __init__(self, time_boot_ms, name, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT')
+                self._fieldnames = ['time_boot_ms', 'name', 'value']
+                self.time_boot_ms = time_boot_ms
+                self.name = name
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 170, struct.pack('<If10s', self.time_boot_ms, self.value, self.name))
+
+class MAVLink_named_value_int_message(MAVLink_message):
+        '''
+        Send a key-value pair as integer. The use of this message is
+        discouraged for normal packets, but a quite efficient way for
+        testing new messages and getting experimental debug output.
+        '''
+        def __init__(self, time_boot_ms, name, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT')
+                self._fieldnames = ['time_boot_ms', 'name', 'value']
+                self.time_boot_ms = time_boot_ms
+                self.name = name
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 44, struct.pack('<Ii10s', self.time_boot_ms, self.value, self.name))
+
+class MAVLink_statustext_message(MAVLink_message):
+        '''
+        Status text message. These messages are printed in yellow in
+        the COMM console of QGroundControl. WARNING: They consume
+        quite some bandwidth, so use only for important status and
+        error messages. If implemented wisely, these messages are
+        buffered on the MCU and sent only at a limited rate (e.g. 10
+        Hz).
+        '''
+        def __init__(self, severity, text):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT')
+                self._fieldnames = ['severity', 'text']
+                self.severity = severity
+                self.text = text
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 83, struct.pack('<B50s', self.severity, self.text))
+
+class MAVLink_debug_message(MAVLink_message):
+        '''
+        Send a debug value. The index is used to discriminate between
+        values. These values show up in the plot of QGroundControl as
+        DEBUG N.
+        '''
+        def __init__(self, time_boot_ms, ind, value):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG')
+                self._fieldnames = ['time_boot_ms', 'ind', 'value']
+                self.time_boot_ms = time_boot_ms
+                self.ind = ind
+                self.value = value
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 46, struct.pack('<IfB', self.time_boot_ms, self.value, self.ind))
+
+class MAVLink_extended_message_message(MAVLink_message):
+        '''
+        Extended message spacer.
+        '''
+        def __init__(self, target_system, target_component, protocol_flags):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_EXTENDED_MESSAGE, 'EXTENDED_MESSAGE')
+                self._fieldnames = ['target_system', 'target_component', 'protocol_flags']
+                self.target_system = target_system
+                self.target_component = target_component
+                self.protocol_flags = protocol_flags
+
+        def pack(self, mav):
+                return MAVLink_message.pack(self, mav, 247, struct.pack('<BBB', self.target_system, self.target_component, self.protocol_flags))
+
+
+mavlink_map = {
+        MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '<fiiffffffhhh', MAVLink_sensor_offsets_message, [9, 10, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8], 134 ),
+        MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '<hhhBB', MAVLink_set_mag_offsets_message, [3, 4, 0, 1, 2], 219 ),
+        MAVLINK_MSG_ID_MEMINFO : ( '<HH', MAVLink_meminfo_message, [0, 1], 208 ),
+        MAVLINK_MSG_ID_AP_ADC : ( '<HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ),
+        MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '<fHBBBBBBBBB', MAVLink_digicam_configure_message, [2, 3, 4, 1, 5, 6, 7, 8, 9, 10, 0], 84 ),
+        MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '<fBBBBbBBBB', MAVLink_digicam_control_message, [1, 2, 3, 4, 5, 6, 7, 8, 9, 0], 22 ),
+        MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '<BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ),
+        MAVLINK_MSG_ID_MOUNT_CONTROL : ( '<iiiBBB', MAVLink_mount_control_message, [3, 4, 0, 1, 2, 5], 21 ),
+        MAVLINK_MSG_ID_MOUNT_STATUS : ( '<iiiBB', MAVLink_mount_status_message, [3, 4, 0, 1, 2], 134 ),
+        MAVLINK_MSG_ID_FENCE_POINT : ( '<ffBBBB', MAVLink_fence_point_message, [2, 3, 4, 5, 0, 1], 78 ),
+        MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '<BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ),
+        MAVLINK_MSG_ID_FENCE_STATUS : ( '<IHBB', MAVLink_fence_status_message, [2, 1, 3, 0], 189 ),
+        MAVLINK_MSG_ID_AHRS : ( '<fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ),
+        MAVLINK_MSG_ID_SIMSTATE : ( '<fffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 42 ),
+        MAVLINK_MSG_ID_HWSTATUS : ( '<HB', MAVLink_hwstatus_message, [0, 1], 21 ),
+        MAVLINK_MSG_ID_RADIO : ( '<HHBBBBB', MAVLink_radio_message, [2, 3, 4, 5, 6, 0, 1], 21 ),
+        MAVLINK_MSG_ID_HEARTBEAT : ( '<IBBBBB', MAVLink_heartbeat_message, [1, 2, 3, 0, 4, 5], 50 ),
+        MAVLINK_MSG_ID_SYS_STATUS : ( '<IIIHHhHHHHHHb', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 12, 6, 7, 8, 9, 10, 11], 124 ),
+        MAVLINK_MSG_ID_SYSTEM_TIME : ( '<QI', MAVLink_system_time_message, [0, 1], 137 ),
+        MAVLINK_MSG_ID_PING : ( '<QIBB', MAVLink_ping_message, [0, 1, 2, 3], 237 ),
+        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '<BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ),
+        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '<BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ),
+        MAVLINK_MSG_ID_AUTH_KEY : ( '<32s', MAVLink_auth_key_message, [0], 119 ),
+        MAVLINK_MSG_ID_SET_MODE : ( '<IBB', MAVLink_set_mode_message, [1, 2, 0], 89 ),
+        MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '<hBB16s', MAVLink_param_request_read_message, [1, 2, 3, 0], 214 ),
+        MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '<BB', MAVLink_param_request_list_message, [0, 1], 159 ),
+        MAVLINK_MSG_ID_PARAM_VALUE : ( '<fHH16sB', MAVLink_param_value_message, [3, 0, 4, 1, 2], 220 ),
+        MAVLINK_MSG_ID_PARAM_SET : ( '<fBB16sB', MAVLink_param_set_message, [1, 2, 3, 0, 4], 168 ),
+        MAVLINK_MSG_ID_GPS_RAW_INT : ( '<QiiiHHHHBB', MAVLink_gps_raw_int_message, [0, 8, 1, 2, 3, 4, 5, 6, 7, 9], 24 ),
+        MAVLINK_MSG_ID_GPS_STATUS : ( '<B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 23 ),
+        MAVLINK_MSG_ID_SCALED_IMU : ( '<Ihhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 170 ),
+        MAVLINK_MSG_ID_RAW_IMU : ( '<Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 144 ),
+        MAVLINK_MSG_ID_RAW_PRESSURE : ( '<Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 67 ),
+        MAVLINK_MSG_ID_SCALED_PRESSURE : ( '<Iffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 115 ),
+        MAVLINK_MSG_ID_ATTITUDE : ( '<Iffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 39 ),
+        MAVLINK_MSG_ID_ATTITUDE_QUATERNION : ( '<Ifffffff', MAVLink_attitude_quaternion_message, [0, 1, 2, 3, 4, 5, 6, 7], 246 ),
+        MAVLINK_MSG_ID_LOCAL_POSITION_NED : ( '<Iffffff', MAVLink_local_position_ned_message, [0, 1, 2, 3, 4, 5, 6], 185 ),
+        MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '<IiiiihhhH', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 104 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '<IhhhhhhhhBB', MAVLink_rc_channels_scaled_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 237 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '<IHHHHHHHHBB', MAVLink_rc_channels_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 244 ),
+        MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '<IHHHHHHHHB', MAVLink_servo_output_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8], 222 ),
+        MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_request_partial_list_message, [2, 3, 0, 1], 212 ),
+        MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_write_partial_list_message, [2, 3, 0, 1], 9 ),
+        MAVLINK_MSG_ID_MISSION_ITEM : ( '<fffffffHHBBBBB', MAVLink_mission_item_message, [9, 10, 7, 11, 8, 12, 13, 0, 1, 2, 3, 4, 5, 6], 254 ),
+        MAVLINK_MSG_ID_MISSION_REQUEST : ( '<HBB', MAVLink_mission_request_message, [1, 2, 0], 230 ),
+        MAVLINK_MSG_ID_MISSION_SET_CURRENT : ( '<HBB', MAVLink_mission_set_current_message, [1, 2, 0], 28 ),
+        MAVLINK_MSG_ID_MISSION_CURRENT : ( '<H', MAVLink_mission_current_message, [0], 28 ),
+        MAVLINK_MSG_ID_MISSION_REQUEST_LIST : ( '<BB', MAVLink_mission_request_list_message, [0, 1], 132 ),
+        MAVLINK_MSG_ID_MISSION_COUNT : ( '<HBB', MAVLink_mission_count_message, [1, 2, 0], 221 ),
+        MAVLINK_MSG_ID_MISSION_CLEAR_ALL : ( '<BB', MAVLink_mission_clear_all_message, [0, 1], 232 ),
+        MAVLINK_MSG_ID_MISSION_ITEM_REACHED : ( '<H', MAVLink_mission_item_reached_message, [0], 11 ),
+        MAVLINK_MSG_ID_MISSION_ACK : ( '<BBB', MAVLink_mission_ack_message, [0, 1, 2], 153 ),
+        MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN : ( '<iiiB', MAVLink_set_gps_global_origin_message, [3, 0, 1, 2], 41 ),
+        MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN : ( '<iii', MAVLink_gps_global_origin_message, [0, 1, 2], 39 ),
+        MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT : ( '<ffffBBB', MAVLink_set_local_position_setpoint_message, [4, 5, 6, 0, 1, 2, 3], 214 ),
+        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '<ffffB', MAVLink_local_position_setpoint_message, [4, 0, 1, 2, 3], 223 ),
+        MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 141 ),
+        MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_set_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 33 ),
+        MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '<ffffffBBB', MAVLink_safety_set_allowed_area_message, [6, 7, 8, 0, 1, 2, 3, 4, 5], 15 ),
+        MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '<ffffffB', MAVLink_safety_allowed_area_message, [6, 0, 1, 2, 3, 4, 5], 3 ),
+        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 100 ),
+        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [4, 5, 0, 1, 2, 3], 24 ),
+        MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ),
+        MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ),
+        MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ),
+        MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
+        MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ),
+        MAVLINK_MSG_ID_DATA_STREAM : ( '<HBB', MAVLink_data_stream_message, [1, 0, 2], 21 ),
+        MAVLINK_MSG_ID_MANUAL_CONTROL : ( '<ffffBBBBB', MAVLink_manual_control_message, [4, 0, 1, 2, 3, 5, 6, 7, 8], 52 ),
+        MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '<HHHHHHHHBB', MAVLink_rc_channels_override_message, [8, 9, 0, 1, 2, 3, 4, 5, 6, 7], 124 ),
+        MAVLINK_MSG_ID_VFR_HUD : ( '<ffffhH', MAVLink_vfr_hud_message, [0, 1, 4, 5, 2, 3], 20 ),
+        MAVLINK_MSG_ID_COMMAND_LONG : ( '<fffffffHBBB', MAVLink_command_long_message, [8, 9, 7, 10, 0, 1, 2, 3, 4, 5, 6], 152 ),
+        MAVLINK_MSG_ID_COMMAND_ACK : ( '<HB', MAVLink_command_ack_message, [0, 1], 143 ),
+        MAVLINK_MSG_ID_HIL_STATE : ( '<Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 183 ),
+        MAVLINK_MSG_ID_HIL_CONTROLS : ( '<QffffffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 63 ),
+        MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW : ( '<QHHHHHHHHHHHHB', MAVLink_hil_rc_inputs_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 54 ),
+        MAVLINK_MSG_ID_OPTICAL_FLOW : ( '<QfhhBB', MAVLink_optical_flow_message, [0, 4, 2, 3, 5, 1], 19 ),
+        MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_global_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 102 ),
+        MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 158 ),
+        MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE : ( '<Qfff', MAVLink_vision_speed_estimate_message, [0, 1, 2, 3], 208 ),
+        MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vicon_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 56 ),
+        MAVLINK_MSG_ID_MEMORY_VECT : ( '<HBB32s', MAVLink_memory_vect_message, [0, 1, 2, 3], 204 ),
+        MAVLINK_MSG_ID_DEBUG_VECT : ( '<Qfff10s', MAVLink_debug_vect_message, [4, 0, 1, 2, 3], 49 ),
+        MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '<If10s', MAVLink_named_value_float_message, [0, 2, 1], 170 ),
+        MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '<Ii10s', MAVLink_named_value_int_message, [0, 2, 1], 44 ),
+        MAVLINK_MSG_ID_STATUSTEXT : ( '<B50s', MAVLink_statustext_message, [0, 1], 83 ),
+        MAVLINK_MSG_ID_DEBUG : ( '<IfB', MAVLink_debug_message, [0, 2, 1], 46 ),
+        MAVLINK_MSG_ID_EXTENDED_MESSAGE : ( '<BBB', MAVLink_extended_message_message, [0, 1, 2], 247 ),
+}
+
+class MAVError(Exception):
+        '''MAVLink error class'''
+        def __init__(self, msg):
+            Exception.__init__(self, msg)
+            self.message = msg
+
+class MAVString(str):
+        '''NUL terminated string'''
+        def __init__(self, s):
+                str.__init__(self)
+        def __str__(self):
+            i = self.find(chr(0))
+            if i == -1:
+                return self[:]
+            return self[0:i]
+
+class MAVLink_bad_data(MAVLink_message):
+        '''
+        a piece of bad data in a mavlink stream
+        '''
+        def __init__(self, data, reason):
+                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
+                self._fieldnames = ['data', 'reason']
+                self.data = data
+                self.reason = reason
+                self._msgbuf = data
+            
+class MAVLink(object):
+        '''MAVLink protocol handling class'''
+        def __init__(self, file, srcSystem=0, srcComponent=0):
+                self.seq = 0
+                self.file = file
+                self.srcSystem = srcSystem
+                self.srcComponent = srcComponent
+                self.callback = None
+                self.callback_args = None
+                self.callback_kwargs = None
+                self.buf = array.array('B')
+                self.expected_length = 6
+                self.have_prefix_error = False
+                self.robust_parsing = False
+                self.protocol_marker = 254
+                self.little_endian = True
+                self.crc_extra = True
+                self.sort_fields = True
+                self.total_packets_sent = 0
+                self.total_bytes_sent = 0
+                self.total_packets_received = 0
+                self.total_bytes_received = 0
+                self.total_receive_errors = 0
+                self.startup_time = time.time()
+
+        def set_callback(self, callback, *args, **kwargs):
+            self.callback = callback
+            self.callback_args = args
+            self.callback_kwargs = kwargs
+            
+        def send(self, mavmsg):
+                '''send a MAVLink message'''
+                buf = mavmsg.pack(self)
+                self.file.write(buf)
+                self.seq = (self.seq + 1) % 255
+                self.total_packets_sent += 1
+                self.total_bytes_sent += len(buf)
+
+        def bytes_needed(self):
+            '''return number of bytes needed for next parsing stage'''
+            ret = self.expected_length - len(self.buf)
+            if ret <= 0:
+                return 1
+            return ret
+
+        def parse_char(self, c):
+            '''input some data bytes, possibly returning a new message'''
+            if isinstance(c, str):
+                self.buf.fromstring(c)
+            else:
+                self.buf.extend(c)
+            self.total_bytes_received += len(c)
+            if len(self.buf) >= 1 and self.buf[0] != 254:
+                magic = self.buf[0]
+                self.buf = self.buf[1:]
+                if self.robust_parsing:
+                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
+                    if self.callback:
+                        self.callback(m, *self.callback_args, **self.callback_kwargs)
+                    self.expected_length = 6
+                    self.total_receive_errors += 1
+                    return m
+                if self.have_prefix_error:
+                    return None
+                self.have_prefix_error = True
+                self.total_receive_errors += 1
+                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
+            self.have_prefix_error = False
+            if len(self.buf) >= 2:
+                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
+                self.expected_length += 8
+            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
+                mbuf = self.buf[0:self.expected_length]
+                self.buf = self.buf[self.expected_length:]
+                self.expected_length = 6
+                if self.robust_parsing:
+                    try:
+                        m = self.decode(mbuf)
+                        self.total_packets_received += 1
+                    except MAVError as reason:
+                        m = MAVLink_bad_data(mbuf, reason.message)
+                        self.total_receive_errors += 1
+                else:
+                    m = self.decode(mbuf)
+                    self.total_packets_received += 1
+                if self.callback:
+                    self.callback(m, *self.callback_args, **self.callback_kwargs)
+                return m
+            return None
+
+        def parse_buffer(self, s):
+            '''input some data bytes, possibly returning a list of new messages'''
+            m = self.parse_char(s)
+            if m is None:
+                return None
+            ret = [m]
+            while True:
+                m = self.parse_char("")
+                if m is None:
+                    return ret
+                ret.append(m)
+            return ret
+
+        def decode(self, msgbuf):
+                '''decode a buffer as a MAVLink message'''
+                # decode the header
+                try:
+                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
+                if ord(magic) != 254:
+                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
+                if mlen != len(msgbuf)-8:
+                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
+
+                if not msgId in mavlink_map:
+                    raise MAVError('unknown MAVLink message ID %u' % msgId)
+
+                # decode the payload
+                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
+
+                # decode the checksum
+                try:
+                    crc, = struct.unpack('<H', msgbuf[-2:])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
+                crc2 = mavutil.x25crc(msgbuf[1:-2])
+                if True: # using CRC extra 
+                    crc2.accumulate(chr(crc_extra))
+                if crc != crc2.crc:
+                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
+
+                try:
+                    t = struct.unpack(fmt, msgbuf[6:-2])
+                except struct.error as emsg:
+                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
+                        type, fmt, len(msgbuf[6:-2]), emsg))
+
+                tlist = list(t)
+                # handle sorted fields
+                if True:
+                    t = tlist[:]
+                    for i in range(0, len(tlist)):
+                        tlist[i] = t[order_map[i]]
+
+                # terminate any strings
+                for i in range(0, len(tlist)):
+                    if isinstance(tlist[i], str):
+                        tlist[i] = MAVString(tlist[i])
+                t = tuple(tlist)
+                # construct the message object
+                try:
+                    m = type(*t)
+                except Exception as emsg:
+                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
+                m._msgbuf = msgbuf
+                m._payload = msgbuf[6:-2]
+                m._crc = crc
+                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
+                return m
+        def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                '''
+                Offsets and calibrations values for hardware         sensors. This
+                makes it easier to debug the calibration process.
+
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+                mag_declination           : magnetic declination (radians) (float)
+                raw_press                 : raw pressure from barometer (int32_t)
+                raw_temp                  : raw temperature from barometer (int32_t)
+                gyro_cal_x                : gyro X calibration (float)
+                gyro_cal_y                : gyro Y calibration (float)
+                gyro_cal_z                : gyro Z calibration (float)
+                accel_cal_x               : accel X calibration (float)
+                accel_cal_y               : accel Y calibration (float)
+                accel_cal_z               : accel Z calibration (float)
+
+                '''
+                msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)
+                msg.pack(self)
+                return msg
+            
+        def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
+                '''
+                Offsets and calibrations values for hardware         sensors. This
+                makes it easier to debug the calibration process.
+
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+                mag_declination           : magnetic declination (radians) (float)
+                raw_press                 : raw pressure from barometer (int32_t)
+                raw_temp                  : raw temperature from barometer (int32_t)
+                gyro_cal_x                : gyro X calibration (float)
+                gyro_cal_y                : gyro Y calibration (float)
+                gyro_cal_z                : gyro Z calibration (float)
+                accel_cal_x               : accel X calibration (float)
+                accel_cal_y               : accel Y calibration (float)
+                accel_cal_z               : accel Z calibration (float)
+
+                '''
+                return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z))
+            
+        def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                '''
+                set the magnetometer offsets
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+
+                '''
+                msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)
+                msg.pack(self)
+                return msg
+            
+        def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
+                '''
+                set the magnetometer offsets
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mag_ofs_x                 : magnetometer X offset (int16_t)
+                mag_ofs_y                 : magnetometer Y offset (int16_t)
+                mag_ofs_z                 : magnetometer Z offset (int16_t)
+
+                '''
+                return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z))
+            
+        def meminfo_encode(self, brkval, freemem):
+                '''
+                state of APM memory
+
+                brkval                    : heap top (uint16_t)
+                freemem                   : free memory (uint16_t)
+
+                '''
+                msg = MAVLink_meminfo_message(brkval, freemem)
+                msg.pack(self)
+                return msg
+            
+        def meminfo_send(self, brkval, freemem):
+                '''
+                state of APM memory
+
+                brkval                    : heap top (uint16_t)
+                freemem                   : free memory (uint16_t)
+
+                '''
+                return self.send(self.meminfo_encode(brkval, freemem))
+            
+        def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                '''
+                raw ADC output
+
+                adc1                      : ADC output 1 (uint16_t)
+                adc2                      : ADC output 2 (uint16_t)
+                adc3                      : ADC output 3 (uint16_t)
+                adc4                      : ADC output 4 (uint16_t)
+                adc5                      : ADC output 5 (uint16_t)
+                adc6                      : ADC output 6 (uint16_t)
+
+                '''
+                msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6)
+                msg.pack(self)
+                return msg
+            
+        def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6):
+                '''
+                raw ADC output
+
+                adc1                      : ADC output 1 (uint16_t)
+                adc2                      : ADC output 2 (uint16_t)
+                adc3                      : ADC output 3 (uint16_t)
+                adc4                      : ADC output 4 (uint16_t)
+                adc5                      : ADC output 5 (uint16_t)
+                adc6                      : ADC output 6 (uint16_t)
+
+                '''
+                return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6))
+            
+        def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                '''
+                Configure on-board Camera Control System.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
+                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
+                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
+                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
+                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)
+                msg.pack(self)
+                return msg
+            
+        def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
+                '''
+                Configure on-board Camera Control System.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
+                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
+                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
+                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
+                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value))
+            
+        def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                '''
+                Control on-board Camera Control System to take shots.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
+                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
+                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
+                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
+                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)
+                msg.pack(self)
+                return msg
+            
+        def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
+                '''
+                Control on-board Camera Control System to take shots.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
+                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
+                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
+                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
+                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
+                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
+                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
+                extra_value               : Correspondent value to given extra_param (float)
+
+                '''
+                return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value))
+            
+        def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                '''
+                Message to configure a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
+                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
+                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
+                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
+
+                '''
+                msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)
+                msg.pack(self)
+                return msg
+            
+        def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
+                '''
+                Message to configure a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
+                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
+                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
+                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
+
+                '''
+                return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw))
+            
+        def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                '''
+                Message to control a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
+                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
+
+                '''
+                msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position)
+                msg.pack(self)
+                return msg
+            
+        def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position):
+                '''
+                Message to control a camera mount, directional antenna, etc.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
+                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
+
+                '''
+                return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position))
+            
+        def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                '''
+                Message with some status from APM to GCS about camera or antenna mount
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
+                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+
+                '''
+                msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c)
+                msg.pack(self)
+                return msg
+            
+        def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
+                '''
+                Message with some status from APM to GCS about camera or antenna mount
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
+                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
+                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
+
+                '''
+                return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c))
+            
+        def fence_point_encode(self, target_system, target_component, idx, count, lat, lng):
+                '''
+                A fence point. Used to set a point when from               GCS -> MAV.
+                Also used to return a point from MAV -> GCS
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+                count                     : total number of points (for sanity checking) (uint8_t)
+                lat                       : Latitude of point (float)
+                lng                       : Longitude of point (float)
+
+                '''
+                msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng)
+                msg.pack(self)
+                return msg
+            
+        def fence_point_send(self, target_system, target_component, idx, count, lat, lng):
+                '''
+                A fence point. Used to set a point when from               GCS -> MAV.
+                Also used to return a point from MAV -> GCS
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+                count                     : total number of points (for sanity checking) (uint8_t)
+                lat                       : Latitude of point (float)
+                lng                       : Longitude of point (float)
+
+                '''
+                return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng))
+            
+        def fence_fetch_point_encode(self, target_system, target_component, idx):
+                '''
+                Request a current fence point from MAV
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+
+                '''
+                msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx)
+                msg.pack(self)
+                return msg
+            
+        def fence_fetch_point_send(self, target_system, target_component, idx):
+                '''
+                Request a current fence point from MAV
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
+
+                '''
+                return self.send(self.fence_fetch_point_encode(target_system, target_component, idx))
+            
+        def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time):
+                '''
+                Status of geo-fencing. Sent in extended             status stream when
+                fencing enabled
+
+                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
+                breach_count              : number of fence breaches (uint16_t)
+                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
+                breach_time               : time of last breach in milliseconds since boot (uint32_t)
+
+                '''
+                msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time)
+                msg.pack(self)
+                return msg
+            
+        def fence_status_send(self, breach_status, breach_count, breach_type, breach_time):
+                '''
+                Status of geo-fencing. Sent in extended             status stream when
+                fencing enabled
+
+                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
+                breach_count              : number of fence breaches (uint16_t)
+                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
+                breach_time               : time of last breach in milliseconds since boot (uint32_t)
+
+                '''
+                return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time))
+            
+        def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                '''
+                Status of DCM attitude estimator
+
+                omegaIx                   : X gyro drift estimate rad/s (float)
+                omegaIy                   : Y gyro drift estimate rad/s (float)
+                omegaIz                   : Z gyro drift estimate rad/s (float)
+                accel_weight              : average accel_weight (float)
+                renorm_val                : average renormalisation value (float)
+                error_rp                  : average error_roll_pitch value (float)
+                error_yaw                 : average error_yaw value (float)
+
+                '''
+                msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
+                msg.pack(self)
+                return msg
+            
+        def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
+                '''
+                Status of DCM attitude estimator
+
+                omegaIx                   : X gyro drift estimate rad/s (float)
+                omegaIy                   : Y gyro drift estimate rad/s (float)
+                omegaIz                   : Z gyro drift estimate rad/s (float)
+                accel_weight              : average accel_weight (float)
+                renorm_val                : average renormalisation value (float)
+                error_rp                  : average error_roll_pitch value (float)
+                error_yaw                 : average error_yaw value (float)
+
+                '''
+                return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw))
+            
+        def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                '''
+                Status of simulation environment, if used
+
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                xacc                      : X acceleration m/s/s (float)
+                yacc                      : Y acceleration m/s/s (float)
+                zacc                      : Z acceleration m/s/s (float)
+                xgyro                     : Angular speed around X axis rad/s (float)
+                ygyro                     : Angular speed around Y axis rad/s (float)
+                zgyro                     : Angular speed around Z axis rad/s (float)
+
+                '''
+                msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)
+                msg.pack(self)
+                return msg
+            
+        def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
+                '''
+                Status of simulation environment, if used
+
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                xacc                      : X acceleration m/s/s (float)
+                yacc                      : Y acceleration m/s/s (float)
+                zacc                      : Z acceleration m/s/s (float)
+                xgyro                     : Angular speed around X axis rad/s (float)
+                ygyro                     : Angular speed around Y axis rad/s (float)
+                zgyro                     : Angular speed around Z axis rad/s (float)
+
+                '''
+                return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro))
+            
+        def hwstatus_encode(self, Vcc, I2Cerr):
+                '''
+                Status of key hardware
+
+                Vcc                       : board voltage (mV) (uint16_t)
+                I2Cerr                    : I2C error count (uint8_t)
+
+                '''
+                msg = MAVLink_hwstatus_message(Vcc, I2Cerr)
+                msg.pack(self)
+                return msg
+            
+        def hwstatus_send(self, Vcc, I2Cerr):
+                '''
+                Status of key hardware
+
+                Vcc                       : board voltage (mV) (uint16_t)
+                I2Cerr                    : I2C error count (uint8_t)
+
+                '''
+                return self.send(self.hwstatus_encode(Vcc, I2Cerr))
+            
+        def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                '''
+                Status generated by radio
+
+                rssi                      : local signal strength (uint8_t)
+                remrssi                   : remote signal strength (uint8_t)
+                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
+                noise                     : background noise level (uint8_t)
+                remnoise                  : remote background noise level (uint8_t)
+                rxerrors                  : receive errors (uint16_t)
+                fixed                     : count of error corrected packets (uint16_t)
+
+                '''
+                msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
+                msg.pack(self)
+                return msg
+            
+        def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
+                '''
+                Status generated by radio
+
+                rssi                      : local signal strength (uint8_t)
+                remrssi                   : remote signal strength (uint8_t)
+                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
+                noise                     : background noise level (uint8_t)
+                remnoise                  : remote background noise level (uint8_t)
+                rxerrors                  : receive errors (uint16_t)
+                fixed                     : count of error corrected packets (uint16_t)
+
+                '''
+                return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed))
+            
+        def heartbeat_encode(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
+                '''
+                The heartbeat message shows that a system is present and responding.
+                The type of the MAV and Autopilot hardware allow the
+                receiving system to treat further messages from this
+                system appropriate (e.g. by laying out the user
+                interface based on the autopilot).
+
+                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
+                autopilot                 : Autopilot type / class. defined in MAV_CLASS ENUM (uint8_t)
+                base_mode                 : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
+                custom_mode               : Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. (uint32_t)
+                system_status             : System status flag, see MAV_STATUS ENUM (uint8_t)
+                mavlink_version           : MAVLink version (uint8_t)
+
+                '''
+                msg = MAVLink_heartbeat_message(type, autopilot, base_mode, custom_mode, system_status, mavlink_version)
+                msg.pack(self)
+                return msg
+            
+        def heartbeat_send(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
+                '''
+                The heartbeat message shows that a system is present and responding.
+                The type of the MAV and Autopilot hardware allow the
+                receiving system to treat further messages from this
+                system appropriate (e.g. by laying out the user
+                interface based on the autopilot).
+
+                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
+                autopilot                 : Autopilot type / class. defined in MAV_CLASS ENUM (uint8_t)
+                base_mode                 : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
+                custom_mode               : Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. (uint32_t)
+                system_status             : System status flag, see MAV_STATUS ENUM (uint8_t)
+                mavlink_version           : MAVLink version (uint8_t)
+
+                '''
+                return self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version))
+            
+        def sys_status_encode(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
+                '''
+                The general system state. If the system is following the MAVLink
+                standard, the system state is mainly defined by three
+                orthogonal states/modes: The system mode, which is
+                either LOCKED (motors shut down and locked), MANUAL
+                (system under RC control), GUIDED (system with
+                autonomous position control, position setpoint
+                controlled manually) or AUTO (system guided by
+                path/waypoint planner). The NAV_MODE defined the
+                current flight state: LIFTOFF (often an open-loop
+                maneuver), LANDING, WAYPOINTS or VECTOR. This
+                represents the internal navigation state machine. The
+                system status shows wether the system is currently
+                active or not and if an emergency occured. During the
+                CRITICAL and EMERGENCY states the MAV is still
+                considered to be active, but should start emergency
+                procedures autonomously. After a failure occured it
+                should first move from active to critical to allow
+                manual intervention and then move to emergency after a
+                certain timeout.
+
+                onboard_control_sensors_present        : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                onboard_control_sensors_enabled        : Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                onboard_control_sensors_health        : Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
+                voltage_battery           : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
+                current_battery           : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
+                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
+                drop_rate_comm            : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
+                errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
+                errors_count1             : Autopilot-specific errors (uint16_t)
+                errors_count2             : Autopilot-specific errors (uint16_t)
+                errors_count3             : Autopilot-specific errors (uint16_t)
+                errors_count4             : Autopilot-specific errors (uint16_t)
+
+                '''
+                msg = MAVLink_sys_status_message(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4)
+                msg.pack(self)
+                return msg
+            
+        def sys_status_send(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
+                '''
+                The general system state. If the system is following the MAVLink
+                standard, the system state is mainly defined by three
+                orthogonal states/modes: The system mode, which is
+                either LOCKED (motors shut down and locked), MANUAL
+                (system under RC control), GUIDED (system with
+                autonomous position control, position setpoint
+                controlled manually) or AUTO (system guided by
+                path/waypoint planner). The NAV_MODE defined the
+                current flight state: LIFTOFF (often an open-loop
+                maneuver), LANDING, WAYPOINTS or VECTOR. This
+                represents the internal navigation state machine. The
+                system status shows wether the system is currently
+                active or not and if an emergency occured. During the
+                CRITICAL and EMERGENCY states the MAV is still
+                considered to be active, but should start emergency
+                procedures autonomously. After a failure occured it
+                should first move from active to critical to allow
+                manual intervention and then move to emergency after a
+                certain timeout.
+
+                onboard_control_sensors_present        : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                onboard_control_sensors_enabled        : Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                onboard_control_sensors_health        : Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
+                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
+                voltage_battery           : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
+                current_battery           : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
+                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
+                drop_rate_comm            : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
+                errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
+                errors_count1             : Autopilot-specific errors (uint16_t)
+                errors_count2             : Autopilot-specific errors (uint16_t)
+                errors_count3             : Autopilot-specific errors (uint16_t)
+                errors_count4             : Autopilot-specific errors (uint16_t)
+
+                '''
+                return self.send(self.sys_status_encode(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4))
+            
+        def system_time_encode(self, time_unix_usec, time_boot_ms):
+                '''
+                The system time is the time of the master clock, typically the
+                computer clock of the main onboard computer.
+
+                time_unix_usec            : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
+                time_boot_ms              : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
+
+                '''
+                msg = MAVLink_system_time_message(time_unix_usec, time_boot_ms)
+                msg.pack(self)
+                return msg
+            
+        def system_time_send(self, time_unix_usec, time_boot_ms):
+                '''
+                The system time is the time of the master clock, typically the
+                computer clock of the main onboard computer.
+
+                time_unix_usec            : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
+                time_boot_ms              : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
+
+                '''
+                return self.send(self.system_time_encode(time_unix_usec, time_boot_ms))
+            
+        def ping_encode(self, time_usec, seq, target_system, target_component):
+                '''
+                A ping message either requesting or responding to a ping. This allows
+                to measure the system latencies, including serial
+                port, radio modem and UDP connections.
+
+                time_usec                 : Unix timestamp in microseconds (uint64_t)
+                seq                       : PING sequence (uint32_t)
+                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+
+                '''
+                msg = MAVLink_ping_message(time_usec, seq, target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def ping_send(self, time_usec, seq, target_system, target_component):
+                '''
+                A ping message either requesting or responding to a ping. This allows
+                to measure the system latencies, including serial
+                port, radio modem and UDP connections.
+
+                time_usec                 : Unix timestamp in microseconds (uint64_t)
+                seq                       : PING sequence (uint32_t)
+                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
+
+                '''
+                return self.send(self.ping_encode(time_usec, seq, target_system, target_component))
+            
+        def change_operator_control_encode(self, target_system, control_request, version, passkey):
+                '''
+                Request to control this MAV
+
+                target_system             : System the GCS requests control for (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
+                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
+
+                '''
+                msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey)
+                msg.pack(self)
+                return msg
+            
+        def change_operator_control_send(self, target_system, control_request, version, passkey):
+                '''
+                Request to control this MAV
+
+                target_system             : System the GCS requests control for (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
+                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
+
+                '''
+                return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey))
+            
+        def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack):
+                '''
+                Accept / deny control of this MAV
+
+                gcs_system_id             : ID of the GCS this message (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
+
+                '''
+                msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack)
+                msg.pack(self)
+                return msg
+            
+        def change_operator_control_ack_send(self, gcs_system_id, control_request, ack):
+                '''
+                Accept / deny control of this MAV
+
+                gcs_system_id             : ID of the GCS this message (uint8_t)
+                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
+                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
+
+                '''
+                return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack))
+            
+        def auth_key_encode(self, key):
+                '''
+                Emit an encrypted signature / key identifying this system. PLEASE
+                NOTE: This protocol has been kept simple, so
+                transmitting the key requires an encrypted channel for
+                true safety.
+
+                key                       : key (char)
+
+                '''
+                msg = MAVLink_auth_key_message(key)
+                msg.pack(self)
+                return msg
+            
+        def auth_key_send(self, key):
+                '''
+                Emit an encrypted signature / key identifying this system. PLEASE
+                NOTE: This protocol has been kept simple, so
+                transmitting the key requires an encrypted channel for
+                true safety.
+
+                key                       : key (char)
+
+                '''
+                return self.send(self.auth_key_encode(key))
+            
+        def set_mode_encode(self, target_system, base_mode, custom_mode):
+                '''
+                Set the system mode, as defined by enum MAV_MODE. There is no target
+                component id as the mode is by definition for the
+                overall aircraft, not only for one component.
+
+                target_system             : The system setting the mode (uint8_t)
+                base_mode                 : The new base mode (uint8_t)
+                custom_mode               : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
+
+                '''
+                msg = MAVLink_set_mode_message(target_system, base_mode, custom_mode)
+                msg.pack(self)
+                return msg
+            
+        def set_mode_send(self, target_system, base_mode, custom_mode):
+                '''
+                Set the system mode, as defined by enum MAV_MODE. There is no target
+                component id as the mode is by definition for the
+                overall aircraft, not only for one component.
+
+                target_system             : The system setting the mode (uint8_t)
+                base_mode                 : The new base mode (uint8_t)
+                custom_mode               : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
+
+                '''
+                return self.send(self.set_mode_encode(target_system, base_mode, custom_mode))
+            
+        def param_request_read_encode(self, target_system, target_component, param_id, param_index):
+                '''
+                Request to read the onboard parameter with the param_id string id.
+                Onboard parameters are stored as key[const char*] ->
+                value[float]. This allows to send a parameter to any
+                other component (such as the GCS) without the need of
+                previous knowledge of possible parameter names. Thus
+                the same GCS can store different parameters for
+                different autopilots. See also
+                http://qgroundcontrol.org/parameter_interface for a
+                full documentation of QGroundControl and IMU code.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (char)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+
+                '''
+                msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
+                msg.pack(self)
+                return msg
+            
+        def param_request_read_send(self, target_system, target_component, param_id, param_index):
+                '''
+                Request to read the onboard parameter with the param_id string id.
+                Onboard parameters are stored as key[const char*] ->
+                value[float]. This allows to send a parameter to any
+                other component (such as the GCS) without the need of
+                previous knowledge of possible parameter names. Thus
+                the same GCS can store different parameters for
+                different autopilots. See also
+                http://qgroundcontrol.org/parameter_interface for a
+                full documentation of QGroundControl and IMU code.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (char)
+                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
+
+                '''
+                return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
+            
+        def param_request_list_encode(self, target_system, target_component):
+                '''
+                Request all parameters of this component. After his request, all
+                parameters are emitted.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_param_request_list_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def param_request_list_send(self, target_system, target_component):
+                '''
+                Request all parameters of this component. After his request, all
+                parameters are emitted.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.param_request_list_encode(target_system, target_component))
+            
+        def param_value_encode(self, param_id, param_value, param_type, param_count, param_index):
+                '''
+                Emit the value of a onboard parameter. The inclusion of param_count
+                and param_index in the message allows the recipient to
+                keep track of received parameters and allows him to
+                re-request missing parameters after a loss or timeout.
+
+                param_id                  : Onboard parameter id (char)
+                param_value               : Onboard parameter value (float)
+                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_count               : Total number of onboard parameters (uint16_t)
+                param_index               : Index of this onboard parameter (uint16_t)
+
+                '''
+                msg = MAVLink_param_value_message(param_id, param_value, param_type, param_count, param_index)
+                msg.pack(self)
+                return msg
+            
+        def param_value_send(self, param_id, param_value, param_type, param_count, param_index):
+                '''
+                Emit the value of a onboard parameter. The inclusion of param_count
+                and param_index in the message allows the recipient to
+                keep track of received parameters and allows him to
+                re-request missing parameters after a loss or timeout.
+
+                param_id                  : Onboard parameter id (char)
+                param_value               : Onboard parameter value (float)
+                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+                param_count               : Total number of onboard parameters (uint16_t)
+                param_index               : Index of this onboard parameter (uint16_t)
+
+                '''
+                return self.send(self.param_value_encode(param_id, param_value, param_type, param_count, param_index))
+            
+        def param_set_encode(self, target_system, target_component, param_id, param_value, param_type):
+                '''
+                Set a parameter value TEMPORARILY to RAM. It will be reset to default
+                on system reboot. Send the ACTION
+                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
+                contents to EEPROM. IMPORTANT: The receiving component
+                should acknowledge the new parameter value by sending
+                a param_value message to all communication partners.
+                This will also ensure that multiple GCS all have an
+                up-to-date list of all parameters. If the sending GCS
+                did not receive a PARAM_VALUE message within its
+                timeout time, it should re-send the PARAM_SET message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (char)
+                param_value               : Onboard parameter value (float)
+                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+
+                '''
+                msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type)
+                msg.pack(self)
+                return msg
+            
+        def param_set_send(self, target_system, target_component, param_id, param_value, param_type):
+                '''
+                Set a parameter value TEMPORARILY to RAM. It will be reset to default
+                on system reboot. Send the ACTION
+                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
+                contents to EEPROM. IMPORTANT: The receiving component
+                should acknowledge the new parameter value by sending
+                a param_value message to all communication partners.
+                This will also ensure that multiple GCS all have an
+                up-to-date list of all parameters. If the sending GCS
+                did not receive a PARAM_VALUE message within its
+                timeout time, it should re-send the PARAM_SET message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                param_id                  : Onboard parameter id (char)
+                param_value               : Onboard parameter value (float)
+                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
+
+                '''
+                return self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type))
+            
+        def gps_raw_int_encode(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is                 NOT the global position
+                estimate of the sytem, but rather a RAW sensor value.
+                See message GLOBAL_POSITION for the global position
+                estimate. Coordinate frame is right-handed, Z-axis up
+                (GPS frame)
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in 1E7 degrees (int32_t)
+                lon                       : Longitude in 1E7 degrees (int32_t)
+                alt                       : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
+                eph                       : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
+                epv                       : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
+                vel                       : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
+                cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
+                satellites_visible        : Number of satellites visible. If unknown, set to 255 (uint8_t)
+
+                '''
+                msg = MAVLink_gps_raw_int_message(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible)
+                msg.pack(self)
+                return msg
+            
+        def gps_raw_int_send(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
+                '''
+                The global position, as returned by the Global Positioning System
+                (GPS). This is                 NOT the global position
+                estimate of the sytem, but rather a RAW sensor value.
+                See message GLOBAL_POSITION for the global position
+                estimate. Coordinate frame is right-handed, Z-axis up
+                (GPS frame)
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
+                lat                       : Latitude in 1E7 degrees (int32_t)
+                lon                       : Longitude in 1E7 degrees (int32_t)
+                alt                       : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
+                eph                       : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
+                epv                       : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
+                vel                       : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
+                cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
+                satellites_visible        : Number of satellites visible. If unknown, set to 255 (uint8_t)
+
+                '''
+                return self.send(self.gps_raw_int_encode(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible))
+            
+        def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                '''
+                The positioning status, as reported by GPS. This message is intended
+                to display status information about each satellite
+                visible to the receiver. See message GLOBAL_POSITION
+                for the global position estimate. This message can
+                contain information for up to 20 satellites.
+
+                satellites_visible        : Number of satellites visible (uint8_t)
+                satellite_prn             : Global satellite ID (uint8_t)
+                satellite_used            : 0: Satellite not used, 1: used for localization (uint8_t)
+                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
+                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
+                satellite_snr             : Signal to noise ratio of satellite (uint8_t)
+
+                '''
+                msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)
+                msg.pack(self)
+                return msg
+            
+        def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
+                '''
+                The positioning status, as reported by GPS. This message is intended
+                to display status information about each satellite
+                visible to the receiver. See message GLOBAL_POSITION
+                for the global position estimate. This message can
+                contain information for up to 20 satellites.
+
+                satellites_visible        : Number of satellites visible (uint8_t)
+                satellite_prn             : Global satellite ID (uint8_t)
+                satellite_used            : 0: Satellite not used, 1: used for localization (uint8_t)
+                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
+                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
+                satellite_snr             : Signal to noise ratio of satellite (uint8_t)
+
+                '''
+                return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr))
+            
+        def scaled_imu_encode(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should contain the scaled values to the described
+                units
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
+                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
+                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
+                xmag                      : X Magnetic field (milli tesla) (int16_t)
+                ymag                      : Y Magnetic field (milli tesla) (int16_t)
+                zmag                      : Z Magnetic field (milli tesla) (int16_t)
+
+                '''
+                msg = MAVLink_scaled_imu_message(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
+                msg.pack(self)
+                return msg
+            
+        def scaled_imu_send(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should contain the scaled values to the described
+                units
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
+                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
+                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
+                xmag                      : X Magnetic field (milli tesla) (int16_t)
+                ymag                      : Y Magnetic field (milli tesla) (int16_t)
+                zmag                      : Z Magnetic field (milli tesla) (int16_t)
+
+                '''
+                return self.send(self.scaled_imu_encode(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
+            
+        def raw_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should always contain the true raw values without any
+                scaling to allow data capture and system debugging.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (raw) (int16_t)
+                yacc                      : Y acceleration (raw) (int16_t)
+                zacc                      : Z acceleration (raw) (int16_t)
+                xgyro                     : Angular speed around X axis (raw) (int16_t)
+                ygyro                     : Angular speed around Y axis (raw) (int16_t)
+                zgyro                     : Angular speed around Z axis (raw) (int16_t)
+                xmag                      : X Magnetic field (raw) (int16_t)
+                ymag                      : Y Magnetic field (raw) (int16_t)
+                zmag                      : Z Magnetic field (raw) (int16_t)
+
+                '''
+                msg = MAVLink_raw_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
+                msg.pack(self)
+                return msg
+            
+        def raw_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
+                '''
+                The RAW IMU readings for the usual 9DOF sensor setup. This message
+                should always contain the true raw values without any
+                scaling to allow data capture and system debugging.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                xacc                      : X acceleration (raw) (int16_t)
+                yacc                      : Y acceleration (raw) (int16_t)
+                zacc                      : Z acceleration (raw) (int16_t)
+                xgyro                     : Angular speed around X axis (raw) (int16_t)
+                ygyro                     : Angular speed around Y axis (raw) (int16_t)
+                zgyro                     : Angular speed around Z axis (raw) (int16_t)
+                xmag                      : X Magnetic field (raw) (int16_t)
+                ymag                      : Y Magnetic field (raw) (int16_t)
+                zmag                      : Z Magnetic field (raw) (int16_t)
+
+                '''
+                return self.send(self.raw_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
+            
+        def raw_pressure_encode(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
+                '''
+                The RAW pressure readings for the typical setup of one absolute
+                pressure and one differential pressure sensor. The
+                sensor values should be the raw, UNSCALED ADC values.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (raw) (int16_t)
+                press_diff1               : Differential pressure 1 (raw) (int16_t)
+                press_diff2               : Differential pressure 2 (raw) (int16_t)
+                temperature               : Raw Temperature measurement (raw) (int16_t)
+
+                '''
+                msg = MAVLink_raw_pressure_message(time_usec, press_abs, press_diff1, press_diff2, temperature)
+                msg.pack(self)
+                return msg
+            
+        def raw_pressure_send(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
+                '''
+                The RAW pressure readings for the typical setup of one absolute
+                pressure and one differential pressure sensor. The
+                sensor values should be the raw, UNSCALED ADC values.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                press_abs                 : Absolute pressure (raw) (int16_t)
+                press_diff1               : Differential pressure 1 (raw) (int16_t)
+                press_diff2               : Differential pressure 2 (raw) (int16_t)
+                temperature               : Raw Temperature measurement (raw) (int16_t)
+
+                '''
+                return self.send(self.raw_pressure_encode(time_usec, press_abs, press_diff1, press_diff2, temperature))
+            
+        def scaled_pressure_encode(self, time_boot_ms, press_abs, press_diff, temperature):
+                '''
+                The pressure readings for the typical setup of one absolute and
+                differential pressure sensor. The units are as
+                specified in each field.
+
+                time_boot_ms              : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint32_t)
+                press_abs                 : Absolute pressure (hectopascal) (float)
+                press_diff                : Differential pressure 1 (hectopascal) (float)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+
+                '''
+                msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
+                msg.pack(self)
+                return msg
+            
+        def scaled_pressure_send(self, time_boot_ms, press_abs, press_diff, temperature):
+                '''
+                The pressure readings for the typical setup of one absolute and
+                differential pressure sensor. The units are as
+                specified in each field.
+
+                time_boot_ms              : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint32_t)
+                press_abs                 : Absolute pressure (hectopascal) (float)
+                press_diff                : Differential pressure 1 (hectopascal) (float)
+                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+
+                '''
+                return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
+            
+        def attitude_encode(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right).
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                msg = MAVLink_attitude_message(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)
+                msg.pack(self)
+                return msg
+            
+        def attitude_send(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right).
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                return self.send(self.attitude_encode(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed))
+            
+        def attitude_quaternion_encode(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right), expressed as quaternion.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                q1                        : Quaternion component 1 (float)
+                q2                        : Quaternion component 2 (float)
+                q3                        : Quaternion component 3 (float)
+                q4                        : Quaternion component 4 (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                msg = MAVLink_attitude_quaternion_message(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed)
+                msg.pack(self)
+                return msg
+            
+        def attitude_quaternion_send(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
+                '''
+                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
+                Y-right), expressed as quaternion.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                q1                        : Quaternion component 1 (float)
+                q2                        : Quaternion component 2 (float)
+                q3                        : Quaternion component 3 (float)
+                q4                        : Quaternion component 4 (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+
+                '''
+                return self.send(self.attitude_quaternion_encode(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed))
+            
+        def local_position_ned_encode(self, time_boot_ms, x, y, z, vx, vy, vz):
+                '''
+                The filtered local position (e.g. fused computer vision and
+                accelerometers). Coordinate frame is right-handed,
+                Z-axis down (aeronautical frame, NED / north-east-down
+                convention)
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                x                         : X Position (float)
+                y                         : Y Position (float)
+                z                         : Z Position (float)
+                vx                        : X Speed (float)
+                vy                        : Y Speed (float)
+                vz                        : Z Speed (float)
+
+                '''
+                msg = MAVLink_local_position_ned_message(time_boot_ms, x, y, z, vx, vy, vz)
+                msg.pack(self)
+                return msg
+            
+        def local_position_ned_send(self, time_boot_ms, x, y, z, vx, vy, vz):
+                '''
+                The filtered local position (e.g. fused computer vision and
+                accelerometers). Coordinate frame is right-handed,
+                Z-axis down (aeronautical frame, NED / north-east-down
+                convention)
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                x                         : X Position (float)
+                y                         : Y Position (float)
+                z                         : Z Position (float)
+                vx                        : X Speed (float)
+                vy                        : Y Speed (float)
+                vz                        : Z Speed (float)
+
+                '''
+                return self.send(self.local_position_ned_encode(time_boot_ms, x, y, z, vx, vy, vz))
+            
+        def global_position_int_encode(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers). The
+                position is in GPS-frame (right-handed, Z-up). It
+                is designed as scaled integer message since the
+                resolution of float is not sufficient.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
+                relative_alt              : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                hdg                       : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
+
+                '''
+                msg = MAVLink_global_position_int_message(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg)
+                msg.pack(self)
+                return msg
+            
+        def global_position_int_send(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
+                '''
+                The filtered global position (e.g. fused GPS and accelerometers). The
+                position is in GPS-frame (right-handed, Z-up). It
+                is designed as scaled integer message since the
+                resolution of float is not sufficient.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
+                relative_alt              : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                hdg                       : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
+
+                '''
+                return self.send(self.global_position_int_encode(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg))
+            
+        def rc_channels_scaled_encode(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                '''
+                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
+                (100%) 10000
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                chan1_scaled              : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan2_scaled              : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan3_scaled              : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan4_scaled              : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan5_scaled              : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan6_scaled              : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan7_scaled              : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan8_scaled              : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                msg = MAVLink_rc_channels_scaled_message(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_scaled_send(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
+                '''
+                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
+                (100%) 10000
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                chan1_scaled              : RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan2_scaled              : RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan3_scaled              : RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan4_scaled              : RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan5_scaled              : RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan6_scaled              : RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan7_scaled              : RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                chan8_scaled              : RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000 (int16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                return self.send(self.rc_channels_scaled_encode(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi))
+            
+        def rc_channels_raw_encode(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                '''
+                The RAW values of the RC channels received. The standard PPM
+                modulation is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%. Individual receivers/transmitters
+                might violate this specification.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                msg = MAVLink_rc_channels_raw_message(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_raw_send(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
+                '''
+                The RAW values of the RC channels received. The standard PPM
+                modulation is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%. Individual receivers/transmitters
+                might violate this specification.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                return self.send(self.rc_channels_raw_encode(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi))
+            
+        def servo_output_raw_encode(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                '''
+                The RAW values of the servo outputs (for RC input from the remote, use
+                the RC_CHANNELS messages). The standard PPM modulation
+                is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%.
+
+                time_usec                 : Timestamp (since UNIX epoch or microseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                servo1_raw                : Servo output 1 value, in microseconds (uint16_t)
+                servo2_raw                : Servo output 2 value, in microseconds (uint16_t)
+                servo3_raw                : Servo output 3 value, in microseconds (uint16_t)
+                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
+                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
+                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
+                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
+                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
+
+                '''
+                msg = MAVLink_servo_output_raw_message(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)
+                msg.pack(self)
+                return msg
+            
+        def servo_output_raw_send(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
+                '''
+                The RAW values of the servo outputs (for RC input from the remote, use
+                the RC_CHANNELS messages). The standard PPM modulation
+                is as follows: 1000 microseconds: 0%, 2000
+                microseconds: 100%.
+
+                time_usec                 : Timestamp (since UNIX epoch or microseconds since system boot) (uint32_t)
+                port                      : Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. (uint8_t)
+                servo1_raw                : Servo output 1 value, in microseconds (uint16_t)
+                servo2_raw                : Servo output 2 value, in microseconds (uint16_t)
+                servo3_raw                : Servo output 3 value, in microseconds (uint16_t)
+                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
+                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
+                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
+                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
+                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
+
+                '''
+                return self.send(self.servo_output_raw_encode(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw))
+            
+        def mission_request_partial_list_encode(self, target_system, target_component, start_index, end_index):
+                '''
+                Request the overall list of MISSIONs from the system/component.
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                start_index               : Start index, 0 by default (int16_t)
+                end_index                 : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
+
+                '''
+                msg = MAVLink_mission_request_partial_list_message(target_system, target_component, start_index, end_index)
+                msg.pack(self)
+                return msg
+            
+        def mission_request_partial_list_send(self, target_system, target_component, start_index, end_index):
+                '''
+                Request the overall list of MISSIONs from the system/component.
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                start_index               : Start index, 0 by default (int16_t)
+                end_index                 : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
+
+                '''
+                return self.send(self.mission_request_partial_list_encode(target_system, target_component, start_index, end_index))
+            
+        def mission_write_partial_list_encode(self, target_system, target_component, start_index, end_index):
+                '''
+                This message is sent to the MAV to write a partial list. If start
+                index == end index, only one item will be transmitted
+                / updated. If the start index is NOT 0 and above the
+                current list size, this request should be REJECTED!
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                start_index               : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
+                end_index                 : End index, equal or greater than start index. (int16_t)
+
+                '''
+                msg = MAVLink_mission_write_partial_list_message(target_system, target_component, start_index, end_index)
+                msg.pack(self)
+                return msg
+            
+        def mission_write_partial_list_send(self, target_system, target_component, start_index, end_index):
+                '''
+                This message is sent to the MAV to write a partial list. If start
+                index == end index, only one item will be transmitted
+                / updated. If the start index is NOT 0 and above the
+                current list size, this request should be REJECTED!
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                start_index               : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
+                end_index                 : End index, equal or greater than start index. (int16_t)
+
+                '''
+                return self.send(self.mission_write_partial_list_encode(target_system, target_component, start_index, end_index))
+            
+        def mission_item_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                '''
+                Message encoding a mission item. This message is emitted to announce
+                the presence of a mission item and to set a mission
+                item on the system. The mission item can be either in
+                x, y, z meters (type: LOCAL) or x:lat, y:lon,
+                z:altitude. Local frame is Z-down, right handed (NED),
+                global frame is Z-up, right handed (ENU).
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+                frame                     : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
+                command                   : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
+                current                   : false:0, true:1 (uint8_t)
+                autocontinue              : autocontinue to next wp (uint8_t)
+                param1                    : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
+                param2                    : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
+                param3                    : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
+                param4                    : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
+                x                         : PARAM5 / local: x position, global: latitude (float)
+                y                         : PARAM6 / y position: global: longitude (float)
+                z                         : PARAM7 / z position: global: altitude (float)
+
+                '''
+                msg = MAVLink_mission_item_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
+                msg.pack(self)
+                return msg
+            
+        def mission_item_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
+                '''
+                Message encoding a mission item. This message is emitted to announce
+                the presence of a mission item and to set a mission
+                item on the system. The mission item can be either in
+                x, y, z meters (type: LOCAL) or x:lat, y:lon,
+                z:altitude. Local frame is Z-down, right handed (NED),
+                global frame is Z-up, right handed (ENU).
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+                frame                     : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
+                command                   : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
+                current                   : false:0, true:1 (uint8_t)
+                autocontinue              : autocontinue to next wp (uint8_t)
+                param1                    : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
+                param2                    : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
+                param3                    : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
+                param4                    : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
+                x                         : PARAM5 / local: x position, global: latitude (float)
+                y                         : PARAM6 / y position: global: longitude (float)
+                z                         : PARAM7 / z position: global: altitude (float)
+
+                '''
+                return self.send(self.mission_item_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z))
+            
+        def mission_request_encode(self, target_system, target_component, seq):
+                '''
+                Request the information of the mission item with the sequence number
+                seq. The response of the system to this message should
+                be a MISSION_ITEM message.
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_mission_request_message(target_system, target_component, seq)
+                msg.pack(self)
+                return msg
+            
+        def mission_request_send(self, target_system, target_component, seq):
+                '''
+                Request the information of the mission item with the sequence number
+                seq. The response of the system to this message should
+                be a MISSION_ITEM message.
+                http://qgroundcontrol.org/mavlink/waypoint_protocol
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.mission_request_encode(target_system, target_component, seq))
+            
+        def mission_set_current_encode(self, target_system, target_component, seq):
+                '''
+                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).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_mission_set_current_message(target_system, target_component, seq)
+                msg.pack(self)
+                return msg
+            
+        def mission_set_current_send(self, target_system, target_component, seq):
+                '''
+                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).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.mission_set_current_encode(target_system, target_component, seq))
+            
+        def mission_current_encode(self, seq):
+                '''
+                Message that announces the sequence number of the current active
+                mission item. The MAV will fly towards this mission
+                item.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_mission_current_message(seq)
+                msg.pack(self)
+                return msg
+            
+        def mission_current_send(self, seq):
+                '''
+                Message that announces the sequence number of the current active
+                mission item. The MAV will fly towards this mission
+                item.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.mission_current_encode(seq))
+            
+        def mission_request_list_encode(self, target_system, target_component):
+                '''
+                Request the overall list of mission items from the system/component.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_mission_request_list_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def mission_request_list_send(self, target_system, target_component):
+                '''
+                Request the overall list of mission items from the system/component.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.mission_request_list_encode(target_system, target_component))
+            
+        def mission_count_encode(self, target_system, target_component, count):
+                '''
+                This message is emitted as response to MISSION_REQUEST_LIST by the MAV
+                and to initiate a write transaction. The GCS can then
+                request the individual mission item based on the
+                knowledge of the total number of MISSIONs.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                count                     : Number of mission items in the sequence (uint16_t)
+
+                '''
+                msg = MAVLink_mission_count_message(target_system, target_component, count)
+                msg.pack(self)
+                return msg
+            
+        def mission_count_send(self, target_system, target_component, count):
+                '''
+                This message is emitted as response to MISSION_REQUEST_LIST by the MAV
+                and to initiate a write transaction. The GCS can then
+                request the individual mission item based on the
+                knowledge of the total number of MISSIONs.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                count                     : Number of mission items in the sequence (uint16_t)
+
+                '''
+                return self.send(self.mission_count_encode(target_system, target_component, count))
+            
+        def mission_clear_all_encode(self, target_system, target_component):
+                '''
+                Delete all mission items at once.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                msg = MAVLink_mission_clear_all_message(target_system, target_component)
+                msg.pack(self)
+                return msg
+            
+        def mission_clear_all_send(self, target_system, target_component):
+                '''
+                Delete all mission items at once.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+
+                '''
+                return self.send(self.mission_clear_all_encode(target_system, target_component))
+            
+        def mission_item_reached_encode(self, seq):
+                '''
+                A certain mission item has been reached. The system will either hold
+                this position (or circle on the orbit) or (if the
+                autocontinue on the WP was set) continue to the next
+                MISSION.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                msg = MAVLink_mission_item_reached_message(seq)
+                msg.pack(self)
+                return msg
+            
+        def mission_item_reached_send(self, seq):
+                '''
+                A certain mission item has been reached. The system will either hold
+                this position (or circle on the orbit) or (if the
+                autocontinue on the WP was set) continue to the next
+                MISSION.
+
+                seq                       : Sequence (uint16_t)
+
+                '''
+                return self.send(self.mission_item_reached_encode(seq))
+            
+        def mission_ack_encode(self, target_system, target_component, type):
+                '''
+                Ack message during MISSION handling. The type field states if this
+                message is a positive ack (type=0) or if an error
+                happened (type=non-zero).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                type                      : See MAV_MISSION_RESULT enum (uint8_t)
+
+                '''
+                msg = MAVLink_mission_ack_message(target_system, target_component, type)
+                msg.pack(self)
+                return msg
+            
+        def mission_ack_send(self, target_system, target_component, type):
+                '''
+                Ack message during MISSION handling. The type field states if this
+                message is a positive ack (type=0) or if an error
+                happened (type=non-zero).
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                type                      : See MAV_MISSION_RESULT enum (uint8_t)
+
+                '''
+                return self.send(self.mission_ack_encode(target_system, target_component, type))
+            
+        def set_gps_global_origin_encode(self, target_system, latitude, longitude, altitude):
+                '''
+                As local MISSIONs exist, the global MISSION reference allows to
+                transform between the local coordinate frame and the
+                global (GPS) coordinate frame. This can be necessary
+                when e.g. in- and outdoor settings are connected and
+                the MAV should move from in- to outdoor.
+
+                target_system             : System ID (uint8_t)
+                latitude                  : global position * 1E7 (int32_t)
+                longitude                 : global position * 1E7 (int32_t)
+                altitude                  : global position * 1000 (int32_t)
+
+                '''
+                msg = MAVLink_set_gps_global_origin_message(target_system, latitude, longitude, altitude)
+                msg.pack(self)
+                return msg
+            
+        def set_gps_global_origin_send(self, target_system, latitude, longitude, altitude):
+                '''
+                As local MISSIONs exist, the global MISSION reference allows to
+                transform between the local coordinate frame and the
+                global (GPS) coordinate frame. This can be necessary
+                when e.g. in- and outdoor settings are connected and
+                the MAV should move from in- to outdoor.
+
+                target_system             : System ID (uint8_t)
+                latitude                  : global position * 1E7 (int32_t)
+                longitude                 : global position * 1E7 (int32_t)
+                altitude                  : global position * 1000 (int32_t)
+
+                '''
+                return self.send(self.set_gps_global_origin_encode(target_system, latitude, longitude, altitude))
+            
+        def gps_global_origin_encode(self, latitude, longitude, altitude):
+                '''
+                Once the MAV sets a new GPS-Local correspondence, this message
+                announces the origin (0,0,0) position
+
+                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
+                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
+                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
+
+                '''
+                msg = MAVLink_gps_global_origin_message(latitude, longitude, altitude)
+                msg.pack(self)
+                return msg
+            
+        def gps_global_origin_send(self, latitude, longitude, altitude):
+                '''
+                Once the MAV sets a new GPS-Local correspondence, this message
+                announces the origin (0,0,0) position
+
+                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
+                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
+                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
+
+                '''
+                return self.send(self.gps_global_origin_encode(latitude, longitude, altitude))
+            
+        def set_local_position_setpoint_encode(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
+                '''
+                Set the setpoint for a local position controller. This is the position
+                in local coordinates the MAV should fly to. This
+                message is sent by the path/MISSION planner to the
+                onboard position controller. As some MAVs have a
+                degree of freedom in yaw (e.g. all
+                helicopters/quadrotors), the desired yaw angle is part
+                of the message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                msg = MAVLink_set_local_position_setpoint_message(target_system, target_component, coordinate_frame, x, y, z, yaw)
+                msg.pack(self)
+                return msg
+            
+        def set_local_position_setpoint_send(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
+                '''
+                Set the setpoint for a local position controller. This is the position
+                in local coordinates the MAV should fly to. This
+                message is sent by the path/MISSION planner to the
+                onboard position controller. As some MAVs have a
+                degree of freedom in yaw (e.g. all
+                helicopters/quadrotors), the desired yaw angle is part
+                of the message.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                return self.send(self.set_local_position_setpoint_encode(target_system, target_component, coordinate_frame, x, y, z, yaw))
+            
+        def local_position_setpoint_encode(self, coordinate_frame, x, y, z, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                msg = MAVLink_local_position_setpoint_message(coordinate_frame, x, y, z, yaw)
+                msg.pack(self)
+                return msg
+            
+        def local_position_setpoint_send(self, coordinate_frame, x, y, z, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
+                x                         : x position (float)
+                y                         : y position (float)
+                z                         : z position (float)
+                yaw                       : Desired yaw angle (float)
+
+                '''
+                return self.send(self.local_position_setpoint_encode(coordinate_frame, x, y, z, yaw))
+            
+        def global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
+                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
+                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
+                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
+                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
+
+                '''
+                msg = MAVLink_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
+                msg.pack(self)
+                return msg
+            
+        def global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                '''
+                Transmit the current local setpoint of the controller to other MAVs
+                (collision avoidance) and to the GCS.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
+                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
+                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
+                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
+                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
+
+                '''
+                return self.send(self.global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
+            
+        def set_global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                '''
+                Set the current global position setpoint.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
+                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
+                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
+                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
+                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
+
+                '''
+                msg = MAVLink_set_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
+                msg.pack(self)
+                return msg
+            
+        def set_global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
+                '''
+                Set the current global position setpoint.
+
+                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
+                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
+                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
+                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
+                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
+
+                '''
+                return self.send(self.set_global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
+            
+        def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Set a safety zone (volume), which is defined by two corners of a cube.
+                This message can be used to tell the MAV which
+                setpoints/MISSIONs to accept and which to reject.
+                Safety areas are often enforced by national or
+                competition regulations.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)
+                msg.pack(self)
+                return msg
+            
+        def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Set a safety zone (volume), which is defined by two corners of a cube.
+                This message can be used to tell the MAV which
+                setpoints/MISSIONs to accept and which to reject.
+                Safety areas are often enforced by national or
+                competition regulations.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z))
+            
+        def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Read out the safety zone the MAV currently assumes.
+
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z)
+                msg.pack(self)
+                return msg
+            
+        def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
+                '''
+                Read out the safety zone the MAV currently assumes.
+
+                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
+                p1x                       : x position 1 / Latitude 1 (float)
+                p1y                       : y position 1 / Longitude 1 (float)
+                p1z                       : z position 1 / Altitude 1 (float)
+                p2x                       : x position 2 / Latitude 2 (float)
+                p2y                       : y position 2 / Longitude 2 (float)
+                p2z                       : z position 2 / Altitude 2 (float)
+
+                '''
+                return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z))
+            
+        def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust)
+                msg.pack(self)
+                return msg
+            
+        def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust))
+            
+        def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)
+                msg.pack(self)
+                return msg
+            
+        def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Set roll, pitch and yaw.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust))
+            
+        def roll_pitch_yaw_thrust_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust):
+                '''
+                Setpoint in roll, pitch, yaw currently active on the system.
+
+                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust)
+                msg.pack(self)
+                return msg
+            
+        def roll_pitch_yaw_thrust_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust):
+                '''
+                Setpoint in roll, pitch, yaw currently active on the system.
+
+                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
+                roll                      : Desired roll angle in radians (float)
+                pitch                     : Desired pitch angle in radians (float)
+                yaw                       : Desired yaw angle in radians (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust))
+            
+        def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
+                system.
+
+                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust)
+                msg.pack(self)
+                return msg
+            
+        def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
+                '''
+                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
+                system.
+
+                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
+                roll_speed                : Desired roll angular speed in rad/s (float)
+                pitch_speed               : Desired pitch angular speed in rad/s (float)
+                yaw_speed                 : Desired yaw angular speed in rad/s (float)
+                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
+
+                '''
+                return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust))
+            
+        def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                '''
+                Outputs of the APM navigation controller. The primary use of this
+                message is to check the response and signs
+                of the controller before actual flight and to assist
+                with tuning controller parameters
+
+                nav_roll                  : Current desired roll in degrees (float)
+                nav_pitch                 : Current desired pitch in degrees (float)
+                nav_bearing               : Current desired heading in degrees (int16_t)
+                target_bearing            : Bearing to current MISSION/target in degrees (int16_t)
+                wp_dist                   : Distance to active MISSION in meters (uint16_t)
+                alt_error                 : Current altitude error in meters (float)
+                aspd_error                : Current airspeed error in meters/second (float)
+                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
+
+                '''
+                msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)
+                msg.pack(self)
+                return msg
+            
+        def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
+                '''
+                Outputs of the APM navigation controller. The primary use of this
+                message is to check the response and signs
+                of the controller before actual flight and to assist
+                with tuning controller parameters
+
+                nav_roll                  : Current desired roll in degrees (float)
+                nav_pitch                 : Current desired pitch in degrees (float)
+                nav_bearing               : Current desired heading in degrees (int16_t)
+                target_bearing            : Bearing to current MISSION/target in degrees (int16_t)
+                wp_dist                   : Distance to active MISSION in meters (uint16_t)
+                alt_error                 : Current altitude error in meters (float)
+                aspd_error                : Current airspeed error in meters/second (float)
+                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
+
+                '''
+                return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
+            
+        def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                '''
+                Corrects the systems state by adding an error correction term to the
+                position and velocity, and by rotating the attitude by
+                a correction angle.
+
+                xErr                      : x position error (float)
+                yErr                      : y position error (float)
+                zErr                      : z position error (float)
+                rollErr                   : roll error (radians) (float)
+                pitchErr                  : pitch error (radians) (float)
+                yawErr                    : yaw error (radians) (float)
+                vxErr                     : x velocity (float)
+                vyErr                     : y velocity (float)
+                vzErr                     : z velocity (float)
+
+                '''
+                msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)
+                msg.pack(self)
+                return msg
+            
+        def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
+                '''
+                Corrects the systems state by adding an error correction term to the
+                position and velocity, and by rotating the attitude by
+                a correction angle.
+
+                xErr                      : x position error (float)
+                yErr                      : y position error (float)
+                zErr                      : z position error (float)
+                rollErr                   : roll error (radians) (float)
+                pitchErr                  : pitch error (radians) (float)
+                yawErr                    : yaw error (radians) (float)
+                vxErr                     : x velocity (float)
+                vyErr                     : y velocity (float)
+                vzErr                     : z velocity (float)
+
+                '''
+                return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr))
+            
+        def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                '''
+                
+
+                target_system             : The target requested to send the message stream. (uint8_t)
+                target_component          : The target requested to send the message stream. (uint8_t)
+                req_stream_id             : The ID of the requested data stream (uint8_t)
+                req_message_rate          : The requested interval between two messages of this type (uint16_t)
+                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
+
+                '''
+                msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop)
+                msg.pack(self)
+                return msg
+            
+        def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
+                '''
+                
+
+                target_system             : The target requested to send the message stream. (uint8_t)
+                target_component          : The target requested to send the message stream. (uint8_t)
+                req_stream_id             : The ID of the requested data stream (uint8_t)
+                req_message_rate          : The requested interval between two messages of this type (uint16_t)
+                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
+
+                '''
+                return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop))
+            
+        def data_stream_encode(self, stream_id, message_rate, on_off):
+                '''
+                
+
+                stream_id                 : The ID of the requested data stream (uint8_t)
+                message_rate              : The requested interval between two messages of this type (uint16_t)
+                on_off                    : 1 stream is enabled, 0 stream is stopped. (uint8_t)
+
+                '''
+                msg = MAVLink_data_stream_message(stream_id, message_rate, on_off)
+                msg.pack(self)
+                return msg
+            
+        def data_stream_send(self, stream_id, message_rate, on_off):
+                '''
+                
+
+                stream_id                 : The ID of the requested data stream (uint8_t)
+                message_rate              : The requested interval between two messages of this type (uint16_t)
+                on_off                    : 1 stream is enabled, 0 stream is stopped. (uint8_t)
+
+                '''
+                return self.send(self.data_stream_encode(stream_id, message_rate, on_off))
+            
+        def manual_control_encode(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                '''
+                
+
+                target                    : The system to be controlled (uint8_t)
+                roll                      : roll (float)
+                pitch                     : pitch (float)
+                yaw                       : yaw (float)
+                thrust                    : thrust (float)
+                roll_manual               : roll control enabled auto:0, manual:1 (uint8_t)
+                pitch_manual              : pitch auto:0, manual:1 (uint8_t)
+                yaw_manual                : yaw auto:0, manual:1 (uint8_t)
+                thrust_manual             : thrust auto:0, manual:1 (uint8_t)
+
+                '''
+                msg = MAVLink_manual_control_message(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual)
+                msg.pack(self)
+                return msg
+            
+        def manual_control_send(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
+                '''
+                
+
+                target                    : The system to be controlled (uint8_t)
+                roll                      : roll (float)
+                pitch                     : pitch (float)
+                yaw                       : yaw (float)
+                thrust                    : thrust (float)
+                roll_manual               : roll control enabled auto:0, manual:1 (uint8_t)
+                pitch_manual              : pitch auto:0, manual:1 (uint8_t)
+                yaw_manual                : yaw auto:0, manual:1 (uint8_t)
+                thrust_manual             : thrust auto:0, manual:1 (uint8_t)
+
+                '''
+                return self.send(self.manual_control_encode(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual))
+            
+        def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                '''
+                The RAW values of the RC channels sent to the MAV to override info
+                received from the RC radio. A value of -1 means no
+                change to that channel. A value of 0 means control of
+                that channel should be released back to the RC radio.
+                The standard PPM modulation is as follows: 1000
+                microseconds: 0%, 2000 microseconds: 100%. Individual
+                receivers/transmitters might violate this
+                specification.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+
+                '''
+                msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)
+                msg.pack(self)
+                return msg
+            
+        def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
+                '''
+                The RAW values of the RC channels sent to the MAV to override info
+                received from the RC radio. A value of -1 means no
+                change to that channel. A value of 0 means control of
+                that channel should be released back to the RC radio.
+                The standard PPM modulation is as follows: 1000
+                microseconds: 0%, 2000 microseconds: 100%. Individual
+                receivers/transmitters might violate this
+                specification.
+
+                target_system             : System ID (uint8_t)
+                target_component          : Component ID (uint8_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+
+                '''
+                return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw))
+            
+        def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                '''
+                Metrics typically displayed on a HUD for fixed wing aircraft
+
+                airspeed                  : Current airspeed in m/s (float)
+                groundspeed               : Current ground speed in m/s (float)
+                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
+                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
+                alt                       : Current altitude (MSL), in meters (float)
+                climb                     : Current climb rate in meters/second (float)
+
+                '''
+                msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb)
+                msg.pack(self)
+                return msg
+            
+        def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb):
+                '''
+                Metrics typically displayed on a HUD for fixed wing aircraft
+
+                airspeed                  : Current airspeed in m/s (float)
+                groundspeed               : Current ground speed in m/s (float)
+                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
+                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
+                alt                       : Current altitude (MSL), in meters (float)
+                climb                     : Current climb rate in meters/second (float)
+
+                '''
+                return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb))
+            
+        def command_long_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
+                '''
+                Send a command with up to four parameters to the MAV
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
+                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
+                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
+                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
+                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
+                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
+                param5                    : Parameter 5, as defined by MAV_CMD enum. (float)
+                param6                    : Parameter 6, as defined by MAV_CMD enum. (float)
+                param7                    : Parameter 7, as defined by MAV_CMD enum. (float)
+
+                '''
+                msg = MAVLink_command_long_message(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7)
+                msg.pack(self)
+                return msg
+            
+        def command_long_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
+                '''
+                Send a command with up to four parameters to the MAV
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
+                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
+                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
+                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
+                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
+                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
+                param5                    : Parameter 5, as defined by MAV_CMD enum. (float)
+                param6                    : Parameter 6, as defined by MAV_CMD enum. (float)
+                param7                    : Parameter 7, as defined by MAV_CMD enum. (float)
+
+                '''
+                return self.send(self.command_long_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7))
+            
+        def command_ack_encode(self, command, result):
+                '''
+                Report status of a command. Includes feedback wether the command was
+                executed
+
+                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
+                result                    : See MAV_RESULT enum (uint8_t)
+
+                '''
+                msg = MAVLink_command_ack_message(command, result)
+                msg.pack(self)
+                return msg
+            
+        def command_ack_send(self, command, result):
+                '''
+                Report status of a command. Includes feedback wether the command was
+                executed
+
+                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
+                result                    : See MAV_RESULT enum (uint8_t)
+
+                '''
+                return self.send(self.command_ack_encode(command, result))
+            
+        def hil_state_encode(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                '''
+                Sent from simulation to autopilot. This packet is useful for high
+                throughput                 applications such as
+                hardware in the loop simulations.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+
+                '''
+                msg = MAVLink_hil_state_message(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)
+                msg.pack(self)
+                return msg
+            
+        def hil_state_send(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
+                '''
+                Sent from simulation to autopilot. This packet is useful for high
+                throughput                 applications such as
+                hardware in the loop simulations.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll                      : Roll angle (rad) (float)
+                pitch                     : Pitch angle (rad) (float)
+                yaw                       : Yaw angle (rad) (float)
+                rollspeed                 : Roll angular speed (rad/s) (float)
+                pitchspeed                : Pitch angular speed (rad/s) (float)
+                yawspeed                  : Yaw angular speed (rad/s) (float)
+                lat                       : Latitude, expressed as * 1E7 (int32_t)
+                lon                       : Longitude, expressed as * 1E7 (int32_t)
+                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
+                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
+                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
+                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
+                xacc                      : X acceleration (mg) (int16_t)
+                yacc                      : Y acceleration (mg) (int16_t)
+                zacc                      : Z acceleration (mg) (int16_t)
+
+                '''
+                return self.send(self.hil_state_encode(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc))
+            
+        def hil_controls_encode(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
+                '''
+                Sent from autopilot to simulation. Hardware in the loop control
+                outputs
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll_ailerons             : Control output -1 .. 1 (float)
+                pitch_elevator            : Control output -1 .. 1 (float)
+                yaw_rudder                : Control output -1 .. 1 (float)
+                throttle                  : Throttle 0 .. 1 (float)
+                aux1                      : Aux 1, -1 .. 1 (float)
+                aux2                      : Aux 2, -1 .. 1 (float)
+                aux3                      : Aux 3, -1 .. 1 (float)
+                aux4                      : Aux 4, -1 .. 1 (float)
+                mode                      : System mode (MAV_MODE) (uint8_t)
+                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
+
+                '''
+                msg = MAVLink_hil_controls_message(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode)
+                msg.pack(self)
+                return msg
+            
+        def hil_controls_send(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
+                '''
+                Sent from autopilot to simulation. Hardware in the loop control
+                outputs
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                roll_ailerons             : Control output -1 .. 1 (float)
+                pitch_elevator            : Control output -1 .. 1 (float)
+                yaw_rudder                : Control output -1 .. 1 (float)
+                throttle                  : Throttle 0 .. 1 (float)
+                aux1                      : Aux 1, -1 .. 1 (float)
+                aux2                      : Aux 2, -1 .. 1 (float)
+                aux3                      : Aux 3, -1 .. 1 (float)
+                aux4                      : Aux 4, -1 .. 1 (float)
+                mode                      : System mode (MAV_MODE) (uint8_t)
+                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
+
+                '''
+                return self.send(self.hil_controls_encode(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode))
+            
+        def hil_rc_inputs_raw_encode(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
+                '''
+                Sent from simulation to autopilot. The RAW values of the RC channels
+                received. The standard PPM modulation is as follows:
+                1000 microseconds: 0%, 2000 microseconds: 100%.
+                Individual receivers/transmitters might violate this
+                specification.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                chan9_raw                 : RC channel 9 value, in microseconds (uint16_t)
+                chan10_raw                : RC channel 10 value, in microseconds (uint16_t)
+                chan11_raw                : RC channel 11 value, in microseconds (uint16_t)
+                chan12_raw                : RC channel 12 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                msg = MAVLink_hil_rc_inputs_raw_message(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi)
+                msg.pack(self)
+                return msg
+            
+        def hil_rc_inputs_raw_send(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
+                '''
+                Sent from simulation to autopilot. The RAW values of the RC channels
+                received. The standard PPM modulation is as follows:
+                1000 microseconds: 0%, 2000 microseconds: 100%.
+                Individual receivers/transmitters might violate this
+                specification.
+
+                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
+                chan1_raw                 : RC channel 1 value, in microseconds (uint16_t)
+                chan2_raw                 : RC channel 2 value, in microseconds (uint16_t)
+                chan3_raw                 : RC channel 3 value, in microseconds (uint16_t)
+                chan4_raw                 : RC channel 4 value, in microseconds (uint16_t)
+                chan5_raw                 : RC channel 5 value, in microseconds (uint16_t)
+                chan6_raw                 : RC channel 6 value, in microseconds (uint16_t)
+                chan7_raw                 : RC channel 7 value, in microseconds (uint16_t)
+                chan8_raw                 : RC channel 8 value, in microseconds (uint16_t)
+                chan9_raw                 : RC channel 9 value, in microseconds (uint16_t)
+                chan10_raw                : RC channel 10 value, in microseconds (uint16_t)
+                chan11_raw                : RC channel 11 value, in microseconds (uint16_t)
+                chan12_raw                : RC channel 12 value, in microseconds (uint16_t)
+                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
+
+                '''
+                return self.send(self.hil_rc_inputs_raw_encode(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi))
+            
+        def optical_flow_encode(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
+                '''
+                Optical flow from a flow sensor (e.g. optical mouse sensor)
+
+                time_usec                 : Timestamp (UNIX) (uint64_t)
+                sensor_id                 : Sensor ID (uint8_t)
+                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
+                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
+                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
+                ground_distance           : Ground distance in meters (float)
+
+                '''
+                msg = MAVLink_optical_flow_message(time_usec, sensor_id, flow_x, flow_y, quality, ground_distance)
+                msg.pack(self)
+                return msg
+            
+        def optical_flow_send(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
+                '''
+                Optical flow from a flow sensor (e.g. optical mouse sensor)
+
+                time_usec                 : Timestamp (UNIX) (uint64_t)
+                sensor_id                 : Sensor ID (uint8_t)
+                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
+                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
+                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
+                ground_distance           : Ground distance in meters (float)
+
+                '''
+                return self.send(self.optical_flow_encode(time_usec, sensor_id, flow_x, flow_y, quality, ground_distance))
+            
+        def global_vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                msg = MAVLink_global_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
+                msg.pack(self)
+                return msg
+            
+        def global_vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                return self.send(self.global_vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
+            
+        def vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                msg = MAVLink_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
+                msg.pack(self)
+                return msg
+            
+        def vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                return self.send(self.vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
+            
+        def vision_speed_estimate_encode(self, usec, x, y, z):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X speed (float)
+                y                         : Global Y speed (float)
+                z                         : Global Z speed (float)
+
+                '''
+                msg = MAVLink_vision_speed_estimate_message(usec, x, y, z)
+                msg.pack(self)
+                return msg
+            
+        def vision_speed_estimate_send(self, usec, x, y, z):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X speed (float)
+                y                         : Global Y speed (float)
+                z                         : Global Z speed (float)
+
+                '''
+                return self.send(self.vision_speed_estimate_encode(usec, x, y, z))
+            
+        def vicon_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                msg = MAVLink_vicon_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
+                msg.pack(self)
+                return msg
+            
+        def vicon_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
+                '''
+                
+
+                usec                      : Timestamp (milliseconds) (uint64_t)
+                x                         : Global X position (float)
+                y                         : Global Y position (float)
+                z                         : Global Z position (float)
+                roll                      : Roll angle in rad (float)
+                pitch                     : Pitch angle in rad (float)
+                yaw                       : Yaw angle in rad (float)
+
+                '''
+                return self.send(self.vicon_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
+            
+        def memory_vect_encode(self, address, ver, type, value):
+                '''
+                Send raw controller memory. The use of this message is discouraged for
+                normal packets, but a quite efficient way for testing
+                new messages and getting experimental debug output.
+
+                address                   : Starting address of the debug variables (uint16_t)
+                ver                       : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
+                type                      : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
+                value                     : Memory contents at specified address (int8_t)
+
+                '''
+                msg = MAVLink_memory_vect_message(address, ver, type, value)
+                msg.pack(self)
+                return msg
+            
+        def memory_vect_send(self, address, ver, type, value):
+                '''
+                Send raw controller memory. The use of this message is discouraged for
+                normal packets, but a quite efficient way for testing
+                new messages and getting experimental debug output.
+
+                address                   : Starting address of the debug variables (uint16_t)
+                ver                       : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
+                type                      : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
+                value                     : Memory contents at specified address (int8_t)
+
+                '''
+                return self.send(self.memory_vect_encode(address, ver, type, value))
+            
+        def debug_vect_encode(self, name, time_usec, x, y, z):
+                '''
+                
+
+                name                      : Name (char)
+                time_usec                 : Timestamp (uint64_t)
+                x                         : x (float)
+                y                         : y (float)
+                z                         : z (float)
+
+                '''
+                msg = MAVLink_debug_vect_message(name, time_usec, x, y, z)
+                msg.pack(self)
+                return msg
+            
+        def debug_vect_send(self, name, time_usec, x, y, z):
+                '''
+                
+
+                name                      : Name (char)
+                time_usec                 : Timestamp (uint64_t)
+                x                         : x (float)
+                y                         : y (float)
+                z                         : z (float)
+
+                '''
+                return self.send(self.debug_vect_encode(name, time_usec, x, y, z))
+            
+        def named_value_float_encode(self, time_boot_ms, name, value):
+                '''
+                Send a key-value pair as float. The use of this message is discouraged
+                for normal packets, but a quite efficient way for
+                testing new messages and getting experimental debug
+                output.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                name                      : Name of the debug variable (char)
+                value                     : Floating point value (float)
+
+                '''
+                msg = MAVLink_named_value_float_message(time_boot_ms, name, value)
+                msg.pack(self)
+                return msg
+            
+        def named_value_float_send(self, time_boot_ms, name, value):
+                '''
+                Send a key-value pair as float. The use of this message is discouraged
+                for normal packets, but a quite efficient way for
+                testing new messages and getting experimental debug
+                output.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                name                      : Name of the debug variable (char)
+                value                     : Floating point value (float)
+
+                '''
+                return self.send(self.named_value_float_encode(time_boot_ms, name, value))
+            
+        def named_value_int_encode(self, time_boot_ms, name, value):
+                '''
+                Send a key-value pair as integer. The use of this message is
+                discouraged for normal packets, but a quite efficient
+                way for testing new messages and getting experimental
+                debug output.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                name                      : Name of the debug variable (char)
+                value                     : Signed integer value (int32_t)
+
+                '''
+                msg = MAVLink_named_value_int_message(time_boot_ms, name, value)
+                msg.pack(self)
+                return msg
+            
+        def named_value_int_send(self, time_boot_ms, name, value):
+                '''
+                Send a key-value pair as integer. The use of this message is
+                discouraged for normal packets, but a quite efficient
+                way for testing new messages and getting experimental
+                debug output.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                name                      : Name of the debug variable (char)
+                value                     : Signed integer value (int32_t)
+
+                '''
+                return self.send(self.named_value_int_encode(time_boot_ms, name, value))
+            
+        def statustext_encode(self, severity, text):
+                '''
+                Status text message. These messages are printed in yellow in the COMM
+                console of QGroundControl. WARNING: They consume quite
+                some bandwidth, so use only for important status and
+                error messages. If implemented wisely, these messages
+                are buffered on the MCU and sent only at a limited
+                rate (e.g. 10 Hz).
+
+                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
+                text                      : Status text message, without null termination character (char)
+
+                '''
+                msg = MAVLink_statustext_message(severity, text)
+                msg.pack(self)
+                return msg
+            
+        def statustext_send(self, severity, text):
+                '''
+                Status text message. These messages are printed in yellow in the COMM
+                console of QGroundControl. WARNING: They consume quite
+                some bandwidth, so use only for important status and
+                error messages. If implemented wisely, these messages
+                are buffered on the MCU and sent only at a limited
+                rate (e.g. 10 Hz).
+
+                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
+                text                      : Status text message, without null termination character (char)
+
+                '''
+                return self.send(self.statustext_encode(severity, text))
+            
+        def debug_encode(self, time_boot_ms, ind, value):
+                '''
+                Send a debug value. The index is used to discriminate between values.
+                These values show up in the plot of QGroundControl as
+                DEBUG N.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                ind                       : index of debug variable (uint8_t)
+                value                     : DEBUG value (float)
+
+                '''
+                msg = MAVLink_debug_message(time_boot_ms, ind, value)
+                msg.pack(self)
+                return msg
+            
+        def debug_send(self, time_boot_ms, ind, value):
+                '''
+                Send a debug value. The index is used to discriminate between values.
+                These values show up in the plot of QGroundControl as
+                DEBUG N.
+
+                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
+                ind                       : index of debug variable (uint8_t)
+                value                     : DEBUG value (float)
+
+                '''
+                return self.send(self.debug_encode(time_boot_ms, ind, value))
+            
+        def extended_message_encode(self, target_system, target_component, protocol_flags):
+                '''
+                Extended message spacer.
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                protocol_flags            : Retransmission / ACK flags (uint8_t)
+
+                '''
+                msg = MAVLink_extended_message_message(target_system, target_component, protocol_flags)
+                msg.pack(self)
+                return msg
+            
+        def extended_message_send(self, target_system, target_component, protocol_flags):
+                '''
+                Extended message spacer.
+
+                target_system             : System which should execute the command (uint8_t)
+                target_component          : Component which should execute the command, 0 for all components (uint8_t)
+                protocol_flags            : Retransmission / ACK flags (uint8_t)
+
+                '''
+                return self.send(self.extended_message_encode(target_system, target_component, protocol_flags))
+            
diff --git a/mavlink/share/pyshared/pymavlink/mavutil.py b/mavlink/share/pyshared/pymavlink/mavutil.py
new file mode 100644
index 000000000..c0f625214
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/mavutil.py
@@ -0,0 +1,678 @@
+#!/usr/bin/env python
+'''
+mavlink python utility functions
+
+Copyright Andrew Tridgell 2011
+Released under GNU GPL version 3 or later
+'''
+
+import socket, math, struct, time, os, fnmatch, array, sys, errno
+from math import *
+from mavextra import *
+
+if os.getenv('MAVLINK10'):
+    import mavlinkv10 as mavlink
+else:
+    import mavlink
+
+def evaluate_expression(expression, vars):
+    '''evaluation an expression'''
+    try:
+        v = eval(expression, globals(), vars)
+    except NameError:
+        return None
+    return v
+
+def evaluate_condition(condition, vars):
+    '''evaluation a conditional (boolean) statement'''
+    if condition is None:
+        return True
+    v = evaluate_expression(condition, vars)
+    if v is None:
+        return False
+    return v
+
+
+class mavfile(object):
+    '''a generic mavlink port'''
+    def __init__(self, fd, address, source_system=255, notimestamps=False):
+        self.fd = fd
+        self.address = address
+        self.messages = { 'MAV' : self }
+        if mavlink.WIRE_PROTOCOL_VERSION == "1.0":
+            self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0)
+            mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
+        else:
+            self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
+        self.params = {}
+        self.mav = None
+        self.target_system = 0
+        self.target_component = 0
+        self.mav = mavlink.MAVLink(self, srcSystem=source_system)
+        self.mav.robust_parsing = True
+        self.logfile = None
+        self.logfile_raw = None
+        self.param_fetch_in_progress = False
+        self.param_fetch_complete = False
+        self.start_time = time.time()
+        self.flightmode = "UNKNOWN"
+        self.timestamp = 0
+        self.message_hooks = []
+        self.idle_hooks = []
+        self.usec = 0
+        self.notimestamps = notimestamps
+        self._timestamp = None
+
+    def recv(self, n=None):
+        '''default recv method'''
+        raise RuntimeError('no recv() method supplied')
+
+    def close(self, n=None):
+        '''default close method'''
+        raise RuntimeError('no close() method supplied')
+
+    def write(self, buf):
+        '''default write method'''
+        raise RuntimeError('no write() method supplied')
+
+    def pre_message(self):
+        '''default pre message call'''
+        return
+
+    def post_message(self, msg):
+        '''default post message call'''
+        msg._timestamp = time.time()
+        type = msg.get_type()
+        self.messages[type] = msg
+
+        if self._timestamp is not None:
+            if self.notimestamps:
+                if 'usec' in msg.__dict__:
+                    self.usec = msg.usec / 1.0e6
+                msg._timestamp = self.usec
+            else:
+                msg._timestamp = self._timestamp
+        
+        self.timestamp = msg._timestamp
+        if type == 'HEARTBEAT':
+            self.target_system = msg.get_srcSystem()
+            self.target_component = msg.get_srcComponent()
+            if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+                self.flightmode = mode_string_v10(msg)
+        elif type == 'PARAM_VALUE':
+            self.params[str(msg.param_id)] = msg.param_value
+            if msg.param_index+1 == msg.param_count:
+                self.param_fetch_in_progress = False
+                self.param_fetch_complete = True
+        elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
+            self.flightmode = mode_string_v09(msg)
+        elif type == 'GPS_RAW':
+            if self.messages['HOME'].fix_type < 2:
+                self.messages['HOME'] = msg
+        for hook in self.message_hooks:
+            hook(self, msg)
+
+
+    def recv_msg(self):
+        '''message receive routine'''
+        self.pre_message()
+        while True:
+            n = self.mav.bytes_needed()
+            s = self.recv(n)
+            if len(s) == 0 and len(self.mav.buf) == 0:
+                return None
+            if self.logfile_raw:
+                self.logfile_raw.write(str(s))
+            msg = self.mav.parse_char(s)
+            if msg:
+                self.post_message(msg)
+                return msg
+                
+    def recv_match(self, condition=None, type=None, blocking=False):
+        '''recv the next MAVLink message that matches the given condition'''
+        while True:
+            m = self.recv_msg()
+            if m is None:
+                if blocking:
+                    for hook in self.idle_hooks:
+                        hook(self)
+                    time.sleep(0.01)
+                    continue
+                return None
+            if type is not None and type != m.get_type():
+                continue
+            if not evaluate_condition(condition, self.messages):
+                continue
+            return m
+
+    def setup_logfile(self, logfile, mode='w'):
+        '''start logging to the given logfile, with timestamps'''
+        self.logfile = open(logfile, mode=mode)
+
+    def setup_logfile_raw(self, logfile, mode='w'):
+        '''start logging raw bytes to the given logfile, without timestamps'''
+        self.logfile_raw = open(logfile, mode=mode)
+
+    def wait_heartbeat(self, blocking=True):
+        '''wait for a heartbeat so we know the target system IDs'''
+        return self.recv_match(type='HEARTBEAT', blocking=blocking)
+
+    def param_fetch_all(self):
+        '''initiate fetch of all parameters'''
+        if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
+            # don't fetch too often
+            return
+        self.param_fetch_start = time.time()
+        self.param_fetch_in_progress = True
+        self.mav.param_request_list_send(self.target_system, self.target_component)
+
+    def time_since(self, mtype):
+        '''return the time since the last message of type mtype was received'''
+        if not mtype in self.messages:
+            return time.time() - self.start_time
+        return time.time() - self.messages[mtype]._timestamp
+
+    def param_set_send(self, parm_name, parm_value, parm_type=None):
+        '''wrapper for parameter set'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            if parm_type == None:
+                parm_type = mavlink.MAV_VAR_FLOAT
+            self.mav.param_set_send(self.target_system, self.target_component,
+                                    parm_name, parm_value, parm_type)
+        else:
+            self.mav.param_set_send(self.target_system, self.target_component,
+                                    parm_name, parm_value)
+
+    def waypoint_request_list_send(self):
+        '''wrapper for waypoint_request_list_send'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            self.mav.mission_request_list_send(self.target_system, self.target_component)
+        else:
+            self.mav.waypoint_request_list_send(self.target_system, self.target_component)
+
+    def waypoint_clear_all_send(self):
+        '''wrapper for waypoint_clear_all_send'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            self.mav.mission_clear_all_send(self.target_system, self.target_component)
+        else:
+            self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
+
+    def waypoint_request_send(self, seq):
+        '''wrapper for waypoint_request_send'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            self.mav.mission_request_send(self.target_system, self.target_component, seq)
+        else:
+            self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
+
+    def waypoint_set_current_send(self, seq):
+        '''wrapper for waypoint_set_current_send'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
+        else:
+            self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
+
+    def waypoint_count_send(self, seq):
+        '''wrapper for waypoint_count_send'''
+        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
+            self.mav.mission_count_send(self.target_system, self.target_component, seq)
+        else:
+            self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
+
+
+class mavserial(mavfile):
+    '''a serial mavlink port'''
+    def __init__(self, device, baud=115200, autoreconnect=False, source_system=255):
+        import serial
+        self.baud = baud
+        self.device = device
+        self.autoreconnect = autoreconnect
+        self.port = serial.Serial(self.device, self.baud, timeout=0,
+                                  dsrdtr=False, rtscts=False, xonxoff=False)
+
+        try:
+            fd = self.port.fileno()
+        except Exception:
+            fd = None
+        mavfile.__init__(self, fd, device, source_system=source_system)
+
+    def close(self):
+        self.port.close()
+
+    def recv(self,n=None):
+        if n is None:
+            n = self.mav.bytes_needed()
+        if self.fd is None:
+            waiting = self.port.inWaiting()
+            if waiting < n:
+                n = waiting
+        return self.port.read(n)
+
+    def write(self, buf):
+        try:
+            return self.port.write(buf)
+        except OSError:
+            if self.autoreconnect:
+                self.reset()
+            return -1
+            
+    def reset(self):
+        import serial
+        self.port.close()
+        while True:
+            try:
+                self.port = serial.Serial(self.device, self.baud, timeout=1,
+                                          dsrdtr=False, rtscts=False, xonxoff=False)
+                try:
+                    self.fd = self.port.fileno()
+                except Exception:
+                    self.fd = None
+                return
+            except Exception:
+                print("Failed to reopen %s" % self.device)
+                time.sleep(1)
+        
+
+class mavudp(mavfile):
+    '''a UDP mavlink socket'''
+    def __init__(self, device, input=True, source_system=255):
+        a = device.split(':')
+        if len(a) != 2:
+            print("UDP ports must be specified as host:port")
+            sys.exit(1)
+        self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.udp_server = input
+        if input:
+            self.port.bind((a[0], int(a[1])))
+        else:
+            self.destination_addr = (a[0], int(a[1]))
+        self.port.setblocking(0)
+        self.last_address = None
+        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
+
+    def close(self):
+        self.port.close()
+
+    def recv(self,n=None):
+        try:
+            data, self.last_address = self.port.recvfrom(300)
+        except socket.error as e:
+            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
+                return ""
+            raise
+        return data
+
+    def write(self, buf):
+        try:
+            if self.udp_server:
+                if self.last_address:
+                    self.port.sendto(buf, self.last_address)
+            else:
+                self.port.sendto(buf, self.destination_addr)
+        except socket.error:
+            pass
+
+    def recv_msg(self):
+        '''message receive routine for UDP link'''
+        self.pre_message()
+        s = self.recv()
+        if len(s) == 0:
+            return None
+        msg = self.mav.parse_buffer(s)
+        if msg is not None:
+            for m in msg:
+                self.post_message(m)
+            return msg[0]
+        return None
+
+
+class mavtcp(mavfile):
+    '''a TCP mavlink socket'''
+    def __init__(self, device, source_system=255):
+        a = device.split(':')
+        if len(a) != 2:
+            print("TCP ports must be specified as host:port")
+            sys.exit(1)
+        self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.destination_addr = (a[0], int(a[1]))
+        self.port.connect(self.destination_addr)
+        self.port.setblocking(0)
+        self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
+        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
+
+    def close(self):
+        self.port.close()
+
+    def recv(self,n=None):
+        if n is None:
+            n = self.mav.bytes_needed()
+        try:
+            data = self.port.recv(n)
+        except socket.error as e:
+            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
+                return ""
+            raise
+        return data
+
+    def write(self, buf):
+        try:
+            self.port.send(buf)
+        except socket.error:
+            pass
+
+
+class mavlogfile(mavfile):
+    '''a MAVLink logfile reader/writer'''
+    def __init__(self, filename, planner_format=None,
+                 write=False, append=False,
+                 robust_parsing=True, notimestamps=False, source_system=255):
+        self.filename = filename
+        self.writeable = write
+        self.robust_parsing = robust_parsing
+        self.planner_format = planner_format
+        self._two64 = math.pow(2.0, 63)
+        mode = 'rb'
+        if self.writeable:
+            if append:
+                mode = 'ab'
+            else:
+                mode = 'wb'
+        self.f = open(filename, mode)
+        self.filesize = os.path.getsize(filename)
+        self.percent = 0
+        mavfile.__init__(self, None, filename, source_system=source_system, notimestamps=notimestamps)
+        if self.notimestamps:
+            self._timestamp = 0
+        else:
+            self._timestamp = time.time()
+
+    def close(self):
+        self.f.close()
+
+    def recv(self,n=None):
+        if n is None:
+            n = self.mav.bytes_needed()
+        return self.f.read(n)
+
+    def write(self, buf):
+        self.f.write(buf)
+
+    def pre_message(self):
+        '''read timestamp if needed'''
+        # read the timestamp
+        self.percent = (100.0 * self.f.tell()) / self.filesize        
+        if self.notimestamps:
+            return
+        if self.planner_format:
+            tbuf = self.f.read(21)
+            if len(tbuf) != 21 or tbuf[0] != '-' or tbuf[20] != ':':
+                raise RuntimeError('bad planner timestamp %s' % tbuf)
+            hnsec = self._two64 + float(tbuf[0:20])
+            t = hnsec * 1.0e-7         # convert to seconds
+            t -= 719163 * 24 * 60 * 60 # convert to 1970 base
+        else:
+            tbuf = self.f.read(8)
+            if len(tbuf) != 8:
+                return
+            (tusec,) = struct.unpack('>Q', tbuf)
+            t = tusec * 1.0e-6
+        self._timestamp = t
+
+    def post_message(self, msg):
+        '''add timestamp to message'''
+        # read the timestamp
+        super(mavlogfile, self).post_message(msg)
+        if self.planner_format:
+            self.f.read(1) # trailing newline
+        self.timestamp = msg._timestamp
+
+class mavchildexec(mavfile):
+    '''a MAVLink child processes reader/writer'''
+    def __init__(self, filename, source_system=255):
+        from subprocess import Popen, PIPE
+        import fcntl
+        
+        self.filename = filename
+        self.child = Popen(filename, shell=True, stdout=PIPE, stdin=PIPE)
+        self.fd = self.child.stdout.fileno()
+
+        fl = fcntl.fcntl(self.fd, fcntl.F_GETFL)
+        fcntl.fcntl(self.fd, fcntl.F_SETFL, fl | os.O_NONBLOCK)
+
+        fl = fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_GETFL)
+        fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_SETFL, fl | os.O_NONBLOCK)
+
+        mavfile.__init__(self, self.fd, filename, source_system=source_system)
+
+    def close(self):
+        self.child.close()
+
+    def recv(self,n=None):
+        try:
+            x = self.child.stdout.read(1)
+        except Exception:
+            return ''
+        return x
+
+    def write(self, buf):
+        self.child.stdin.write(buf)
+
+
+def mavlink_connection(device, baud=115200, source_system=255,
+                       planner_format=None, write=False, append=False,
+                       robust_parsing=True, notimestamps=False, input=True):
+    '''make a serial or UDP mavlink connection'''
+    if device.startswith('tcp:'):
+        return mavtcp(device[4:], source_system=source_system)
+    if device.startswith('udp:'):
+        return mavudp(device[4:], input=input, source_system=source_system)
+    if device.find(':') != -1 and not device.endswith('log'):
+        return mavudp(device, source_system=source_system, input=input)
+    if os.path.isfile(device):
+        if device.endswith(".elf"):
+            return mavchildexec(device, source_system=source_system)
+        else:
+            return mavlogfile(device, planner_format=planner_format, write=write,
+                              append=append, robust_parsing=robust_parsing, notimestamps=notimestamps,
+                              source_system=source_system)
+    return mavserial(device, baud=baud, source_system=source_system)
+
+class periodic_event(object):
+    '''a class for fixed frequency events'''
+    def __init__(self, frequency):
+        self.frequency = float(frequency)
+        self.last_time = time.time()
+
+    def force(self):
+        '''force immediate triggering'''
+        self.last_time = 0
+        
+    def trigger(self):
+        '''return True if we should trigger now'''
+        tnow = time.time()
+        if self.last_time + (1.0/self.frequency) <= tnow:
+            self.last_time = tnow
+            return True
+        return False
+
+
+try:
+    from curses import ascii
+    have_ascii = True
+except:
+    have_ascii = False
+
+def is_printable(c):
+    '''see if a character is printable'''
+    global have_ascii
+    if have_ascii:
+        return ascii.isprint(c)
+    if isinstance(c, int):
+        ic = c
+    else:
+        ic = ord(c)
+    return ic >= 32 and ic <= 126
+
+def all_printable(buf):
+    '''see if a string is all printable'''
+    for c in buf:
+        if not is_printable(c) and not c in ['\r', '\n', '\t']:
+            return False
+    return True
+
+class SerialPort(object):
+    '''auto-detected serial port'''
+    def __init__(self, device, description=None, hwid=None):
+        self.device = device
+        self.description = description
+        self.hwid = hwid
+
+    def __str__(self):
+        ret = self.device
+        if self.description is not None:
+            ret += " : " + self.description
+        if self.hwid is not None:
+            ret += " : " + self.hwid
+        return ret
+
+def auto_detect_serial_win32(preferred_list=['*']):
+    '''try to auto-detect serial ports on win32'''
+    try:
+        import scanwin32
+        list = sorted(scanwin32.comports())
+    except:
+        return []
+    ret = []
+    for order, port, desc, hwid in list:
+        for preferred in preferred_list:
+            if fnmatch.fnmatch(desc, preferred) or fnmatch.fnmatch(hwid, preferred):
+                ret.append(SerialPort(port, description=desc, hwid=hwid))
+    if len(ret) > 0:
+        return ret
+    # now the rest
+    for order, port, desc, hwid in list:
+        ret.append(SerialPort(port, description=desc, hwid=hwid))
+    return ret
+        
+
+        
+
+def auto_detect_serial_unix(preferred_list=['*']):
+    '''try to auto-detect serial ports on win32'''
+    import glob
+    glist = glob.glob('/dev/ttyS*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob('/dev/serial/by-id/*')
+    ret = []
+    # try preferred ones first
+    for d in glist:
+        for preferred in preferred_list:
+            if fnmatch.fnmatch(d, preferred):
+                ret.append(SerialPort(d))
+    if len(ret) > 0:
+        return ret
+    # now the rest
+    for d in glist:
+        ret.append(SerialPort(d))
+    return ret
+
+
+
+def auto_detect_serial(preferred_list=['*']):
+    '''try to auto-detect serial port'''
+    # see if 
+    if os.name == 'nt':
+        return auto_detect_serial_win32(preferred_list=preferred_list)
+    return auto_detect_serial_unix(preferred_list=preferred_list)
+
+def mode_string_v09(msg):
+    '''mode string for 0.9 protocol'''
+    mode = msg.mode
+    nav_mode = msg.nav_mode
+
+    MAV_MODE_UNINIT = 0
+    MAV_MODE_MANUAL = 2
+    MAV_MODE_GUIDED = 3
+    MAV_MODE_AUTO = 4
+    MAV_MODE_TEST1 = 5
+    MAV_MODE_TEST2 = 6
+    MAV_MODE_TEST3 = 7
+
+    MAV_NAV_GROUNDED = 0
+    MAV_NAV_LIFTOFF = 1
+    MAV_NAV_HOLD = 2
+    MAV_NAV_WAYPOINT = 3
+    MAV_NAV_VECTOR = 4
+    MAV_NAV_RETURNING = 5
+    MAV_NAV_LANDING = 6
+    MAV_NAV_LOST = 7
+    MAV_NAV_LOITER = 8
+    
+    cmode = (mode, nav_mode)
+    mapping = {
+        (MAV_MODE_UNINIT, MAV_NAV_GROUNDED)  : "INITIALISING",
+        (MAV_MODE_MANUAL, MAV_NAV_VECTOR)    : "MANUAL",
+        (MAV_MODE_TEST3,  MAV_NAV_VECTOR)    : "CIRCLE",
+        (MAV_MODE_GUIDED, MAV_NAV_VECTOR)    : "GUIDED",
+        (MAV_MODE_TEST1,  MAV_NAV_VECTOR)    : "STABILIZE",
+        (MAV_MODE_TEST2,  MAV_NAV_LIFTOFF)   : "FBWA",
+        (MAV_MODE_AUTO,   MAV_NAV_WAYPOINT)  : "AUTO",
+        (MAV_MODE_AUTO,   MAV_NAV_RETURNING) : "RTL",
+        (MAV_MODE_AUTO,   MAV_NAV_LOITER)    : "LOITER",
+        (MAV_MODE_AUTO,   MAV_NAV_LIFTOFF)   : "TAKEOFF",
+        (MAV_MODE_AUTO,   MAV_NAV_LANDING)   : "LANDING",
+        (MAV_MODE_AUTO,   MAV_NAV_HOLD)      : "LOITER",
+        (MAV_MODE_GUIDED, MAV_NAV_VECTOR)    : "GUIDED",
+        (MAV_MODE_GUIDED, MAV_NAV_WAYPOINT)  : "GUIDED",
+        (100,             MAV_NAV_VECTOR)    : "STABILIZE",
+        (101,             MAV_NAV_VECTOR)    : "ACRO",
+        (102,             MAV_NAV_VECTOR)    : "ALT_HOLD",
+        (107,             MAV_NAV_VECTOR)    : "CIRCLE",
+        (109,             MAV_NAV_VECTOR)    : "LAND",
+        }
+    if cmode in mapping:
+        return mapping[cmode]
+    return "Mode(%s,%s)" % cmode
+
+def mode_string_v10(msg):
+    '''mode string for 1.0 protocol, from heartbeat'''
+    if not msg.base_mode & mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED:
+        return "Mode(0x%08x)" % msg.base_mode
+    mapping = {
+        0 : 'MANUAL',
+        1 : 'CIRCLE',
+        2 : 'STABILIZE',
+        5 : 'FBWA',
+        6 : 'FBWB',
+        7 : 'FBWC',
+        10 : 'AUTO',
+        11 : 'RTL',
+        12 : 'LOITER',
+        13 : 'TAKEOFF',
+        14 : 'LAND',
+        15 : 'GUIDED',
+        16 : 'INITIALISING'
+        }
+    if msg.custom_mode in mapping:
+        return mapping[msg.custom_mode]
+    return "Mode(%u)" % msg.custom_mode
+
+    
+
+class x25crc(object):
+    '''x25 CRC - based on checksum.h from mavlink library'''
+    def __init__(self, buf=''):
+        self.crc = 0xffff
+        self.accumulate(buf)
+
+    def accumulate(self, buf):
+        '''add in some more bytes'''
+        bytes = array.array('B')
+        if isinstance(buf, array.array):
+            bytes.extend(buf)
+        else:
+            bytes.fromstring(buf)
+        accum = self.crc
+        for b in bytes:
+            tmp = b ^ (accum & 0xff)
+            tmp = (tmp ^ (tmp<<4)) & 0xFF
+            accum = (accum>>8) ^ (tmp<<8) ^ (tmp<<3) ^ (tmp>>4)
+            accum = accum & 0xFFFF
+        self.crc = accum
diff --git a/mavlink/share/pyshared/pymavlink/mavwp.py b/mavlink/share/pyshared/pymavlink/mavwp.py
new file mode 100644
index 000000000..6fd1e10e2
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/mavwp.py
@@ -0,0 +1,200 @@
+'''
+module for loading/saving waypoints
+'''
+
+import os
+
+if os.getenv('MAVLINK10'):
+    import mavlinkv10 as mavlink
+else:
+    import mavlink
+
+class MAVWPError(Exception):
+        '''MAVLink WP error class'''
+        def __init__(self, msg):
+            Exception.__init__(self, msg)
+            self.message = msg
+
+class MAVWPLoader(object):
+    '''MAVLink waypoint loader'''
+    def __init__(self, target_system=0, target_component=0):
+        self.wpoints = []
+        self.target_system = target_system
+        self.target_component = target_component
+
+
+    def count(self):
+        '''return number of waypoints'''
+        return len(self.wpoints)
+
+    def wp(self, i):
+        '''return a waypoint'''
+        return self.wpoints[i]
+
+    def add(self, w):
+        '''add a waypoint'''
+        w.seq = self.count()
+        self.wpoints.append(w)
+
+    def remove(self, w):
+        '''remove a waypoint'''
+        self.wpoints.remove(w)
+
+    def clear(self):
+        '''clear waypoint list'''
+        self.wpoints = []
+
+    def _read_waypoint_v100(self, line):
+        '''read a version 100 waypoint'''
+        cmdmap = {
+            2 : mavlink.MAV_CMD_NAV_TAKEOFF,
+            3 : mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
+            4 : mavlink.MAV_CMD_NAV_LAND,
+            24: mavlink.MAV_CMD_NAV_TAKEOFF,
+            26: mavlink.MAV_CMD_NAV_LAND,
+            25: mavlink.MAV_CMD_NAV_WAYPOINT ,
+            27: mavlink.MAV_CMD_NAV_LOITER_UNLIM
+            }
+        a = line.split()
+        if len(a) != 13:
+            raise MAVWPError("invalid waypoint line with %u values" % len(a))
+        w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
+                                             int(a[0]),    # seq
+                                             int(a[1]),    # frame
+                                             int(a[2]),    # action
+                                             int(a[7]),    # current
+                                             int(a[12]),   # autocontinue
+                                             float(a[5]),  # param1,
+                                             float(a[6]),  # param2,
+                                             float(a[3]),  # param3
+                                             float(a[4]),  # param4
+                                             float(a[9]),  # x, latitude
+                                             float(a[8]),  # y, longitude
+                                             float(a[10])  # z
+                                             )
+        if not w.command in cmdmap:
+            raise MAVWPError("Unknown v100 waypoint action %u" % w.command)
+    
+        w.command = cmdmap[w.command]
+        return w
+
+    def _read_waypoint_v110(self, line):
+        '''read a version 110 waypoint'''
+        a = line.split()
+        if len(a) != 12:
+            raise MAVWPError("invalid waypoint line with %u values" % len(a))
+        w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
+                                             int(a[0]),    # seq
+                                             int(a[2]),    # frame
+                                             int(a[3]),    # command
+                                             int(a[1]),    # current
+                                             int(a[11]),   # autocontinue
+                                             float(a[4]),  # param1,
+                                             float(a[5]),  # param2,
+                                             float(a[6]),  # param3
+                                             float(a[7]),  # param4
+                                             float(a[8]),  # x (latitude)
+                                             float(a[9]),  # y (longitude)
+                                             float(a[10])  # z (altitude)
+                                             )
+        return w
+
+
+    def load(self, filename):
+        '''load waypoints from a file.
+        returns number of waypoints loaded'''
+        f = open(filename, mode='r')
+        version_line = f.readline().strip()
+        if version_line == "QGC WPL 100":
+            readfn = self._read_waypoint_v100
+        elif version_line == "QGC WPL 110":
+            readfn = self._read_waypoint_v110
+        else:
+            f.close()
+            raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
+
+        self.clear()
+
+        for line in f:
+            if line.startswith('#'):
+                continue
+            line = line.strip()
+            if not line:
+                continue
+            w = readfn(line)
+            if w is not None:
+                self.add(w)
+        f.close()
+        return len(self.wpoints)
+
+
+    def save(self, filename):
+        '''save waypoints to a file'''
+        f = open(filename, mode='w')
+        f.write("QGC WPL 110\n")
+        for w in self.wpoints:
+            f.write("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%u\n" % (
+                w.seq, w.current, w.frame, w.command,
+                w.param1, w.param2, w.param3, w.param4,
+                w.x, w.y, w.z, w.autocontinue))
+        f.close()
+
+
+class MAVFenceError(Exception):
+        '''MAVLink fence error class'''
+        def __init__(self, msg):
+            Exception.__init__(self, msg)
+            self.message = msg
+
+class MAVFenceLoader(object):
+    '''MAVLink geo-fence loader'''
+    def __init__(self, target_system=0, target_component=0):
+        self.points = []
+        self.target_system = target_system
+        self.target_component = target_component
+
+    def count(self):
+        '''return number of points'''
+        return len(self.points)
+
+    def point(self, i):
+        '''return a point'''
+        return self.points[i]
+
+    def add(self, p):
+        '''add a point'''
+        self.points.append(p)
+
+    def clear(self):
+        '''clear point list'''
+        self.points = []
+
+    def load(self, filename):
+        '''load points from a file.
+        returns number of points loaded'''
+        f = open(filename, mode='r')
+        self.clear()
+        for line in f:
+            if line.startswith('#'):
+                continue
+            line = line.strip()
+            if not line:
+                continue
+            a = line.split()
+            if len(a) != 2:
+                raise MAVFenceError("invalid fence point line: %s" % line)
+            p = mavlink.MAVLink_fence_point_message(self.target_system, self.target_component,
+                                                    self.count(), 0, float(a[0]), float(a[1]))
+            self.add(p)
+        f.close()
+        for i in range(self.count()):
+            self.points[i].count = self.count()
+        return len(self.points)
+
+
+    def save(self, filename):
+        '''save fence points to a file'''
+        f = open(filename, mode='w')
+        for p in self.points:
+            f.write("%f\t%f\n" % (p.lat, p.lng))
+        f.close()
diff --git a/mavlink/share/pyshared/pymavlink/scanwin32.py b/mavlink/share/pyshared/pymavlink/scanwin32.py
new file mode 100644
index 000000000..f90ed5f4d
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/scanwin32.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python
+
+# this is taken from the pySerial documentation at
+# http://pyserial.sourceforge.net/examples.html
+import ctypes
+import re
+
+def ValidHandle(value):
+    if value == 0:
+        raise ctypes.WinError()
+    return value
+
+NULL = 0
+HDEVINFO = ctypes.c_int
+BOOL = ctypes.c_int
+CHAR = ctypes.c_char
+PCTSTR = ctypes.c_char_p
+HWND = ctypes.c_uint
+DWORD = ctypes.c_ulong
+PDWORD = ctypes.POINTER(DWORD)
+ULONG = ctypes.c_ulong
+ULONG_PTR = ctypes.POINTER(ULONG)
+#~ PBYTE = ctypes.c_char_p
+PBYTE = ctypes.c_void_p
+
+class GUID(ctypes.Structure):
+    _fields_ = [
+        ('Data1', ctypes.c_ulong),
+        ('Data2', ctypes.c_ushort),
+        ('Data3', ctypes.c_ushort),
+        ('Data4', ctypes.c_ubyte*8),
+    ]
+    def __str__(self):
+        return "{%08x-%04x-%04x-%s-%s}" % (
+            self.Data1,
+            self.Data2,
+            self.Data3,
+            ''.join(["%02x" % d for d in self.Data4[:2]]),
+            ''.join(["%02x" % d for d in self.Data4[2:]]),
+        )
+
+class SP_DEVINFO_DATA(ctypes.Structure):
+    _fields_ = [
+        ('cbSize', DWORD),
+        ('ClassGuid', GUID),
+        ('DevInst', DWORD),
+        ('Reserved', ULONG_PTR),
+    ]
+    def __str__(self):
+        return "ClassGuid:%s DevInst:%s" % (self.ClassGuid, self.DevInst)
+PSP_DEVINFO_DATA = ctypes.POINTER(SP_DEVINFO_DATA)
+
+class SP_DEVICE_INTERFACE_DATA(ctypes.Structure):
+    _fields_ = [
+        ('cbSize', DWORD),
+        ('InterfaceClassGuid', GUID),
+        ('Flags', DWORD),
+        ('Reserved', ULONG_PTR),
+    ]
+    def __str__(self):
+        return "InterfaceClassGuid:%s Flags:%s" % (self.InterfaceClassGuid, self.Flags)
+
+PSP_DEVICE_INTERFACE_DATA = ctypes.POINTER(SP_DEVICE_INTERFACE_DATA)
+
+PSP_DEVICE_INTERFACE_DETAIL_DATA = ctypes.c_void_p
+
+class dummy(ctypes.Structure):
+    _fields_=[("d1", DWORD), ("d2", CHAR)]
+    _pack_ = 1
+SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A = ctypes.sizeof(dummy)
+
+SetupDiDestroyDeviceInfoList = ctypes.windll.setupapi.SetupDiDestroyDeviceInfoList
+SetupDiDestroyDeviceInfoList.argtypes = [HDEVINFO]
+SetupDiDestroyDeviceInfoList.restype = BOOL
+
+SetupDiGetClassDevs = ctypes.windll.setupapi.SetupDiGetClassDevsA
+SetupDiGetClassDevs.argtypes = [ctypes.POINTER(GUID), PCTSTR, HWND, DWORD]
+SetupDiGetClassDevs.restype = ValidHandle # HDEVINFO
+
+SetupDiEnumDeviceInterfaces = ctypes.windll.setupapi.SetupDiEnumDeviceInterfaces
+SetupDiEnumDeviceInterfaces.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, ctypes.POINTER(GUID), DWORD, PSP_DEVICE_INTERFACE_DATA]
+SetupDiEnumDeviceInterfaces.restype = BOOL
+
+SetupDiGetDeviceInterfaceDetail = ctypes.windll.setupapi.SetupDiGetDeviceInterfaceDetailA
+SetupDiGetDeviceInterfaceDetail.argtypes = [HDEVINFO, PSP_DEVICE_INTERFACE_DATA, PSP_DEVICE_INTERFACE_DETAIL_DATA, DWORD, PDWORD, PSP_DEVINFO_DATA]
+SetupDiGetDeviceInterfaceDetail.restype = BOOL
+
+SetupDiGetDeviceRegistryProperty = ctypes.windll.setupapi.SetupDiGetDeviceRegistryPropertyA
+SetupDiGetDeviceRegistryProperty.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, DWORD, PDWORD, PBYTE, DWORD, PDWORD]
+SetupDiGetDeviceRegistryProperty.restype = BOOL
+
+
+GUID_CLASS_COMPORT = GUID(0x86e0d1e0L, 0x8089, 0x11d0,
+    (ctypes.c_ubyte*8)(0x9c, 0xe4, 0x08, 0x00, 0x3e, 0x30, 0x1f, 0x73))
+
+DIGCF_PRESENT = 2
+DIGCF_DEVICEINTERFACE = 16
+INVALID_HANDLE_VALUE = 0
+ERROR_INSUFFICIENT_BUFFER = 122
+SPDRP_HARDWAREID = 1
+SPDRP_FRIENDLYNAME = 12
+SPDRP_LOCATION_INFORMATION = 13
+ERROR_NO_MORE_ITEMS = 259
+
+def comports(available_only=True):
+    """This generator scans the device registry for com ports and yields
+    (order, port, desc, hwid).  If available_only is true only return currently
+    existing ports. Order is a helper to get sorted lists. it can be ignored
+    otherwise."""
+    flags = DIGCF_DEVICEINTERFACE
+    if available_only:
+        flags |= DIGCF_PRESENT
+    g_hdi = SetupDiGetClassDevs(ctypes.byref(GUID_CLASS_COMPORT), None, NULL, flags);
+    #~ for i in range(256):
+    for dwIndex in range(256):
+        did = SP_DEVICE_INTERFACE_DATA()
+        did.cbSize = ctypes.sizeof(did)
+
+        if not SetupDiEnumDeviceInterfaces(
+            g_hdi,
+            None,
+            ctypes.byref(GUID_CLASS_COMPORT),
+            dwIndex,
+            ctypes.byref(did)
+        ):
+            if ctypes.GetLastError() != ERROR_NO_MORE_ITEMS:
+                raise ctypes.WinError()
+            break
+
+        dwNeeded = DWORD()
+        # get the size
+        if not SetupDiGetDeviceInterfaceDetail(
+            g_hdi,
+            ctypes.byref(did),
+            None, 0, ctypes.byref(dwNeeded),
+            None
+        ):
+            # Ignore ERROR_INSUFFICIENT_BUFFER
+            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
+                raise ctypes.WinError()
+        # allocate buffer
+        class SP_DEVICE_INTERFACE_DETAIL_DATA_A(ctypes.Structure):
+            _fields_ = [
+                ('cbSize', DWORD),
+                ('DevicePath', CHAR*(dwNeeded.value - ctypes.sizeof(DWORD))),
+            ]
+            def __str__(self):
+                return "DevicePath:%s" % (self.DevicePath,)
+        idd = SP_DEVICE_INTERFACE_DETAIL_DATA_A()
+        idd.cbSize = SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A
+        devinfo = SP_DEVINFO_DATA()
+        devinfo.cbSize = ctypes.sizeof(devinfo)
+        if not SetupDiGetDeviceInterfaceDetail(
+            g_hdi,
+            ctypes.byref(did),
+            ctypes.byref(idd), dwNeeded, None,
+            ctypes.byref(devinfo)
+        ):
+            raise ctypes.WinError()
+
+        # hardware ID
+        szHardwareID = ctypes.create_string_buffer(250)
+        if not SetupDiGetDeviceRegistryProperty(
+            g_hdi,
+            ctypes.byref(devinfo),
+            SPDRP_HARDWAREID,
+            None,
+            ctypes.byref(szHardwareID), ctypes.sizeof(szHardwareID) - 1,
+            None
+        ):
+            # Ignore ERROR_INSUFFICIENT_BUFFER
+            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
+                raise ctypes.WinError()
+
+        # friendly name
+        szFriendlyName = ctypes.create_string_buffer(1024)
+        if not SetupDiGetDeviceRegistryProperty(
+            g_hdi,
+            ctypes.byref(devinfo),
+            SPDRP_FRIENDLYNAME,
+            None,
+            ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
+            None
+        ):
+            # Ignore ERROR_INSUFFICIENT_BUFFER
+            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
+                #~ raise ctypes.WinError()
+                # not getting friendly name for com0com devices, try something else
+                szFriendlyName = ctypes.create_string_buffer(1024)
+                if SetupDiGetDeviceRegistryProperty(
+                    g_hdi,
+                    ctypes.byref(devinfo),
+                    SPDRP_LOCATION_INFORMATION,
+                    None,
+                    ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
+                    None
+                ):
+                    port_name = "\\\\.\\" + szFriendlyName.value
+                    order = None
+                else:
+                    port_name = szFriendlyName.value
+                    order = None
+        else:
+            try:
+                m = re.search(r"\((.*?(\d+))\)", szFriendlyName.value)
+                #~ print szFriendlyName.value, m.groups()
+                port_name = m.group(1)
+                order = int(m.group(2))
+            except AttributeError, msg:
+                port_name = szFriendlyName.value
+                order = None
+        yield order, port_name, szFriendlyName.value, szHardwareID.value
+
+    SetupDiDestroyDeviceInfoList(g_hdi)
+
+
+if __name__ == '__main__':
+    import serial
+    print "-"*78
+    print "Serial ports"
+    print "-"*78
+    for order, port, desc, hwid in sorted(comports()):
+        print "%-10s: %s (%s) ->" % (port, desc, hwid),
+        try:
+            serial.Serial(port) # test open
+        except serial.serialutil.SerialException:
+            print "can't be openend"
+        else:
+            print "Ready"
+    print
+    # list of all ports the system knows
+    print "-"*78
+    print "All serial ports (registry)"
+    print "-"*78
+    for order, port, desc, hwid in sorted(comports(False)):
+        print "%-10s: %s (%s)" % (port, desc, hwid)
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif b/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif
new file mode 100644
index 000000000..3cce0867b
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif
new file mode 100644
index 000000000..4dc439b78
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif
new file mode 100644
index 000000000..ec4136399
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif
new file mode 100644
index 000000000..306271a89
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif
new file mode 100644
index 000000000..23fcf6d82
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif
new file mode 100644
index 000000000..3439c54fd
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif b/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif
new file mode 100644
index 000000000..9496957d2
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif
diff --git a/mavlink/share/pyshared/pymavlink/tools/mavplayback.py b/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
new file mode 100644
index 000000000..50a6fd45d
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
@@ -0,0 +1,246 @@
+#!/usr/bin/env python
+
+'''
+play back a mavlink log as a FlightGear FG NET stream, and as a
+realtime mavlink stream
+
+Useful for visualising flights
+'''
+
+import sys, time, os, struct
+import Tkinter
+
+# allow import from the parent directory, where mavlink.py is
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
+
+import fgFDM
+
+from optparse import OptionParser
+parser = OptionParser("mavplayback.py [options]")
+
+parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
+parser.add_option("--gpsalt", action='store_true', default=False, help="Use GPS altitude")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--out",   help="MAVLink output port (IP:port)",
+                  action='append', default=['127.0.0.1:14550'])
+parser.add_option("--fgout", action='append', default=['127.0.0.1:5503'],
+                  help="flightgear FDM NET output (IP:port)")
+parser.add_option("--baudrate", type='int', default=57600, help='baud rate')
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    parser.print_help()
+    sys.exit(1)
+
+filename = args[0]
+
+
+def LoadImage(filename):
+    '''return an image from the images/ directory'''
+    app_dir = os.path.dirname(os.path.realpath(__file__))
+    path = os.path.join(app_dir, 'images', filename)
+    return Tkinter.PhotoImage(file=path)
+
+
+class App():
+    def __init__(self, filename):
+        self.root = Tkinter.Tk()
+
+        self.filesize = os.path.getsize(filename)
+        self.filepos = 0.0
+
+        self.mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
+                                               robust_parsing=True)
+        self.mout = []
+        for m in opts.out:
+            self.mout.append(mavutil.mavlink_connection(m, input=False, baud=opts.baudrate))
+
+        self.fgout = []
+        for f in opts.fgout:
+            self.fgout.append(mavutil.mavudp(f, input=False))
+    
+        self.fdm = fgFDM.fgFDM()
+
+        self.msg = self.mlog.recv_match(condition=opts.condition)
+        if self.msg is None:
+            sys.exit(1)
+        self.last_timestamp = getattr(self.msg, '_timestamp')
+
+        self.paused = False
+
+        self.topframe = Tkinter.Frame(self.root)
+        self.topframe.pack(side=Tkinter.TOP)
+
+        self.frame = Tkinter.Frame(self.root)
+        self.frame.pack(side=Tkinter.LEFT)
+
+        self.slider = Tkinter.Scale(self.topframe, from_=0, to=1.0, resolution=0.01,
+                                    orient=Tkinter.HORIZONTAL, command=self.slew)
+        self.slider.pack(side=Tkinter.LEFT)
+
+        self.clock = Tkinter.Label(self.topframe,text="")
+        self.clock.pack(side=Tkinter.RIGHT)
+
+        self.playback = Tkinter.Spinbox(self.topframe, from_=0, to=20, increment=0.1, width=3)
+        self.playback.pack(side=Tkinter.BOTTOM)
+        self.playback.delete(0, "end")
+        self.playback.insert(0, 1)
+
+        self.buttons = {}
+        self.button('quit', 'gtk-quit.gif', self.frame.quit)
+        self.button('pause', 'media-playback-pause.gif', self.pause)
+        self.button('rewind', 'media-seek-backward.gif', self.rewind)
+        self.button('forward', 'media-seek-forward.gif', self.forward)
+        self.button('status', 'Status', self.status)
+        self.flightmode = Tkinter.Label(self.frame,text="")
+        self.flightmode.pack(side=Tkinter.RIGHT)
+
+        self.next_message()
+        self.root.mainloop()
+
+    def button(self, name, filename, command):
+        '''add a button'''
+        try:
+            img = LoadImage(filename)
+            b = Tkinter.Button(self.frame, image=img, command=command)
+            b.image = img
+        except Exception:
+            b = Tkinter.Button(self.frame, text=filename, command=command)
+        b.pack(side=Tkinter.LEFT)
+        self.buttons[name] = b
+        
+
+    def pause(self):
+        '''pause playback'''
+        self.paused = not self.paused
+
+    def rewind(self):
+        '''rewind 10%'''
+        pos = int(self.mlog.f.tell() - 0.1*self.filesize)
+        if pos < 0:
+            pos = 0
+        self.mlog.f.seek(pos)
+        self.find_message()
+
+    def forward(self):
+        '''forward 10%'''
+        pos = int(self.mlog.f.tell() + 0.1*self.filesize)
+        if pos > self.filesize:
+            pos = self.filesize - 2048
+        self.mlog.f.seek(pos)
+        self.find_message()
+
+    def status(self):
+        '''show status'''
+        for m in sorted(self.mlog.messages.keys()):
+            print(str(self.mlog.messages[m]))
+        
+
+
+    def find_message(self):
+        '''find the next valid message'''
+        while True:
+            self.msg = self.mlog.recv_match(condition=opts.condition)
+            if self.msg is not None and self.msg.get_type() != 'BAD_DATA':
+                break
+            if self.mlog.f.tell() > self.filesize - 10:
+                self.paused = True
+                break
+        self.last_timestamp = getattr(self.msg, '_timestamp')
+
+    def slew(self, value):
+        '''move to a given position in the file'''
+        if float(value) != self.filepos:
+            pos = float(value) * self.filesize
+            self.mlog.f.seek(int(pos))
+            self.find_message()
+
+
+    def next_message(self):
+        '''called as each msg is ready'''
+        
+        msg = self.msg
+        if msg is None:
+            self.paused = True
+
+        if self.paused:
+            self.root.after(100, self.next_message)
+            return
+
+        speed = float(self.playback.get())
+        timestamp = getattr(msg, '_timestamp')
+
+        now = time.strftime("%H:%M:%S", time.localtime(timestamp))
+        self.clock.configure(text=now)
+
+        if speed == 0.0:
+            self.root.after(200, self.next_message)
+        else:
+            self.root.after(int(1000*(timestamp - self.last_timestamp) / speed), self.next_message)
+        self.last_timestamp = timestamp
+
+        while True:
+            self.msg = self.mlog.recv_match(condition=opts.condition)
+            if self.msg is None and self.mlog.f.tell() > self.filesize - 10:
+                self.paused = True
+                return
+            if self.msg is not None and self.msg.get_type() != "BAD_DATA":
+                break
+        
+        pos = float(self.mlog.f.tell()) / self.filesize
+        self.slider.set(pos)
+        self.filepos = self.slider.get()
+
+        if msg.get_type() != "BAD_DATA":
+            for m in self.mout:
+                m.write(msg.get_msgbuf().tostring())
+
+        if msg.get_type() == "GPS_RAW":
+            self.fdm.set('latitude', msg.lat, units='degrees')
+            self.fdm.set('longitude', msg.lon, units='degrees')
+            if opts.gpsalt:
+                self.fdm.set('altitude', msg.alt, units='meters')
+
+        if msg.get_type() == "VFR_HUD":
+            if not opts.gpsalt:
+                self.fdm.set('altitude', msg.alt, units='meters')
+            self.fdm.set('num_engines', 1)
+            self.fdm.set('vcas', msg.airspeed, units='mps')
+
+        if msg.get_type() == "ATTITUDE":
+            self.fdm.set('phi', msg.roll, units='radians')
+            self.fdm.set('theta', msg.pitch, units='radians')
+            self.fdm.set('psi', msg.yaw, units='radians')
+            self.fdm.set('phidot', msg.rollspeed, units='rps')
+            self.fdm.set('thetadot', msg.pitchspeed, units='rps')
+            self.fdm.set('psidot', msg.yawspeed, units='rps')
+
+        if msg.get_type() == "RC_CHANNELS_SCALED":
+            self.fdm.set("right_aileron", msg.chan1_scaled*0.0001)
+            self.fdm.set("left_aileron", -msg.chan1_scaled*0.0001)
+            self.fdm.set("rudder",        msg.chan4_scaled*0.0001)
+            self.fdm.set("elevator",      msg.chan2_scaled*0.0001)
+            self.fdm.set('rpm',           msg.chan3_scaled*0.01)
+
+        if msg.get_type() == 'STATUSTEXT':
+            print("APM: %s" % msg.text)
+
+        if msg.get_type() == 'SYS_STATUS':
+            self.flightmode.configure(text=self.mlog.flightmode)
+
+        if msg.get_type() == "BAD_DATA":
+            if mavutil.all_printable(msg.data):
+                sys.stdout.write(msg.data)
+                sys.stdout.flush()
+
+        if self.fdm.get('latitude') != 0:
+            for f in self.fgout:
+                f.write(self.fdm.pack())
+
+
+app=App(filename)