{
    "comment":      "ArduPilot, Any Vehicle",
    "version":      1,
    "fileType":  "MavCmdInfo",

    "mavCmdInfo": [
        {
            "id":           16,
            "comment":      "MAV_CMD_NAV_WAYPOINT",
            "paramRemove":  "2"
        },
        {
            "id":                   17,
            "comment":              "MAV_CMD_NAV_LOITER_UNLIM",
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "default":          0,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   18,
            "comment":              "MAV_CMD_NAV_LOITER_TURNS",
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "default":          0,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   19,
            "comment":              "MAV_CMD_NAV_LOITER_TIME",
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "default":          0,
                "decimalPlaces":    2
            }
        },
        {
            "id":                       22,
            "comment":                  "MAV_CMD_NAV_TAKEOFF",
            "description":              "Take off from the ground and ascend to specified altitude.",
            "specifiesCoordinate":      false,
            "specifiesAltitudeOnly":    true
        },
        {
            "id":                       84,
            "comment":                  "MAV_CMD_NAV_VTOL_TAKEOFF",
            "description":              "Takeoff to specified altitude.",
            "specifiesCoordinate":      false,
            "specifiesAltitudeOnly":    true,
            "friendlyEdit":             true,
            "category":                 "VTOL"
        },
        {
            "id":                   85,
            "comment":              "MAV_CMD_NAV_VTOL_LAND",
            "description":          "Land using VTOL mode.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "VTOL"
        },
        {
            "id":           176,
            "comment":      "MAV_CMD_DO_SET_MODE",
            "paramRemove":  "2,3"
        },
        {
            "id":           178,
            "comment":      "MAV_CMD_DO_CHANGE_SPEED",
            "paramRemove":  "4"
        },
        {
            "id":           181,
            "comment":      "MAV_CMD_DO_SET_RELAY",
            "param2": {
                "label":            "Setting",
                "enumStrings":      "On,Off",
                "enumValues":       "1,0",
                "default":          1
            }
        },
        {
            "id":           201,
            "comment":      "MAV_CMD_DO_SET_ROI",
            "paramRemove":  "1,2,3"
        },
        {
            "id":           205,
            "comment":      "MAV_CMD_DO_MOUNT_CONTROL",
            "paramRemove":  "7",
            "param1": {
                "label":            "Pitch",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    2
            },
            "param2": {
                "label":            "Roll",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "Yaw",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    2
            }
        },
        {
            "id":                   207,
            "comment":              "MAV_CMD_DO_FENCE_ENABLE",
            "param1": {
                "label":            "Enable",
                "enumStrings":      "Enable,Disable",
                "enumValues":       "1,0",
                "default":          1
            }
        }
    ]
}
