MavCmdInfoCommon.json

{
    "comment":  "Any Firmware, Any Vehicle",

    "version": 1,

    "mavCmdInfo": [
        {
            "comment":              "MAV_CMD_NAV_LAST: Used for mission settings / planned home position waypoint",
            "id":                   95,
            "rawName":              "HomeRaw",
            "friendlyName":         "Home Position",
            "description":          "Planned home position for mission.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param5": {
                "label":            "Latitude",
                "default":          37.803784,
                "decimalPlaces":    7
            },
            "param6": {
                "label":            "Longitude",
                "default":          -122.462276,
                "decimalPlaces":    7
            }
        },
        {
            "id":                   16,
            "rawName":              "MAV_CMD_NAV_WAYPOINT",
            "friendlyName":         "Waypoint",
            "description":          "Travel to a position in 3D space.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param1": {
                "label":            "Hold",
                "units":            "secs",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Acceptance",
                "units":            "m",
                "default":          3,
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "PassThru",
                "units":            "m",
                "default":          0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   17,
            "rawName":              "MAV_CMD_NAV_LOITER_UNLIM",
            "friendlyName":         "Loiter",
            "description":          "Travel to a position and Loiter around the specified radius indefinitely.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Loiter",
            "param3": {
                "label":            "Radius",
                "units":            "m",
                "default":          50.0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   18,
            "rawName":              "MAV_CMD_NAV_LOITER_TURNS",
            "friendlyName":         "Loiter (turns)",
            "description":          "Travel to a position and Loiter around the specified radius for a number of turns.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Loiter",
            "param1": {
                "label":            "Turns",
                "default":          1,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius",
                "units":            "m",
                "default":          50.0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   19,
            "rawName":              "MAV_CMD_NAV_LOITER_TIME",
            "friendlyName":         "Loiter (time)",
            "description":          "Travel to a position and Loiter around the specified radius for an amount of time.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Loiter",
            "param1": {
                "label":            "Hold",
                "units":            "secs",
                "default":          30,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius",
                "units":            "m",
                "default":          50.0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "decimalPlaces":    2
            }
        },
        {
            "id":           20,
            "rawName":      "MAV_CMD_NAV_RETURN_TO_LAUNCH",
            "friendlyName": "Return Home",
            "description":  "Send the vehicle back to the home position.",
            "friendlyEdit": true,
            "category":     "Basic"
        },
        {
            "id":                   21,
            "rawName":              "MAV_CMD_NAV_LAND",
            "friendlyName":         "Land",
            "description":          "Land vehicle at the specified location.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param1": {
                "label":            "Abort Alt",
                "units":            "m",
                "default":          25.0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   22,
            "rawName":              "MAV_CMD_NAV_TAKEOFF",
            "friendlyName":         "Takeoff",
            "description":          "Take off from the ground and travel towards the specified position.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param1": {
                "label":            "Pitch",
                "units":            "deg",
                "default":          15,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading",
                "units":            "radians",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        { "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "Land local" },
        { "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "Takeoff local" },
        { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "Nav follow" },
        {
            "id":                       30,
            "rawName":                  "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
            "friendlyName":             "Change Altitude",
            "description":              "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
            "specifiesCoordinate":      false,
            "specifiesAltitudeOnly":    true,
            "friendlyEdit":             true,
            "category":                 "Flight control",
            "param1": {
                "label":            "Mode",
                "enumStrings":      "Climb,Neutral,Descend",
                "enumValues":       "1,0,2",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        {
            "id":                   31,
            "rawName":              "MAV_CMD_NAV_LOITER_TO_ALT",
            "friendlyName":         "Loiter (altitude)",
            "description":          "Loiter at specified position until altitude reached.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Loiter",
            "param1": {
                "label":            "Heading wait",
                "enumStrings":      "False,True",
                "enumValues":       "0,1",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Radius",
                "units":            "m",
                "default":          50.0,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Exit loiter from",
                "enumStrings":      "Center,Tangent",
                "enumValues":       "0,1",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        { "id": 32, "rawName": "MAV_CMD_DO_FOLLOW", "friendlyName": "Follow Me" },
        { "id": 33, "rawName": "MAV_CMD_DO_FOLLOW_REPOSITION", "friendlyName": "Vehicle reposition" },
        {
            "id":                   80,
            "rawName":              "MAV_CMD_NAV_ROI",
            "friendlyName":         "Region of interest (nav)",
            "description":          "Sets the region of interest for cameras.",
            "specifiesCoordinate":  true,
            "standaloneCoordinate": true,
            "friendlyEdit":         true,
            "category":             "Camera",
            "param1": {
                "label":            "Mode",
                "enumStrings":      "None,Next waypoint,Mission item,Location,ROI item",
                "enumValues":       "0,1,2,3,4",
                "default":          3,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Mission Index",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "ROI Index",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":                   81,
            "rawName":              "MAV_CMD_NAV_PATHPLANNING",
            "friendlyName":         "Path planning",
            "description":          "Control autonomous path planning.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Local planning",
                "enumStrings":      "Disable,Enable,Enable+reset",
                "enumValues":       "0,1,2",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Full planning",
                "enumStrings":      "Disable,Enable,Enable+reset,Enable+reset route only",
                "enumValues":       "0,1,2,3",
                "default":          1,
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Heading goal",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    2
            }
        },
        {
            "id":                   82,
            "rawName":              "MAV_CMD_NAV_SPLINE_WAYPOINT",
            "friendlyName":         "Spline waypoint",
            "description":          "Travel to a position in 3D space using spline path.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "Basic",
            "param1": {
                "label":            "Hold",
                "units":            "secs",
                "default":          0,
                "decimalPlaces":    0
            }        
        },
        { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "Altitude wait" },
        {
            "id":                   84,
            "rawName":              "MAV_CMD_NAV_VTOL_TAKEOFF",
            "friendlyName":         "VTOL takeoff and transition",
            "description":          "Takeoff in VTOL mode, transition to forward flight and fly to the specified location.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "VTOL",
            "param4": {
                "label":            "Heading",
                "units":            "deg",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":                   85,
            "rawName":              "MAV_CMD_NAV_VTOL_LAND",
            "friendlyName":         "VTOL transition and land",
            "description":          "Transition to VTOL mode and land.",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true,
            "category":             "VTOL",
            "param4": {
                "label":            "Heading",
                "units":            "deg",
                "nanUnchanged":     true,
                "default":          null,
                "decimalPlaces":    2
            }
        },
        {
            "id":           92,
            "rawName":      "MAV_CMD_NAV_GUIDED_ENABLE",
            "friendlyName": "Guided enable",
            "description":  "Enable/Disabled guided mode.",
            "param1": {
                "label":            "Enable",
                "enumStrings":      "Disable,Enable",
                "enumValues":       "0,1",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        {
            "id":           93,
            "rawName":      "MAV_CMD_NAV_DELAY",
            "friendlyName": "Delay until",
            "description":  "Delay unti the specified time is reached.",
            "param1": {
                "label":            "Hold",
                "units":            "secs",
                "default":          30,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Hour (utc)",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Min (utc)",
                "default":          0,
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Sec (utc)",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           112,
            "rawName":      "MAV_CMD_CONDITION_DELAY",
            "friendlyName": "Delay",
            "description":  "Delay the mission for the number of seconds.",
            "friendlyEdit": true,
            "category":     "Basic",
            "param1": {
                "label":            "Hold",
                "units":            "secs",
                "default":          30,
                "decimalPlaces":    0
            }
        },
        {
            "id":                           113,
            "rawName":                  "MAV_CMD_CONDITION_CHANGE_ALT",
            "description":              "Delay the mission until the specified altitide is reached.",
            "friendlyName":             "Wait for altitude",
            "category":                 "Conditionals",
            "specifiesCoordinate":      false,
            "specifiesAltitudeOnly":    true,
            "param1": {
                "label":            "Rate",
                "units":            "m/s",
                "default":          5,
                "decimalPlaces":    2
            }
        },
        {
            "id":           114,
            "rawName":      "MAV_CMD_CONDITION_DISTANCE",
            "description":  "Delay the mission until within the specified distance of the next waypoint.",
            "friendlyName": "Wait for distance",
            "category":     "Conditionals",
            "param1": {
                "label":            "Distance",
                "units":            "m",
                "default":          10,
                "decimalPlaces":    2
            }
        },
        {
            "id":           115,
            "rawName":      "MAV_CMD_CONDITION_YAW",
            "friendlyName": "Wait for Heading",
            "description":  "Delay the mission until the specified heading is reached.",
            "category":     "Conditionals",
            "param1": {
                "label":            "Heading",
                "units":            "deg",
                "default":          0,
                "decimalPlaces":    1
            },
            "param2": {
                "label":            "Rate",
                "units":            "degrees/s",
                "default":          5,
                "decimalPlaces":    1
            },
            "param3": {
                "label":            "Direction",
                "enumStrings":      "Clockwise,Counter-Clockwise",
                "enumValues":       "1,-1",
                "default":          1
            },
            "param4": {
                "label":            "Offset",
                "enumStrings":      "Relative,Absolute",
                "enumValues":       "1,0",
                "default":          1
            }
        },
        { "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "Set mode" },
        {
            "id":           176,
            "rawName":      "MAV_CMD_DO_SET_MODE",
            "friendlyName": "Set flight mode",
            "description":  "Set flight mode.",
            "category":     "Advanced",
            "param1": {
                "label":            "Mode",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Custom Mode",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Sub Mode",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           177,
            "rawName":      "MAV_CMD_DO_JUMP",
            "friendlyName": "Jump to item",
            "description":  "Mission will continue at the specified item.",
            "friendlyEdit": true,
            "category":     "Advanced",
            "param1": {
                "label":            "Item #",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Repeat",
                "default":          10,
                "decimalPlaces":    0
            }
        },
        {
            "id":           178,
            "rawName":      "MAV_CMD_DO_CHANGE_SPEED",
            "friendlyName": "Change speed",
            "description":  "Change speed and/or throttle set points.",
            "category":     "Flight control",
            "param1": {
                "label":            "Type",
                "enumStrings":      "Airspeed,Ground Speed",
                "enumValues":       "0,1",
                "default":          0
            },
            "param2": {
                "label":            "Speed",
                "units":            "m/s",
                "default":          0
            },
            "param3": {
                "label":            "Throttle",
                "units":            "%",
                "default":          0
            },
            "param4": {
                "label":            "Offset",
                "enumStrings":      "Relative,Absolute",
                "enumValues":       "1,0",
                "default":          0
            }
        },
        {
            "id":                   179,
            "rawName":              "MAV_CMD_DO_SET_HOME",
            "friendlyName":         "Set home location",
            "description":          "Changes the home location either to the current location or a specified location.",
            "specifiesCoordinate":  true,
            "standaloneCoordinate": true,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Mode",
                "enumStrings":      "Vehicle position,Specified position",
                "enumValues":       "1,0",
                "default":          0
            }
        },
        { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "Set Parameter" },
        {
            "id":           181,
            "rawName":      "MAV_CMD_DO_SET_RELAY",
            "friendlyName": "Set relay",
            "description":  "Set relay to a condition.",
            "param1": {
                "label":            "Relay #",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Value",
                "default":          0
            }
        },
        {
            "id":           182,
            "rawName":      "MAV_CMD_DO_REPEAT_RELAY",
            "friendlyName": "Cycle relay",
            "description":  "Cycle relay on/off for desired cycles/time.",
            "param1": {
                "label":            "Relay #",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Cycles",
                "default":          1,
                "units":            "count",
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Time",
                "default":          10,
                "units":            "secs",
                "decimalPlaces":    0
            }
        },
        {
            "id":           183,
            "rawName":      "MAV_CMD_DO_SET_SERVO",
            "friendlyName": "Set servo",
            "description":  "Set servo to specified PWM value.",
            "friendlyEdit": true,
            "param1": {
                "label":            "Servo",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "PWM",
                "default":          1500,
                "decimalPlaces":    0
            }
        },
        {
            "id":           184,
            "rawName":      "MAV_CMD_DO_REPEAT_SERVO",
            "friendlyName": "Cycle servo",
            "description":  "Set servo to specified PWM value.",
            "param1": {
                "label":            "Servo",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "PWM",
                "default":          1000,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Cycles",
                "default":          1,
                "units":            "count",
                "decimalPlaces":    0
            },
            "param4": {
                "label":            "Time",
                "default":          10,
                "units":            "secs",
                "decimalPlaces":    0
            }
        },
        { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "Flight termination" },
        {
            "id":                   189,
            "rawName":              "MAV_CMD_DO_LAND_START",
            "friendlyName":         "Land start",
            "description":          "Marker to indicate start of landing sequence.",
            "friendlyEdit":         true,
            "category":             "Flight control"
        },
        { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "Rally land" },
        { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "Go around" },
        { "id": 192, "rawName": "MAV_CMD_DO_REPOSITION", "friendlyName": "Reposition" },
        { "id": 193, "rawName": "MAV_CMD_DO_PAUSE_CONTINUE", "friendlyName": "Pause/Continue" },
        {
            "id":                   194,
            "rawName":              "MAV_CMD_DO_SET_REVERSE",
            "friendlyName":         "Set moving direction" ,
            "description":          "Set moving direction to forward or reverse.",
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Direction",
                "enumStrings":      "Forward,Reverse",
                "enumValues":       "0,1",
                "default":          0
            }
        },
        { "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "Control video" },
        {
            "id":                   201,
            "rawName":              "MAV_CMD_DO_SET_ROI",
            "friendlyName":         "Region of interest (cmd)" ,
            "description":          "Sets the region of interest for cameras.",
            "specifiesCoordinate":  true,
            "standaloneCoordinate": true,
            "friendlyEdit":         true,
            "category":             "Camera",
            "param1": {
                "label":            "Mode",
                "enumStrings":      "None,Next waypoint,Mission item,Location,ROI item",
                "enumValues":       "0,1,2,3,4",
                "default":          3,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Mission Index",
                "default":          0,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "ROI Index",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           202,
            "rawName":      "MAV_CMD_DO_DIGICAM_CONFIGURE",
            "friendlyName": "Camera config",
            "description":  "Configure onboard camera controller.",
            "category":     "Camera",
            "param1": {
                "label":            "Mode",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Shutter spd",
                "default":          60,
                "units":            "1/secs",
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Aperture",
                "default":          4,
                "units":            "F stop",
                "decimalPlaces":    1
            },
            "param4": {
                "label":            "ISO",
                "default":          200,
                "decimalPlaces":    0
            },
            "param5": {
                "label":            "Exposure",
                "default":          0,
                "decimalPlaces":    0
            },
            "param6": {
                "label":            "Command",
                "default":          0,
                "decimalPlaces":    0
            },
            "param7": {
                "label":            "Cut off",
                "default":          0,
                "decimalPlaces":    2
            }
        },
        {
            "id":           203,
            "friendlyName": "Camera control",
            "rawName":      "MAV_CMD_DO_DIGICAM_CONTROL",
            "description":  "Control onboard camera.",
            "category":     "Camera",
            "param1": {
                "label":            "Session",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Zoom",
                "default":          0,
                "decimalPlaces":    3
            },
            "param3": {
                "label":            "Step",
                "default":          0,
                "decimalPlaces":    3
            },
            "param4": {
                "label":            "Focus lock",
                "default":          0,
                "decimalPlaces":    0
            },
            "param5": {
                "label":            "Command",
                "default":          0,
                "decimalPlaces":    0
            },
            "param6": {
                "label":            "Id",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           204,
            "rawName":      "MAV_CMD_DO_MOUNT_CONFIGURE",
            "friendlyName": "Configure Mount",
            "description":  "Configure the vehicle mount (e.g. gimbal).",
            "category":     "Advanced",
            "param1": {
                "label":            "Mode",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
                "enumValues":       "0,1,2,3,4"
            },
            "param2": {
                "label":            "Stabilize Roll",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            },
            "param3": {
                "label":            "Stabilize Pitch",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            },
            "param4": {
                "label":            "Stabilize Yaw",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "No,Yes",
                "enumValues":       "0,1"
            }
        },
        {
            "id":           205,
            "rawName":      "MAV_CMD_DO_MOUNT_CONTROL",
            "friendlyName": "Control Mount",
            "description":  "Control the vehicle mount (e.g. gimbal).",
            "category":     "Advanced",
            "param1": {
                "label":            "Lat/Pitch",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    7
            },
            "param2": {
                "label":            "Lon/Roll",
                "default":          0,
                "units":            "deg",
                "decimalPlaces":    7
            },
            "param3": {
                "label":            "Alt/Yaw",
                "default":          0,
                "decimalPlaces":    7
            },
            "param7": {
                "label":            "Mode",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "Retract,Neutral,Mavlink Targeting,RC Targeting,GPS Point",
                "enumValues":       "0,1,2,3,4"
            }
        },
        {
            "id":                   206,
            "rawName":              "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
            "friendlyName":         "Camera trigger distance",
            "description":          "Set camera trigger distance.",
            "category":             "Camera",
            "param1": {
                "label":            "Distance",
                "default":          25,
                "units":            "m",
                "decimalPlaces":    2
            }
        },
        {
            "id":                   207,
            "rawName":              "MAV_CMD_DO_FENCE_ENABLE",
            "friendlyName":         "Enable geofence",
            "description":          "Enable/Disable geofence.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Safety",
            "param1": {
                "label":            "Enable",
                "enumStrings":      "Disable,Disable floor only,Enable",
                "enumValues":       "0,2,1",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        {
            "id":                   208,
            "rawName":              "MAV_CMD_DO_PARACHUTE",
            "friendlyName":         "Trigger parachute",
            "description":          "Enable/Disable geofence.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Safety",
            "param1": {
                "label":            "Trigger",
                "enumStrings":      "Disable,Enable,Release",
                "enumValues":       "0,1,2",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "Motor test" },
        {
            "id":                   210,
            "rawName":              "MAV_CMD_DO_INVERTED_FLIGHT",
            "friendlyName":         "Inverted flight",
            "description":          "Change to/from inverted flight.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Flight control",
            "param1": {
                "label":            "Inverted",
                "enumStrings":      "Normal,Inverted",
                "enumValues":       "0,1",
                "default":          0
            }
        },
        {
            "id":                   211,
            "rawName":              "MAV_CMD_DO_GRIPPER",
            "friendlyName":         "Gripper",
            "description":          "Operate EPM gripper.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param1": {
                "label":            "Gripper id",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Action",
                "enumStrings":      "Release,Grab",
                "enumValues":       "0,1",
                "default":          0
            }
        },
        {
            "id":                   212,
            "rawName":              "MAV_CMD_DO_AUTOTUNE_ENABLE",
            "friendlyName":         "AutoTune Enable",
            "description":          "AutoTune Enable.",
            "specifiesCoordinate":  false,
            "friendlyEdit":         true,
            "category":             "Advanced",
            "param2": {
                "label":            "Enable",
                "enumStrings":      "Enable,Disable",
                "enumValues":       "1,0",
                "default":          1
            }
        },
        { "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
        { "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER" },
        {
            "id":           222,
            "rawName":      "MAV_CMD_DO_GUIDED_LIMITS",
            "friendlyName": "Guided limits",
            "description":  "Set limits for external control",
            "param1": {
                "label":            "Timeout",
                "default":          0,
                "units":            "secs",
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Min Alt",
                "default":          25,
                "units":            "m",
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "Max Alt",
                "units":            "m",
                "default":          100,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "H Limit",
                "default":          25,
                "units":            "m",
                "decimalPlaces":    2
            }
        },
        { "id": 241, "rawName": "MAV_CMD_PREFLIGHT_CALIBRATION", "friendlyName": "Calibration" },
        { "id": 242, "rawName": "MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", "friendlyName": "Set sensor offsets" },
        { "id": 243, "rawName": "MAV_CMD_PREFLIGHT_UAVCAN", "friendlyName": "UAVCAN configure" },
        { "id": 245, "rawName": "MAV_CMD_PREFLIGHT_STORAGE", "friendlyName": "Store parameters" },
        { "id": 246, "rawName": "MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", "friendlyName": "Reboot/Shutdown vehicle" },
        { "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "Override goto" },
        { "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "Mission start" },
        { "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "Arm/Disarm" },
        { "id": 410, "rawName": "MAV_CMD_GET_HOME_POSITION", "friendlyName": "Get home position" },
        { "id": 500, "rawName": "MAV_CMD_START_RX_PAIR", "friendlyName": "Bind Spektrum receiver" },
        { "id": 510, "rawName": "MAV_CMD_GET_MESSAGE_INTERVAL", "friendlyName": "Get message interval" },
        { "id": 511, "rawName": "MAV_CMD_SET_MESSAGE_INTERVAL", "friendlyName": "Set message interval" },
        { "id": 520, "rawName": "MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES", "friendlyName": "Get capabilities" },
        {
            "id":           530,
            "rawName":      "MAV_CMD_SET_CAMERA_MODE",
            "friendlyName": "Set camera modes" ,
            "description":  "Set camera photo, video, audio modes.",
            "category":     "Camera",
            "param1": {
                "label":            "Camera id",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Mode",
                "enumStrings":      "Take photos,Record video",
                "enumValues":       "0,1",
                "default":          0
            },
            "param3": {
                "label":            "Audio",
                "enumStrings":      "Recording disabled,Recording enabled",
                "enumValues":       "0,1",
                "default":          0
            }
        },
        {
            "id":           2000,
            "rawName":      "MAV_CMD_IMAGE_START_CAPTURE",
            "friendlyName": "Start image capture" ,
            "description":  "Start taking one or more photos.",
            "category":     "Camera",
            "param1": {
                "label":            "Camera id",
                "default":          0,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Interval",
                "default":          0,
                "units":            "secs",
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Photo count",
                "default":          1,
                "decimalPlaces":    0
            }
        },
        {
            "id": 2001,
            "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE",
            "friendlyName": "Stop image capture",
            "description":  "Stop taking photos.",
            "category":     "Camera",
            "param1": {
                "label":            "Camera id",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        { "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "Trigger control" },
        {
            "id":           2500,
            "rawName":      "MAV_CMD_VIDEO_START_CAPTURE",
            "friendlyName": "Start video capture",
            "description":  "Start video capture.",
            "category":     "Camera",
            "param1": {
                "label":            "Camera id",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           2501,
            "rawName":      "MAV_CMD_VIDEO_STOP_CAPTURE",
            "friendlyName": "Stop video capture",
            "description":  "Stop video capture.",
            "category":     "Camera",
            "param1": {
                "label":            "Camera id",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        { "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "Create panorama" },
        {
            "id": 3000,
            "rawName":      "MAV_CMD_DO_VTOL_TRANSITION",
            "friendlyName": "VTOL Transition",
            "description":  "Perform flight mode transition.",
            "category":     "VTOL",
            "param1": {
                "label":            "Mode",
                "default":          3,
                "enumStrings":      "Hover Mode,Plane Mode",
                "enumValues":       "3,4"
            }
        },
        { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "Payload prepare deploy" },
        { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "Payload control deploy" }
    ]
}