{
    "version": 1,

    "mavCmdInfo": [
        {
            "comment":              "MAV_CMD_NAV_LAST: Used for fake home position waypoint",
            "id":                   95,
            "rawName":              "HomeRaw",
            "friendlyName":         "Home",
            "description":          "Home Position",
            "description":          "Home Position",
            "specifiesCoordinate":  true,
            "friendlyEdit":         true
        },
        {
            "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":            "seconds",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "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":             "Basic",
            "param3": {
                "label":            "Radius:",
                "units":            "meters",
                "default":          10.0,
                "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":             "Basic",
            "param1": {
                "label":            "Turns:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius:",
                "units":            "meters",
                "default":          10.0,
                "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":             "Basic",
            "param1": {
                "label":            "Hold:",
                "units":            "seconds",
                "default":          30,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Radius:",
                "units":            "meters",
                "default":          10.0,
                "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":            "meters",
                "default":          25.0,
                "decimalPlaces":    3
            },
            "param4": {
                "label":            "Heading:",
                "units":            "degreesConvert",
                "default":          0.0,
                "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":            "degreesConvert",
                "default":          0.26179939,
                "decimalPlaces":    2
            },
            "param4": {
                "label":            "Heading:",
                "units":            "degreesConvert",
                "default":          0.0,
                "decimalPlaces":    2
            }
        },
        { "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" },
        { "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" },
        { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
        { "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" },
        { "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" },
        {
            "id":                   80,
            "rawName":              "MAV_CMD_NAV_ROI",
            "friendlyName":         "Region of interest (nav)",
            "description":          "Sets the region of interest for cameras.",
            "specifiesCoordinate":  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": "MAV_CMD_NAV_PATHPLANNING" },
        { "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" },
        { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
        {
            "id":           92,
            "rawName":      "MAV_CMD_NAV_GUIDED_ENABLE",
            "friendlyName": "Guided enable",
            "description":  "Enable/Disabled guided mode.",
            "param1": {
                "label":            "Enable:",
                "default":          1,
                "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":            "seconds",
                "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",
            "param1": {
                "label":            "Rate:",
                "units":            "m/s",
                "default":          5,
                "decimalPlaces":    2
            },
            "param7": {
                "label":            "Altitude:",
                "units":            "meters",
                "default":          55,
                "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":            "meters",
                "default":          0,
                "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":            "degrees",
                "default":          0,
                "decimalPlaces":    1
            },
            "param2": {
                "label":            "Rate:",
                "units":            "degrees/s",
                "default":          5,
                "decimalPlaces":    1
            },
            "param3": {
                "label":            "Direction:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param3": {
                "label":            "Offset:",
                "enumStrings":      "Relative,Absolute",
                "enumValues":       "1,0",
                "default":          5
            }
        },
        { "id": 159, "rawName": "MAV_CMD_CONDITION_LAST", "friendlyName": "MAV_CMD_CONDITION_LAST" },
        { "id": 176, "rawName": "MAV_CMD_DO_SET_MODE", "friendlyName": "MAV_CMD_DO_SET_MODE" },
        {
            "id":           177,
            "rawName":      "MAV_CMD_DO_JUMP",
            "friendlyName": "Jump to item",
            "description":  "Mission will continue at the specified item.",
            "friendlyEdit": true,
            "category":     "Basic",
            "param1": {
                "label":            "Item #:",
                "default":          1,
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Repeat:",
                "default":          0,
                "decimalPlaces":    0
            }
        },
        {
            "id":           178,
            "rawName":      "MAV_CMD_DO_CHANGE_SPEED",
            "friendlyName": "Change speed",
            "description":  "Change speed and/or throttle set points.",
            "param1": {
                "label":            "Type:",
                "enumStrings":      "Airspeed,Ground Speed",
                "enumValues":       "0,1",
                "default":          1
            },
            "param2": {
                "label":            "Speed:",
                "units":            "m/s",
                "default":          -1
            },
            "param3": {
                "label":            "Throttle:",
                "units":            "%",
                "default":          -1
            }
        },
        { "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" },
        { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_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":            "seconds",
                "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":          1000,
                "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":            "seconds",
                "decimalPlaces":    0
            }
        },
        { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
        { "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" },
        { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" },
        { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" },
        { "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_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,
            "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": "MAV_CMD_DO_MOUNT_CONFIGURE" },
        {
            "id":           205,
            "rawName":      "MAV_CMD_DO_MOUNT_CONTROL",
            "friendlyName": "Mount config",
            "description":  "Control antenna mount or camera.",
            "category":     "Camera",
            "param1": {
                "label":            "Lat/Pitch:",
                "default":          0,
                "decimalPlaces":    7
            },
            "param2": {
                "label":            "Lon/Roll:",
                "default":          0,
                "decimalPlaces":    7
            },
            "param3": {
                "label":            "Alt/Yaw:",
                "default":          0,
                "decimalPlaces":    7
            },
            "param7": {
                "label":            "Mode:",
                "default":          0,
                "decimalPlaces":    0,
                "enumStrings":      "Retract,Neutral,Mavlink Targetting,RC Targetting, 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":            "meters",
                "decimalPlaces":    2
            }
        },
        { "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" },
        { "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" },
        { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" },
        { "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" },
        { "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
        { "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" },
        {
            "id":           222,
            "rawName":      "MAV_CMD_DO_GUIDED_LIMITS",
            "friendlyName": "Exetrnal control limits",
            "description":  "Set limits for external control",
            "param1": {
                "label":            "Timeout:",
                "default":          0,
                "units":            "seconds",
                "decimalPlaces":    0
            },
            "param2": {
                "label":            "Min Alt:",
                "default":          25,
                "units":            "m(AMSL)",
                "decimalPlaces":    2
            },
            "param3": {
                "label":            "Max Alt:",
                "default":          100,
                "decimalPlaces":    7
            },
            "param4": {
                "label":            "H Limit:",
                "default":          25,
                "units":            "m(AMSL)",
                "decimalPlaces":    2
            }
        },
        { "id": 252, "rawName": "MAV_CMD_OVERRIDE_GOTO", "friendlyName": "MAV_CMD_OVERRIDE_GOTO" },
        { "id": 300, "rawName": "MAV_CMD_MISSION_START", "friendlyName": "MAV_CMD_MISSION_START" },
        { "id": 400, "rawName": "MAV_CMD_COMPONENT_ARM_DISARM", "friendlyName": "MAV_CMD_COMPONENT_ARM_DISARM" },
        { "id": 2000, "rawName": "MAV_CMD_IMAGE_START_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_START_CAPTURE" },
        { "id": 2001, "rawName": "MAV_CMD_IMAGE_STOP_CAPTURE", "friendlyName": "MAV_CMD_IMAGE_STOP_CAPTURE" },
        { "id": 2003, "rawName": "MAV_CMD_DO_TRIGGER_CONTROL", "friendlyName": "MAV_CMD_DO_TRIGGER_CONTROL" },
        { "id": 2500, "rawName": "MAV_CMD_VIDEO_START_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_START_CAPTURE" },
        { "id": 2501, "rawName": "MAV_CMD_VIDEO_STOP_CAPTURE", "friendlyName": "MAV_CMD_VIDEO_STOP_CAPTURE" },
        { "id": 2800, "rawName": "MAV_CMD_PANORAMA_CREATE", "friendlyName": "MAV_CMD_PANORAMA_CREATE" },
        { "id": 3000, "rawName": "MAV_CMD_DO_VTOL_TRANSITION", "friendlyName": "MAV_CMD_DO_VTOL_TRANSITION" },
        { "id": 30001, "rawName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_PREPARE_DEPLOY" },
        { "id": 30002, "rawName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY", "friendlyName": "MAV_CMD_PAYLOAD_CONTROL_DEPLOY" }
    ]
}