'''
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 # 

# 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_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_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_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 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))
            
