From 0bd28959278aeb5c6df0b888dcaf5dc84c25ac9b Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 10:27:13 +1100
Subject: [PATCH 01/34] sort javadocs

---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index 7a1f55e..1b3b305 100644
--- a/pom.xml
+++ b/pom.xml
@@ -23,7 +23,7 @@
     <modelVersion>4.0.0</modelVersion>
     <groupId>io.mapsmessaging</groupId>
     <artifactId>mavlink</artifactId>
-    <version>1.0.0</version>
+    <version>1.0.1-SNAPSHOT</version>
     <packaging>jar</packaging>
 
     <name>Mavlink parser, message formatter and schema</name>

From ece0418974c39ce42ace5e4d635927cce976b4f6 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 10:29:25 +1100
Subject: [PATCH 02/34] fix read me

---
 README.md | 75 ++++++++++++++++++++++++++++++++++++++-----------------
 1 file changed, 52 insertions(+), 23 deletions(-)

diff --git a/README.md b/README.md
index be7862e..2fb3d62 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,33 @@
 # MAVLink Payload Codec (Java)
 
-This repository provides a lightweight, schema-driven MAVLink payload
+This repository provides a lightweight, schema-driven MAVLink **payload**
 encoder and decoder for Java.
 
-It parses MAVLink XML dialects (including `<include>` handling), compiles
-message definitions, and provides fast, thread-safe encoding and decoding
-of MAVLink message **payloads**.
+It parses MAVLink XML dialects (including `{@code <include>}` handling),
+compiles message definitions, and provides fast, thread-safe encoding and
+decoding of MAVLink message **payloads only**.
 
-This library is intentionally limited in scope.
+This library is intentionally limited in scope and designed to be composed
+into larger MAVLink-capable systems.
 
+---
 
-## Scope (Important)
+## Scope (Read This First)
 
 This library operates **only on MAVLink message payloads**.
 
-It does **not**:
+It **does**:
+
+- Parse MAVLink XML dialects
+- Compile message definitions into an immutable registry
+- Encode Java field maps into MAVLink payload bytes
+- Decode MAVLink payload bytes into typed field maps
+- Correctly handle MAVLink field ordering, arrays, enums, and extensions
+
+It **does not**:
 
 - Parse or generate MAVLink v1/v2 frames
-- Handle headers, CRCs, signing, or message framing
+- Handle headers, CRCs, signing, or framing
 - Manage system IDs, component IDs, or sequence numbers
 - Implement any transport (UART, UDP, TCP, etc.)
 
@@ -25,10 +35,11 @@ If you need a full MAVLink stack, this library is not it.
 
 This library is designed to sit **under** a framing and transport layer.
 
+---
 
 ## Features
 
-- MAVLink XML dialect parsing with `<include>` support
+- MAVLink XML dialect parsing with `{@code <include>}` support
 - Canonical dialect compilation (e.g. `common.xml`)
 - Immutable, thread-safe compiled registries
 - Correct MAVLink field ordering and packing rules
@@ -38,6 +49,7 @@ This library is designed to sit **under** a framing and transport layer.
 - Safe failure on invalid or truncated payloads
 - No shared mutable state at runtime
 
+---
 
 ## Getting Started
 
@@ -51,6 +63,9 @@ MavlinkCodec codec =
     loader.getDialectOrThrow("common");
 ```
 
+The built-in `common` dialect is loaded eagerly and is always available.
+
+---
 
 ## Encoding a Payload
 
@@ -70,6 +85,7 @@ Map<String, Object> values = Map.of(
 byte[] payload = codec.encodePayload(1, values);
 ```
 
+---
 
 ## Decoding a Payload
 
@@ -80,6 +96,10 @@ Map<String, Object> decoded =
 int load = (int) decoded.get("load");
 ```
 
+Field values are returned using standard Java types based on the MAVLink
+message definition.
+
+---
 
 ## Loading Custom Dialects
 
@@ -92,8 +112,11 @@ try (InputStream xml = Files.newInputStream(Path.of("custom.xml"))) {
 }
 ```
 
-Dialects are compiled once and cached by name.
+- Dialects are compiled once
+- Compiled codecs are cached by name
+- Subsequent lookups are lock-free
 
+---
 
 ## Thread Safety
 
@@ -107,16 +130,20 @@ A single codec instance may be safely:
 - Cached globally
 - Used in high-throughput systems
 
+---
 
 ## Error Handling
 
-- Unknown message IDs result in `IOException`
-- Invalid field types result in `IOException`
-- Invalid enum values result in `IOException`
-- Truncated or malformed payloads result in `IOException`
+All parsing and encoding errors are reported explicitly:
+
+- Unknown message IDs → `IOException`
+- Invalid field types → `IOException`
+- Invalid enum values → `IOException`
+- Truncated or malformed payloads → `IOException`
 
-No unchecked exceptions escape parsing paths.
+No unchecked exceptions escape payload encode/decode paths.
 
+---
 
 ## Design Philosophy
 
@@ -126,13 +153,7 @@ No unchecked exceptions escape parsing paths.
 - Explicit errors over silent failure
 - Practical MAVLink usage, not theoretical completeness
 
-
-## License
-
-Apache License 2.0
-
-See the `LICENSE` file for details.
-
+---
 
 ## Intended Users
 
@@ -143,5 +164,13 @@ This library is intended for:
 - Telemetry ingestion pipelines
 - MAVLink-aware tooling that does not want transport coupling
 
-If you want a full MAVLink stack, use something else.
+If you want a full MAVLink stack, use something else.  
 If you want a clean, deterministic payload codec, this is it.
+
+---
+
+## License
+
+Apache License 2.0
+
+See the `LICENSE` file for details.

From 1997aae6b56027b88c13f9ca06b8f8dac659089f Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 14:38:45 +1100
Subject: [PATCH 03/34] simply unpack the framing

---
 README.md                                     |  6 +--
 .../mavlink/MavlinkFrameCodec.java            | 31 ++++++++++++++
 .../mavlink/MavlinkFrameEnvelope.java         | 40 +++++++++++++++++++
 3 files changed, 74 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java

diff --git a/README.md b/README.md
index 2fb3d62..fcae0d7 100644
--- a/README.md
+++ b/README.md
@@ -26,12 +26,11 @@ It **does**:
 
 It **does not**:
 
-- Parse or generate MAVLink v1/v2 frames
-- Handle headers, CRCs, signing, or framing
 - Manage system IDs, component IDs, or sequence numbers
 - Implement any transport (UART, UDP, TCP, etc.)
 
-If you need a full MAVLink stack, this library is not it.
+Frame parsing, CRC handling, and framing are provided by the framework layer
+built on top of this codec.
 
 This library is designed to sit **under** a framing and transport layer.
 
@@ -174,3 +173,4 @@ If you want a clean, deterministic payload codec, this is it.
 Apache License 2.0
 
 See the `LICENSE` file for details.
+
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
index ba7b761..b189a42 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
@@ -103,6 +103,37 @@ public Optional<MavlinkFrame> tryUnpackFrame(ByteBuffer networkOwnedBuffer) {
     return framer.tryDecode(networkOwnedBuffer);
   }
 
+  /**
+   * Attempts to decode a single MAVLink frame and returns header + raw payload bytes only.
+   *
+   * <p>This does NOT decode payload fields. It is intended for routing decisions based on header metadata.</p>
+   *
+   * @param networkOwnedBuffer network buffer in write-mode (may be flipped/compacted internally)
+   * @return envelope containing header fields + raw payload bytes if a complete valid frame is available
+   */
+  public Optional<MavlinkFrameEnvelope> tryUnpackHeaderAndPayload(ByteBuffer networkOwnedBuffer) {
+    Optional<MavlinkFrame> decoded = framer.tryDecode(networkOwnedBuffer);
+    if (decoded.isEmpty()) {
+      return Optional.empty();
+    }
+
+    MavlinkFrame frame = decoded.get();
+    byte[] payload = Objects.requireNonNull(frame.getPayload(), "frame.payload");
+
+    MavlinkFrameEnvelope envelope = new MavlinkFrameEnvelope(
+        frame.getVersion(),
+        frame.getMessageId(),
+        frame.getSystemId(),
+        frame.getComponentId(),
+        frame.getSequence(),
+        frame.getPayloadLength(),
+        payload,
+        frame.isSigned()
+    );
+
+    return Optional.of(envelope);
+  }
+
   /**
    * Packs a MAVLink frame into the provided output buffer at its current position.
    *
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
new file mode 100644
index 0000000..7ce1fa6
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
@@ -0,0 +1,40 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ *
+ */
+
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import lombok.Value;
+
+@Value
+public class MavlinkFrameEnvelope {
+
+  MavlinkVersion version;
+  int messageId;
+
+  int systemId;
+  int componentId;
+  int sequence;
+
+  int payloadLength;
+  byte[] payload;
+
+  boolean signed;
+}

From dc98e972a533e6ff9f10aa5e54c949292ea200aa Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 14:41:28 +1100
Subject: [PATCH 04/34] clean code

---
 .../java/io/mapsmessaging/mavlink/MavlinkCodec.java   |  3 ++-
 .../io/mapsmessaging/mavlink/MavlinkFrameCodec.java   |  2 +-
 .../mavlink/MavlinkMessageFormatLoader.java           | 11 ++++-------
 .../mavlink/framing/MavlinkFramePacker.java           |  6 ++----
 .../mavlink/message/MavlinkMessageRegistry.java       |  1 -
 .../mavlink/message/fields/ArrayFieldCodec.java       |  1 -
 .../parser/ClasspathMavlinkIncludeResolver.java       |  3 ++-
 7 files changed, 11 insertions(+), 16 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
index b34d154..41737b3 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
@@ -3,10 +3,11 @@
 import io.mapsmessaging.mavlink.codec.MavlinkPayloadPacker;
 import io.mapsmessaging.mavlink.codec.MavlinkPayloadParser;
 import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import lombok.Getter;
+
 import java.io.IOException;
 import java.util.Map;
 import java.util.Objects;
-import lombok.Getter;
 /**
  * MAVLink payload codec for a specific dialect.
  *
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
index b189a42..6a8be74 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
@@ -23,9 +23,9 @@
 import io.mapsmessaging.mavlink.framing.MavlinkDialectRegistry;
 import io.mapsmessaging.mavlink.framing.MavlinkFrameFramer;
 import io.mapsmessaging.mavlink.framing.MavlinkFramePacker;
+import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
 import io.mapsmessaging.mavlink.message.MavlinkFrame;
 import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
 import io.mapsmessaging.mavlink.message.MavlinkVersion;
 
 import java.io.IOException;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
index cf278a5..2d10e22 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
@@ -23,19 +23,16 @@
 import io.mapsmessaging.mavlink.codec.MavlinkPayloadPacker;
 import io.mapsmessaging.mavlink.codec.MavlinkPayloadParser;
 import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.parser.ClasspathMavlinkIncludeResolver;
-import io.mapsmessaging.mavlink.parser.MavlinkDialectDefinition;
-import io.mapsmessaging.mavlink.parser.MavlinkDialectLoader;
-import io.mapsmessaging.mavlink.parser.MavlinkIncludeResolver;
-import io.mapsmessaging.mavlink.parser.MavlinkXmlParser;
+import io.mapsmessaging.mavlink.parser.*;
+import org.xml.sax.SAXException;
+
+import javax.xml.parsers.ParserConfigurationException;
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
 import java.util.concurrent.ConcurrentHashMap;
-import javax.xml.parsers.ParserConfigurationException;
-import org.xml.sax.SAXException;
 
 /**
  * Loads and caches MAVLink dialect definitions and builds {@link MavlinkCodec} instances for them.
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
index 403e42d..06f6ea4 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
@@ -122,10 +122,8 @@ private void packV2(ByteBuffer out, MavlinkFrame frame) {
     boolean signed = frame.isSigned();
     byte[] signature = frame.getSignature();
 
-    if (signed) {
-      if (signature == null || signature.length != V2_SIGNATURE_LENGTH) {
-        throw new IllegalArgumentException("Signed v2 frame must have signature[13]");
-      }
+    if (signed && signature == null || signature.length != V2_SIGNATURE_LENGTH) {
+      throw new IllegalArgumentException("Signed v2 frame must have signature[13]");
     }
 
     int required = 1 + MAVLINK_V2_HEADER_LENGTH + payloadLength + CRC_LENGTH + (signed ? V2_SIGNATURE_LENGTH : 0);
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
index f5176f9..79ae94c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
@@ -22,7 +22,6 @@
 import io.mapsmessaging.mavlink.message.fields.MavlinkFieldCodecFactory;
 import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
 import io.mapsmessaging.mavlink.parser.MavlinkDialectDefinition;
-import lombok.Data;
 import lombok.Getter;
 import lombok.Setter;
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
index bbd53f9..4ce6507 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
@@ -19,7 +19,6 @@
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
-import java.util.ArrayList;
 import java.util.List;
 
 public class ArrayFieldCodec extends AbstractMavlinkFieldCodec {
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
index 676784c..2356447 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
@@ -17,6 +17,7 @@
 
 package io.mapsmessaging.mavlink.parser;
 
+import java.io.File;
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.Objects;
@@ -33,7 +34,7 @@ public ClasspathMavlinkIncludeResolver(ClassLoader classLoader, String basePath)
 
   @Override
   public InputStream open(String includeName) throws IOException {
-    String path = basePath.endsWith("/") ? (basePath + includeName) : (basePath + "/" + includeName);
+    String path = basePath.endsWith("/") ? (basePath + includeName) : (basePath + File.separator + includeName);
     return classLoader.getResourceAsStream(path);
   }
 }

From ba5eb2ba724410592dd9407fd267f2eeceebd9b1 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 14:53:04 +1100
Subject: [PATCH 05/34] fix issue in cleanup

---
 .../io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
index 06f6ea4..ebfc106 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
@@ -122,7 +122,7 @@ private void packV2(ByteBuffer out, MavlinkFrame frame) {
     boolean signed = frame.isSigned();
     byte[] signature = frame.getSignature();
 
-    if (signed && signature == null || signature.length != V2_SIGNATURE_LENGTH) {
+    if (signed && (signature == null || signature.length != V2_SIGNATURE_LENGTH)) {
       throw new IllegalArgumentException("Signed v2 frame must have signature[13]");
     }
 

From e1b44a7e8c2fae79881fc7138b7186b3aafb8cd4 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 20:08:13 +1100
Subject: [PATCH 06/34] align the flip() with maps

---
 .../io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java    | 2 --
 .../mavlink/MavlinkFrameRoundTripAllMessagesTest.java           | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
index 48f9946..701f984 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
@@ -45,8 +45,6 @@ public MavlinkFrameFramer(MavlinkDialectRegistry dialectRegistry) {
   }
 
   public Optional<MavlinkFrame> tryDecode(ByteBuffer networkOwnedBuffer) {
-    networkOwnedBuffer.flip();
-
     try {
       if (!networkOwnedBuffer.hasRemaining()) {
         return Optional.empty();
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index dc9c32a..d420c47 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -64,7 +64,7 @@ private static void frameRoundTripForMessageV2(
 
     ByteBuffer networkOwned = ByteBuffer.allocate(out.remaining() + 16);
     networkOwned.put(out);
-
+    networkOwned.flip();
     Optional<MavlinkFrame> decodedOpt = frameCodec.tryUnpackFrame(networkOwned);
     assertTrue(decodedOpt.isPresent(), "Expected to decode a frame");
 

From 8f8aae313827eaeb730b487e20c2c4fd4e6b4851 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 20:29:16 +1100
Subject: [PATCH 07/34] fix crc

---
 .../mapsmessaging/mavlink/message/X25Crc.java | 30 +++++++++----------
 .../io/mapsmessaging/mavlink/X25CrcTest.java  |  2 +-
 2 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
index a3bee19..31384e5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
@@ -18,17 +18,14 @@
 package io.mapsmessaging.mavlink.message;
 
 /**
- * CRC-16/X.25 implementation.
- * <p>
+ * MAVLink CRC-16/X25 implementation.
+ *
  * Parameters:
- * Name   : X.25
  * Poly   : 0x1021 (reflected as 0x8408)
  * Init   : 0xFFFF
  * RefIn  : true
  * RefOut : true
- * XorOut : 0xFFFF
- * <p>
- * This matches the CRC used by MAVLink v1 and v2.
+ * XorOut : 0x0000  (IMPORTANT: MAVLink does NOT apply final XOR)
  */
 public final class X25Crc {
 
@@ -41,9 +38,6 @@ public X25Crc() {
     reset();
   }
 
-  /**
-   * Convenience one-shot calculation.
-   */
   public static int calculate(byte[] buffer, int offset, int length) {
     X25Crc crc = new X25Crc();
     crc.update(buffer, offset, length);
@@ -52,7 +46,7 @@ public static int calculate(byte[] buffer, int offset, int length) {
 
   public static int calculate(byte[] buffer) {
     if (buffer == null) {
-      return INITIAL_CRC ^ 0xFFFF;
+      return INITIAL_CRC;
     }
     return calculate(buffer, 0, buffer.length);
   }
@@ -68,6 +62,7 @@ public void update(byte value) {
   public void update(int value) {
     int data = value & 0xFF;
     currentCrc ^= data;
+
     for (int bitIndex = 0; bitIndex < 8; bitIndex++) {
       if ((currentCrc & 0x0001) != 0) {
         currentCrc = (currentCrc >>> 1) ^ POLYNOMIAL;
@@ -75,6 +70,8 @@ public void update(int value) {
         currentCrc = currentCrc >>> 1;
       }
     }
+
+    currentCrc = currentCrc & 0xFFFF;
   }
 
   public void update(byte[] buffer) {
@@ -88,6 +85,7 @@ public void update(byte[] buffer, int offset, int length) {
     if (buffer == null) {
       return;
     }
+
     int endIndex = offset + length;
     for (int index = offset; index < endIndex; index++) {
       update(buffer[index] & 0xFF);
@@ -95,19 +93,19 @@ public void update(byte[] buffer, int offset, int length) {
   }
 
   /**
-   * Returns the final CRC value (after applying XorOut).
+   * MAVLink final CRC (no xor-out).
    */
   public int getCrc() {
-    return currentCrc ^ 0xFFFF;
+    return currentCrc & 0xFFFF;
   }
 
-  /**
-   * Returns the final CRC as a 16-bit value (lower 16 bits).
-   */
   public short getCrcAsShort() {
-    return (short) (getCrc() & 0xFFFF);
+    return (short) (currentCrc & 0xFFFF);
   }
 
+  /**
+   * Same as getCrc(); kept for compatibility if callers used it.
+   */
   public int getRawCrc() {
     return currentCrc & 0xFFFF;
   }
diff --git a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
index 33e5e87..f126feb 100644
--- a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
@@ -38,7 +38,7 @@ void testKnownVector_123456789() {
     crc.update(data);
 
     int crcValue = crc.getCrc() & 0xFFFF;
-    assertEquals(0x906E, crcValue, "CRC-16/X.25 of '123456789' must be 0x906E");
+    assertEquals(0x6F91, crcValue, "CRC-16/X.25 of '123456789' must be 0x906E");
   }
 
   @Test

From 5e81a26aafcac3448e27a2a5d64fab238a85a699 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 21:03:28 +1100
Subject: [PATCH 08/34] compute the extra crc

---
 .../parser/MavlinkExtraCrcCalculator.java     | 49 +++++++++++++++++++
 .../mavlink/parser/MavlinkXmlParser.java      |  2 +
 .../io/mapsmessaging/mavlink/X25CrcTest.java  | 34 +++++++++++++
 3 files changed, 85 insertions(+)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java

diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
new file mode 100644
index 0000000..219eb10
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
@@ -0,0 +1,49 @@
+package io.mapsmessaging.mavlink.parser;
+
+import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
+import io.mapsmessaging.mavlink.message.X25Crc;
+import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+
+import java.nio.charset.StandardCharsets;
+import java.util.List;
+
+public final class MavlinkExtraCrcCalculator {
+
+  private MavlinkExtraCrcCalculator() {
+  }
+
+  public static int computeExtraCrc(MavlinkMessageDefinition messageDefinition) {
+    X25Crc crc = new X25Crc();
+    String messageName = messageDefinition.getName();
+    List<MavlinkFieldDefinition> wireOrderedFields = messageDefinition.getFields();
+    accumulateTokenWithSpace(crc, messageName);
+
+    for (MavlinkFieldDefinition field : wireOrderedFields) {
+      if (field.isExtension()) {
+        continue;
+      }
+
+      accumulateTokenWithSpace(crc, field.getType());
+      accumulateTokenWithSpace(crc, field.getName());
+
+      if (field.isArray()) {
+        crc.update(field.getArrayLength() & 0xFF);
+      }
+    }
+
+    int crc16 = crc.getCrc() & 0xFFFF;
+    return ((crc16 & 0xFF) ^ (crc16 >>> 8)) & 0xFF;
+  }
+
+  private static void accumulateTokenWithSpace(X25Crc crc, String token) {
+    if (token == null) {
+      return;
+    }
+
+    byte[] bytes = token.getBytes(StandardCharsets.US_ASCII);
+    for (byte value : bytes) {
+      crc.update(value);
+    }
+    crc.update((byte) ' ');
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
index b7c88cb..c251b16 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
@@ -199,6 +199,8 @@ private MavlinkMessageDefinition parseMessage(Element messageElement) {
     List<MavlinkFieldDefinition> fields = parseMessageFields(messageElement);
     messageDefinition.setXmlOrderedFields(fields);
 
+    int extraCrc = MavlinkExtraCrcCalculator.computeExtraCrc(messageDefinition);
+    messageDefinition.setExtraCrc(extraCrc);
     return messageDefinition;
   }
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
index f126feb..de4254f 100644
--- a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
@@ -23,6 +23,7 @@
 import io.mapsmessaging.mavlink.message.X25Crc;
 import org.junit.jupiter.api.Test;
 
+import java.nio.ByteBuffer;
 import java.nio.charset.StandardCharsets;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
@@ -41,6 +42,39 @@ void testKnownVector_123456789() {
     assertEquals(0x6F91, crcValue, "CRC-16/X.25 of '123456789' must be 0x906E");
   }
 
+  @Test
+  void testMavlink2FrameCrc_attitudeQuaternion_31() {
+    int[] signed = new int[] {
+        -3, 32, 0, 0, -56, 1, 1, 31, 0, 0,
+        24, 35, 27, 0, 126, 45, 42, 63, -11, -55, 33, 56, -13, 23, -48, -72, 83, 63, 63, 63, -58, 54, 67, -70, 122, 57, 32, -71, 77, -44, 43, -71,
+        75, -68
+    };
+
+
+
+    byte[] frame = new byte[signed.length];
+
+    for (int index = 0; index < signed.length; index++) {
+      frame[index] = (byte) signed[index];
+    }
+    int payloadLength = frame[1] & 0xFF;
+    assertEquals(32, payloadLength);
+    int receivedCrc = (frame[42] & 0xFF) | ((frame[43] & 0xFF) << 8);
+    assertEquals(0xBC4B, receivedCrc);
+
+    // MAVLink2 CRC input = bytes from LEN (index 1) through payload end (index 41), then CRC_EXTRA
+    int crcInputOffset = 1;
+    int crcInputLength = 9 + payloadLength; // LEN..MSGID(3) is 9 bytes, then payload
+    X25Crc crc = new X25Crc();
+    crc.update(frame, crcInputOffset, crcInputLength);
+
+    int crcExtra = 246; // MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC :contentReference[oaicite:1]{index=1}
+    crc.update(crcExtra);
+
+    int computed = crc.getCrc();
+    assertEquals(receivedCrc, computed, "Computed CRC must match the frame CRC");
+  }
+
   @Test
   void testHeartbeatExtraCrc() {
     // HEARTBEAT extra CRC is 50 (0x32) according to MAVLink tables.

From cacd50660f0854f7bc681267b376159ccc693847 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 4 Jan 2026 21:12:21 +1100
Subject: [PATCH 09/34] compute the extra crc

---
 .../mavlink/message/MavlinkCompiledMessage.java            | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
index 347b78f..18e013f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
@@ -31,7 +31,10 @@ public class MavlinkCompiledMessage {
   private List<MavlinkCompiledField> compiledFields;
   private int payloadSizeBytes;
   private int minimumPayloadSizeBytes;
-  private int crcExtra;
+
+  public int getCrcExtra(){
+    return messageDefinition.getExtraCrc();
+  }
 
   @Override
   public String toString() {
@@ -45,7 +48,7 @@ public String toString() {
         .append(", minPayloadSize=")
         .append(minimumPayloadSizeBytes)
         .append(", crcExtra=")
-        .append(crcExtra)
+        .append(messageDefinition.getExtraCrc())
         .append("]\n");
 
     for (MavlinkCompiledField compiledField : compiledFields) {

From e994a6c25a3105774648025bddb3e06ae4649ec1 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Mon, 5 Jan 2026 09:33:06 +1100
Subject: [PATCH 10/34] windows fails to load from the jar

---
 .../mavlink/parser/ClasspathMavlinkIncludeResolver.java         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
index 2356447..a35d47b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
@@ -34,7 +34,7 @@ public ClasspathMavlinkIncludeResolver(ClassLoader classLoader, String basePath)
 
   @Override
   public InputStream open(String includeName) throws IOException {
-    String path = basePath.endsWith("/") ? (basePath + includeName) : (basePath + File.separator + includeName);
+    String path = basePath.endsWith("/") ? (basePath + includeName) : (basePath + "/" + includeName);
     return classLoader.getResourceAsStream(path);
   }
 }

From 010a59097ce4ffb6e3396929fbb0d86f7421d7b0 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Mon, 5 Jan 2026 11:32:51 +1100
Subject: [PATCH 11/34] parse V1 correctly

---
 .../framing/MavlinkV1FrameHandler.java        |  8 +++----
 .../mavlink/parser/MavlinkXmlParser.java      |  3 ---
 .../mapsmessaging/mavlink/HeartbeatTest.java  | 22 +++++++++++++++++++
 3 files changed, 26 insertions(+), 7 deletions(-)
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java

diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
index fe2cd98..f98e0b8 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
@@ -39,7 +39,7 @@ public MavlinkV1FrameHandler(MavlinkDialectRegistry dialectRegistry) {
 
   @Override
   public int minimumBytesRequiredForHeader() {
-    return 1 + HEADER_LENGTH;
+    return HEADER_LENGTH;
   }
 
   @Override
@@ -49,7 +49,7 @@ public int peekPayloadLength(ByteBuffer buffer, int frameStartIndex) {
 
   @Override
   public int computeTotalFrameLength(ByteBuffer buffer, int frameStartIndex, int payloadLength) {
-    return 1 + HEADER_LENGTH + payloadLength + CRC_LENGTH;
+    return HEADER_LENGTH + payloadLength + CRC_LENGTH;
   }
 
   @Override
@@ -72,13 +72,13 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
       return Optional.empty();
     }
 
-    int payloadStartIndex = frameStartIndex + 1 + HEADER_LENGTH;
+    int payloadStartIndex = frameStartIndex + HEADER_LENGTH;
     int crcStartIndex = payloadStartIndex + payloadLength;
 
     int receivedChecksum = ByteBufferUtils.readUnsignedLittleEndianShort(candidateFrame, crcStartIndex);
 
     int crcExtra = dialectRegistry.crcExtra(MavlinkVersion.V1, messageId);
-    int computedChecksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex + 1, (HEADER_LENGTH-1) + payloadLength, crcExtra);
+    int computedChecksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex + 1, (HEADER_LENGTH) + payloadLength-1, crcExtra);
     if (computedChecksum != receivedChecksum) {
       return Optional.empty();
     }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
index c251b16..27813bd 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
@@ -198,9 +198,6 @@ private MavlinkMessageDefinition parseMessage(Element messageElement) {
 
     List<MavlinkFieldDefinition> fields = parseMessageFields(messageElement);
     messageDefinition.setXmlOrderedFields(fields);
-
-    int extraCrc = MavlinkExtraCrcCalculator.computeExtraCrc(messageDefinition);
-    messageDefinition.setExtraCrc(extraCrc);
     return messageDefinition;
   }
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
new file mode 100644
index 0000000..bbb8948
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
@@ -0,0 +1,22 @@
+package io.mapsmessaging.mavlink;
+
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+
+import java.nio.ByteBuffer;
+
+class HeartbeatTest {
+
+  @Test
+  void validateV1Heartbeat() throws Exception {
+    int[] load = new int[]{0xfe,0x09,0x81,0xff,0xbe,0x00,0x00,0x00,0x00,0x00,0x06,0x08,0xc0,0x04,0x03,0xa4,0xe2};
+    byte[] buffer = new byte[load.length];
+    for(int x=0;x<load.length;x++){
+      buffer[x] = (byte)load[x];
+    }
+    ByteBuffer input = ByteBuffer.wrap(buffer);
+    MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
+    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec);
+    Assertions.assertNotNull(frameCodec.tryUnpackFrame(input).get());
+  }
+}

From 8e9b32086fe4e8d337331cded8b9ab579587852f Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Mon, 5 Jan 2026 13:45:51 +1100
Subject: [PATCH 12/34] generate json schemas

---
 README.md                                     |   1 +
 pom.xml                                       |   8 +
 .../message/MavlinkMessageRegistry.java       |  12 ++
 .../message/fields/MavlinkWireType.java       |  11 ++
 .../schema/MavlinkJsonSchemaBuilder.java      | 138 ++++++++++++++++++
 ...avlinkPayloadJsonSchemaValidationTest.java |  78 ++++++++++
 6 files changed, 248 insertions(+)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java

diff --git a/README.md b/README.md
index fcae0d7..952de07 100644
--- a/README.md
+++ b/README.md
@@ -23,6 +23,7 @@ It **does**:
 - Encode Java field maps into MAVLink payload bytes
 - Decode MAVLink payload bytes into typed field maps
 - Correctly handle MAVLink field ordering, arrays, enums, and extensions
+- Creates JsonSchemas to match the fields that it parses to and from
 
 It **does not**:
 
diff --git a/pom.xml b/pom.xml
index 1b3b305..4b4585b 100644
--- a/pom.xml
+++ b/pom.xml
@@ -378,6 +378,14 @@
             <version>6.0.1</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.networknt</groupId>
+            <artifactId>json-schema-validator</artifactId>
+            <version>1.5.1</version>
+            <scope>test</scope>
+        </dependency>
+
+
     </dependencies>
 
 </project>
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
index 79ae94c..7b3db45 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
@@ -17,11 +17,13 @@
 
 package io.mapsmessaging.mavlink.message;
 
+import com.google.gson.JsonObject;
 import io.mapsmessaging.mavlink.message.fields.AbstractMavlinkFieldCodec;
 import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
 import io.mapsmessaging.mavlink.message.fields.MavlinkFieldCodecFactory;
 import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
 import io.mapsmessaging.mavlink.parser.MavlinkDialectDefinition;
+import io.mapsmessaging.mavlink.schema.MavlinkJsonSchemaBuilder;
 import lombok.Getter;
 import lombok.Setter;
 
@@ -39,22 +41,29 @@ public class MavlinkMessageRegistry {
 
   private Map<String, MavlinkEnumDefinition> enumsByName;
 
+  private Map<Integer, JsonObject> jsonSchema;
+
+
+
   public static MavlinkMessageRegistry fromDialectDefinition(MavlinkDialectDefinition dialectDefinition) {
     MavlinkMessageRegistry registry = new MavlinkMessageRegistry();
     registry.setDialectName(dialectDefinition.getName());
 
     List<MavlinkCompiledMessage> compiledMessageList = new ArrayList<>();
     Map<Integer, MavlinkCompiledMessage> compiledByIdMap = new HashMap<>();
+    Map<Integer, JsonObject> schemaMap = new HashMap<>();
 
     for (MavlinkMessageDefinition messageDefinition : dialectDefinition.getMessages()) {
       MavlinkCompiledMessage compiledMessage = compileMessage(messageDefinition);
       compiledMessageList.add(compiledMessage);
       compiledByIdMap.put(compiledMessage.getMessageId(), compiledMessage);
+      schemaMap.put(compiledMessage.getMessageId(), MavlinkJsonSchemaBuilder.buildSchema(compiledMessage, dialectDefinition.getEnumsByName()));
     }
 
     registry.setCompiledMessages(compiledMessageList);
     registry.setCompiledMessagesById(compiledByIdMap);
     registry.setEnumsByName(new HashMap<>(dialectDefinition.getEnumsByName()));
+    registry.setJsonSchema(schemaMap);
 
     return registry;
   }
@@ -71,6 +80,9 @@ private void setCompiledMessages(List<MavlinkCompiledMessage> compiledMessageLis
     this.compiledMessages = Collections.unmodifiableList(new ArrayList<>(compiledMessageList));
   }
 
+  private void setJsonSchema(Map<Integer, JsonObject> jsonSchemaMap ){
+    this.jsonSchema = Collections.unmodifiableMap(new HashMap<>(jsonSchemaMap));
+  }
 
   private static MavlinkCompiledMessage compileMessage(MavlinkMessageDefinition messageDefinition) {
     MavlinkCompiledMessage compiledMessage = new MavlinkCompiledMessage();
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
index 4bd830a..b7d5c18 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
@@ -75,4 +75,15 @@ public static MavlinkWireType fromXmlType(String xmlType) {
     };
   }
 
+  public boolean isChar(){
+    return wireName.equals("char");
+  }
+
+  public boolean isFloat(){
+    return wireName.equals("float");
+  }
+
+  public boolean isDouble(){
+    return wireName.equals("double");
+  }
 }
\ No newline at end of file
diff --git a/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java b/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
new file mode 100644
index 0000000..8f73a5d
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
@@ -0,0 +1,138 @@
+package io.mapsmessaging.mavlink.schema;
+
+import com.google.gson.JsonArray;
+import com.google.gson.JsonObject;
+import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
+import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
+import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.MavlinkEnumEntry;
+import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+
+import java.util.Map;
+
+public final class MavlinkJsonSchemaBuilder {
+
+  private MavlinkJsonSchemaBuilder() {
+  }
+
+  public static JsonObject buildSchema(
+      MavlinkCompiledMessage message,
+      Map<String, MavlinkEnumDefinition> enumsByName) {
+
+    JsonObject schema = new JsonObject();
+    schema.addProperty("$schema", "https://json-schema.org/draft/2020-12/schema");
+    schema.addProperty("title", message.getName());
+    schema.addProperty("type", "object");
+    schema.addProperty("description",
+        message.getMessageDefinition().getDescription());
+
+    JsonObject properties = new JsonObject();
+    JsonArray required = new JsonArray();
+
+    for (MavlinkCompiledField compiledField : message.getCompiledFields()) {
+      MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+
+      JsonObject fieldSchema = buildFieldSchema(field, enumsByName);
+      properties.add(field.getName(), fieldSchema);
+
+      if (!field.isExtension()) {
+        required.add(field.getName());
+      }
+    }
+
+    schema.add("properties", properties);
+    if (!required.isEmpty()) {
+      schema.add("required", required);
+    }
+
+    schema.addProperty("additionalProperties", false);
+    schema.addProperty("x-message-id", message.getMessageId());
+    schema.addProperty("x-crc-extra", message.getCrcExtra());
+
+    return schema;
+  }
+
+  private static JsonObject buildFieldSchema(
+      MavlinkFieldDefinition field,
+      Map<String, MavlinkEnumDefinition> enumsByName) {
+
+    JsonObject schema = new JsonObject();
+
+    if (field.getDescription() != null) {
+      schema.addProperty("description", field.getDescription());
+    }
+
+    MavlinkWireType wireType = field.getWireType();
+
+    // char[N] → string
+    if (field.isArray() && wireType.isChar()) {
+      schema.addProperty("type", "string");
+      schema.addProperty("maxLength", field.getArrayLength());
+      return schema;
+    }
+
+    // Arrays
+    if (field.isArray()) {
+      schema.addProperty("type", "array");
+      schema.addProperty("minItems", field.getArrayLength());
+      schema.addProperty("maxItems", field.getArrayLength());
+
+      JsonObject itemSchema = scalarSchema(field, enumsByName);
+      schema.add("items", itemSchema);
+      return schema;
+    }
+
+    // Scalar
+    return scalarSchema(field, enumsByName);
+  }
+
+  private static JsonObject scalarSchema(
+      MavlinkFieldDefinition field,
+      Map<String, MavlinkEnumDefinition> enumsByName) {
+
+    JsonObject schema = new JsonObject();
+    MavlinkWireType wireType = field.getWireType();
+
+    if (wireType.isFloat() || wireType.isDouble()) {
+      schema.addProperty("type", "number");
+    } else {
+      schema.addProperty("type", "integer");
+    }
+
+    if (field.getEnumName() != null) {
+      MavlinkEnumDefinition enumDef = enumsByName.get(field.getEnumName());
+      if (enumDef != null) {
+        applyEnum(schema, enumDef);
+      }
+    }
+
+    return schema;
+  }
+
+  private static void applyEnum(
+      JsonObject schema,
+      MavlinkEnumDefinition enumDef) {
+
+    schema.addProperty("x-enum-name", enumDef.getName());
+
+    if (enumDef.isBitmask()) {
+      schema.addProperty("description",
+          "Bitmask enum: " + enumDef.getName());
+      return;
+    }
+
+    JsonArray oneOf = new JsonArray();
+    for (MavlinkEnumEntry entry : enumDef.getEntries()) {
+      JsonObject option = new JsonObject();
+      option.addProperty("const", entry.getValue());
+      option.addProperty("title", entry.getName());
+      if (entry.getDescription() != null) {
+        option.addProperty("description", entry.getDescription());
+      }
+      oneOf.add(option);
+    }
+
+    schema.add("oneOf", oneOf);
+  }
+}
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
new file mode 100644
index 0000000..bca06dc
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
@@ -0,0 +1,78 @@
+package io.mapsmessaging.mavlink;
+
+
+import com.fasterxml.jackson.databind.JsonNode;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.google.gson.Gson;
+import com.google.gson.JsonObject;
+import com.networknt.schema.JsonSchema;
+import com.networknt.schema.JsonSchemaFactory;
+import com.networknt.schema.SpecVersion;
+import com.networknt.schema.ValidationMessage;
+import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
+import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import org.junit.jupiter.api.DynamicTest;
+import org.junit.jupiter.api.TestFactory;
+
+import java.util.Map;
+import java.util.Set;
+import java.util.stream.Stream;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class MavlinkPayloadJsonSchemaValidationTest extends BaseRoudTripTest {
+
+  private static final Gson GSON = new Gson();
+  private static final ObjectMapper OBJECT_MAPPER = new ObjectMapper();
+
+  @TestFactory
+  Stream<DynamicTest> allMessages_payload_toJson_validatesAgainstSchema() throws Exception {
+    MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
+    MavlinkMessageRegistry registry = payloadCodec.getRegistry();
+
+    return registry.getCompiledMessages().stream()
+        .map(msg -> DynamicTest.dynamicTest(
+            msg.getMessageId() + " " + msg.getName(),
+            () -> payloadToJsonValidates(payloadCodec, registry, msg)
+        ));
+  }
+
+  private static void payloadToJsonValidates(
+      MavlinkCodec payloadCodec,
+      MavlinkMessageRegistry registry,
+      MavlinkCompiledMessage msg
+  ) throws Exception {
+
+    Map<String, Object> values =
+        RandomValueFactory.buildValues(registry, msg, MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT, BASE_SEED);
+
+    byte[] payload = payloadCodec.encodePayload(msg.getMessageId(), values);
+    assertNotNull(payload);
+
+    Map<String, Object> parsed = payloadCodec.parsePayload(msg.getMessageId(), payload);
+    assertNotNull(parsed);
+
+    JsonObject jsonObject = GSON.toJsonTree(parsed).getAsJsonObject();
+
+    // Build schema for this message
+    JsonObject schemaObject =
+        io.mapsmessaging.mavlink.schema.MavlinkJsonSchemaBuilder.buildSchema(msg, registry.getEnumsByName());
+
+    JsonSchema schema = compileSchema(schemaObject);
+    Set<ValidationMessage> errors = schema.validate(toJsonNode(jsonObject));
+
+    assertTrue(errors.isEmpty(),
+        () -> "Schema validation failed for msgId=" + msg.getMessageId() + " " + msg.getName() + "\n" +
+            String.join("\n", errors.stream().map(ValidationMessage::getMessage).toList()));
+  }
+
+  private static JsonSchema compileSchema(JsonObject schemaObject) throws Exception {
+    JsonSchemaFactory factory = JsonSchemaFactory.getInstance(SpecVersion.VersionFlag.V202012);
+    JsonNode schemaNode = toJsonNode(schemaObject);
+    return factory.getSchema(schemaNode);
+  }
+
+  private static JsonNode toJsonNode(JsonObject gsonObject) throws Exception {
+    return OBJECT_MAPPER.readTree(GSON.toJson(gsonObject));
+  }
+}

From 0f984a2a2f09a1497cef9065f6c93c91cf20b313 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Mon, 5 Jan 2026 16:19:33 +1100
Subject: [PATCH 13/34] update copyright

---
 .../mapsmessaging/mavlink/MavlinkCodec.java   | 19 ++++++++++++++++
 .../mavlink/MavlinkFrameCodec.java            |  1 -
 .../mavlink/MavlinkFrameEnvelope.java         |  1 -
 .../mavlink/MavlinkMessageFormatLoader.java   |  1 -
 .../mavlink/codec/MavlinkFrameEncoder.java    | 22 ++++++++++---------
 .../mavlink/codec/MavlinkFrameFactory.java    | 22 ++++++++++---------
 .../mavlink/codec/MavlinkJsonCodec.java       | 22 ++++++++++---------
 .../codec/MavlinkJsonValuesExtractor.java     | 22 ++++++++++---------
 .../mavlink/codec/MavlinkMapConverter.java    | 22 ++++++++++---------
 .../mavlink/codec/MavlinkPayloadPacker.java   | 19 ++++++++++++++++
 .../mavlink/codec/MavlinkPayloadParser.java   |  3 +--
 .../mavlink/framing/ByteBufferUtils.java      | 22 ++++++++++---------
 .../mavlink/framing/CrcHelper.java            | 19 ++++++++++++++++
 .../framing/MavlinkDialectRegistry.java       | 22 ++++++++++---------
 .../mavlink/framing/MavlinkFrameDecoder.java  | 19 ++++++++++++++++
 .../mavlink/framing/MavlinkFrameFramer.java   | 22 ++++++++++---------
 .../mavlink/framing/MavlinkFrameHandler.java  | 22 ++++++++++---------
 .../mavlink/framing/MavlinkFramePacker.java   | 22 ++++++++++---------
 .../framing/MavlinkV1FrameHandler.java        | 22 ++++++++++---------
 .../framing/MavlinkV2FrameHandler.java        | 22 ++++++++++---------
 .../mavlink/message/MavlinkCompiledField.java | 22 ++++++++++---------
 .../message/MavlinkCompiledMessage.java       | 22 ++++++++++---------
 .../mavlink/message/MavlinkEnumResolver.java  | 22 ++++++++++---------
 .../mavlink/message/MavlinkFrame.java         | 22 ++++++++++---------
 .../mavlink/message/MavlinkFrameParser.java   | 22 ++++++++++---------
 .../message/MavlinkMessageDefinition.java     | 22 ++++++++++---------
 .../message/MavlinkMessageRegistry.java       | 22 ++++++++++---------
 .../mavlink/message/MavlinkVersion.java       | 22 ++++++++++---------
 .../mapsmessaging/mavlink/message/X25Crc.java | 22 ++++++++++---------
 .../fields/AbstractMavlinkFieldCodec.java     | 22 ++++++++++---------
 .../message/fields/ArrayFieldCodec.java       | 22 ++++++++++---------
 .../message/fields/CharFieldCodec.java        | 22 ++++++++++---------
 .../message/fields/DoubleFieldCodec.java      | 22 ++++++++++---------
 .../message/fields/FloatFieldCodec.java       | 22 ++++++++++---------
 .../message/fields/Int16FieldCodec.java       | 22 ++++++++++---------
 .../message/fields/Int32FieldCodec.java       | 22 ++++++++++---------
 .../message/fields/Int64FieldCodec.java       | 22 ++++++++++---------
 .../message/fields/Int8FieldCodec.java        | 22 ++++++++++---------
 .../message/fields/MavlinkEnumDefinition.java | 22 ++++++++++---------
 .../message/fields/MavlinkEnumEntry.java      | 22 ++++++++++---------
 .../fields/MavlinkFieldCodecFactory.java      | 22 ++++++++++---------
 .../fields/MavlinkFieldDefinition.java        | 22 ++++++++++---------
 .../message/fields/MavlinkWireType.java       | 22 ++++++++++---------
 .../message/fields/UInt16FieldCodec.java      | 22 ++++++++++---------
 .../message/fields/UInt32FieldCodec.java      | 22 ++++++++++---------
 .../message/fields/UInt64FieldCodec.java      | 22 ++++++++++---------
 .../message/fields/UInt8FieldCodec.java       | 22 ++++++++++---------
 .../ClasspathMavlinkIncludeResolver.java      | 22 ++++++++++---------
 .../parser/MavlinkDialectDefinition.java      |  3 +--
 .../mavlink/parser/MavlinkDialectLoader.java  | 22 ++++++++++---------
 .../parser/MavlinkExtraCrcCalculator.java     | 19 ++++++++++++++++
 .../parser/MavlinkIncludeResolver.java        | 22 ++++++++++---------
 .../mavlink/parser/MavlinkXmlParser.java      |  3 +--
 .../schema/MavlinkJsonSchemaBuilder.java      | 19 ++++++++++++++++
 .../mavlink/BaseRoudTripTest.java             | 19 ++++++++++++++++
 .../mapsmessaging/mavlink/HeartbeatTest.java  | 19 ++++++++++++++++
 .../MavlinkFrameRoundTripAllMessagesTest.java | 19 ++++++++++++++++
 ...avlinkPayloadJsonSchemaValidationTest.java | 19 ++++++++++++++++
 .../MavlinkRoundTripAllMessagesTest.java      | 19 ++++++++++++++++
 .../mavlink/MavlinkTestSupport.java           | 19 ++++++++++++++++
 .../mavlink/TestMavlinkCharArrays.java        | 19 ++++++++++++++++
 .../mavlink/TestMavlinkConcurrency.java       | 19 ++++++++++++++++
 .../mavlink/TestMavlinkExtensions.java        | 19 ++++++++++++++++
 .../mavlink/TestMavlinkNumericArrays.java     | 19 ++++++++++++++++
 .../TestMavlinkRegistryInvariants.java        | 19 ++++++++++++++++
 .../mavlink/TestMavlinkRobustness.java        | 19 ++++++++++++++++
 .../mavlink/TestMavlinkXmlParserIncludes.java | 19 ++++++++++++++++
 .../io/mapsmessaging/mavlink/X25CrcTest.java  |  3 +--
 68 files changed, 869 insertions(+), 431 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
index 41737b3..b3b5521 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.codec.MavlinkPayloadPacker;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
index 6a8be74..29198d6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
index 7ce1fa6..e96fbaa 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
index 2d10e22..1a8743e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java
index b25cb14..8969fa5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java
index cc41ccd..9a2bd6a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java
index b2d84bf..4ad7ea2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java
index 79ad817..ae5f2ab 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java
index 0d00fe8..a8ce233 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java
index d224fb6..349f7c2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink.codec;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
index dfee1df..40c97e2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
@@ -1,7 +1,7 @@
 /*
  *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2025 ] MapsMessaging B.V.
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
  *  Licensed under the Apache License, Version 2.0 with the Commons Clause
  *  (the "License"); you may not use this file except in compliance with the License.
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java b/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
index 48b0915..b9ea22f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java b/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
index eddc483..d3b3e36 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink.framing;
 
 import io.mapsmessaging.mavlink.message.X25Crc;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java
index 10c7df1..b3539e0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java
index 6132d1e..2bba84c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink.framing;
 
 import io.mapsmessaging.mavlink.message.MavlinkFrame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
index 701f984..4ca0880 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java
index 040f4f6..c22c656 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
index ebfc106..91fecbf 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
index f98e0b8..2003f23 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java
index 3715745..b9deea0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java
index 2a035da..24b6741 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
index 18e013f..268de60 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java
index 1c3f8cb..6c368d9 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
index 6e129ee..871ab2c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java
index a01113a..eb0b953 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java
index 7362e21..7d6f600 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
index 7b3db45..bb51cb5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java
index 3876e73..cbde5bb 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
index 31384e5..a92b2af 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
index 23d3bfc..c0738ee 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
index 4ce6507..c32ffb6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
index 8e40507..85ec564 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
index 1a84568..3c617ed 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
index 4b8242e..58af855 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
index 921de5d..8d4e9d2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
index deeea11..afdf39a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
index 7488a15..59e91df 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
index c6da4f4..e7e4e50 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java
index 8ca3f80..bdf3c29 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java
index 328f125..c7ee10d 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java
index 49e3f09..4e8cfe5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java
index 56ebde3..986fac3 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
index b7d5c18..5d1c02f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
index 845f357..a8193ff 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
index 64c2bdf..e8d0662 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
index 93dccf7..000206f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
index 7660301..90dae5e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
index a35d47b..98f5af0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java
index f4b7662..19c19c1 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java
@@ -1,7 +1,7 @@
 /*
  *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2025 ] MapsMessaging B.V.
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
  *  Licensed under the Apache License, Version 2.0 with the Commons Clause
  *  (the "License"); you may not use this file except in compliance with the License.
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java
index 6e87494..5630270 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
index 219eb10..c213134 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink.parser;
 
 import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java
index 3999eed..1bc0acf 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java
@@ -1,18 +1,20 @@
 /*
  *
- *     Copyright [ 2020 - 2026 ] [Matthew Buckton]
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
- *     Licensed under the Apache License, Version 2.0 (the "License");
- *     you may not use this file except in compliance with the License.
- *     You may obtain a copy of the License at
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
  *
- *         http://www.apache.org/licenses/LICENSE-2.0
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
  *
- *     Unless required by applicable law or agreed to in writing, software
- *     distributed under the License is distributed on an "AS IS" BASIS,
- *     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *     See the License for the specific language governing permissions and
- *     limitations under the License.
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
index 27813bd..519b3b7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
@@ -1,7 +1,7 @@
 /*
  *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2025 ] MapsMessaging B.V.
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
  *  Licensed under the Apache License, Version 2.0 with the Commons Clause
  *  (the "License"); you may not use this file except in compliance with the License.
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java b/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
index 8f73a5d..3379311 100644
--- a/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink.schema;
 
 import com.google.gson.JsonArray;
diff --git a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
index 6eef298..b544bed 100644
--- a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
index bbb8948..9943007 100644
--- a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import org.junit.jupiter.api.Assertions;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index d420c47..9963b40 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
index bca06dc..a3cfad9 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
index 090b204..9fc0f20 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
index 310237f..6093702 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
index aedfdf3..c0b1d74 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
index 392f6a7..9eb2f99 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import org.junit.jupiter.api.Test;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
index ea315e5..962d0ff 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
index 8a0eede..35f76bc 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
index 717ff7c..a7ce7a0 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
index 5f7dc27..0407489 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
index d27d1cd..90b3104 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
@@ -1,3 +1,22 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.parser.*;
diff --git a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
index de4254f..317fa73 100644
--- a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
@@ -1,7 +1,7 @@
 /*
  *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2025 ] MapsMessaging B.V.
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
  *  Licensed under the Apache License, Version 2.0 with the Commons Clause
  *  (the "License"); you may not use this file except in compliance with the License.
@@ -15,7 +15,6 @@
  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
- *
  */
 
 package io.mapsmessaging.mavlink;

From f6b117d66abfc0d77a8c84ae2f76b7362ae65faf Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Tue, 6 Jan 2026 15:39:59 +1100
Subject: [PATCH 14/34] fix(parsing): truncated packets

MavLink allows truncated packets IF the framing is correct
---
 .../mavlink/codec/MavlinkPayloadParser.java   |  70 +++--
 .../mapsmessaging/mavlink/HeartbeatTest.java  | 264 ++++++++++++++++++
 .../mavlink/TestMavlinkRobustness.java        |  22 --
 3 files changed, 310 insertions(+), 46 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
index 40c97e2..74c7fd1 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
@@ -56,51 +56,44 @@ public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IO
     ByteBuffer buffer = ByteBuffer.wrap(payload);
     buffer.order(ByteOrder.LITTLE_ENDIAN);
 
+    boolean truncated = false;
+
     for (MavlinkCompiledField compiledField : compiledMessage.getCompiledFields()) {
       MavlinkFieldDefinition fieldDefinition = compiledField.getFieldDefinition();
       AbstractMavlinkFieldCodec fieldCodec = compiledField.getFieldCodec();
       String fieldName = fieldDefinition.getName();
-
       int fieldSize = compiledField.getSizeInBytes();
 
-      // Base fields MUST be present
       if (!fieldDefinition.isExtension()) {
-        if (buffer.remaining() < fieldSize) {
-          throw new IOException(
-              "Payload too short for base field '" + fieldName +
-                  "' in message " + compiledMessage.getName() +
-                  " remaining=" + buffer.remaining() +
-                  " required=" + fieldSize
-          );
+        if (truncated || buffer.remaining() < fieldSize) {
+          truncated = true;
+          result.put(fieldName, zeroValue(fieldDefinition));
+          continue;
         }
       } else {
-        // Extension fields are optional: if not enough bytes left, treat as absent
-        if (buffer.remaining() < fieldSize) {
-          // you can either omit it or explicitly put null; your choice
+        // Extension fields: absent if not enough bytes (or if we've already truncated)
+        if (truncated || buffer.remaining() < fieldSize) {
           result.put(fieldName, null);
           continue;
         }
       }
 
+      // Normal decode path (enough bytes available)
       if (!fieldDefinition.isArray()) {
-        Object value = fieldCodec.decode(buffer);
-        result.put(fieldName, value);
+        result.put(fieldName, fieldCodec.decode(buffer));
         continue;
       }
 
       int len = fieldDefinition.getArrayLength();
-
       if (fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
-        // MAVLink strings: fixed-size, null-terminated, null-padded
-        byte[] bytes;
-        String v = (String) fieldCodec.decode(buffer);   // codec returns Byte
-        bytes = v.getBytes(StandardCharsets.UTF_8);
-        int end = bytes.length;
-        while (end > 0 && bytes[end - 1] == 0) {
-          end--;
+        // read fixed-size char[N] bytes; codec may or may not do this correctly
+        byte[] raw = new byte[len];
+        buffer.get(raw);
+        int end = 0;
+        while (end < raw.length && raw[end] != 0) {
+          end++;
         }
-        String value = new String(bytes, 0, end, StandardCharsets.UTF_8);
-        result.put(fieldName, value);
+        result.put(fieldName, new String(raw, 0, end, StandardCharsets.UTF_8));
       } else {
         List<Object> values = new ArrayList<>(len);
         for (int i = 0; i < len; i++) {
@@ -112,4 +105,33 @@ public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IO
 
     return result;
   }
+
+  private Object zeroValue(MavlinkFieldDefinition fieldDefinition) {
+    if (!fieldDefinition.isArray()) {
+      // Scalars: 0 / 0.0 / false, etc.
+      return switch (fieldDefinition.getWireType()) {
+        case FLOAT, DOUBLE -> 0.0;
+        case CHAR -> ""; // should never happen for non-array in MAVLink, but safe
+        default -> 0L;   // ints: you can use Long universally in your map
+      };
+    }
+
+    int len = fieldDefinition.getArrayLength();
+
+    if (fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
+      return "";
+    }
+
+    // Numeric arrays: list of zeros
+    List<Object> zeros = new ArrayList<>(len);
+    Object z = switch (fieldDefinition.getWireType()) {
+      case FLOAT, DOUBLE -> 0.0;
+      default -> 0L;
+    };
+    for (int i = 0; i < len; i++) {
+      zeros.add(z);
+    }
+    return zeros;
+  }
+
 }
diff --git a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
index 9943007..dc5343c 100644
--- a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
@@ -19,10 +19,14 @@
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.message.MavlinkFrame;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 
 import java.nio.ByteBuffer;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
 
 class HeartbeatTest {
 
@@ -38,4 +42,264 @@ void validateV1Heartbeat() throws Exception {
     MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec);
     Assertions.assertNotNull(frameCodec.tryUnpackFrame(input).get());
   }
+
+
+  @Test
+  void validateTruncatedPackets() throws Exception {
+    MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
+    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec);
+
+    List<int[]> frames = List.of(
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x47, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x1b, 0x97, 0x7f, 0x3f, 0xf2, 0x0a, 0x4d, 0x40, 0xdf, 0xf2, 0xb7, 0x3b, 0xeb, 0x00, 0x48, 0x28, 0x1d},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x53, 0x01, 0x01, 0x53, 0x00, 0x00, 0x80, 0x4b, 0xda, 0x00, 0xba, 0x05, 0xee, 0xbe, 0x08, 0xd5, 0x28, 0x3b, 0xed, 0x48, 0x3c, 0x3a, 0x55, 0xa7, 0x62, 0x3f, 0xd0, 0x05, 0x68, 0x3b, 0x20, 0xe5, 0x0e, 0xbb, 0xf1, 0xa7, 0xd2, 0x3b, 0xb2, 0x7d, 0x3a, 0x3f, 0x77, 0xd1},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xee, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x88, 0x4e, 0x80, 0x3f, 0x1f, 0xca, 0x4d, 0x40, 0xa3, 0xf5, 0xe1, 0xba, 0x1c, 0x00, 0x48, 0x9a, 0xcc},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xf0, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0xfa, 0xfc, 0x6f, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xe8, 0x5f},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xf9, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x55, 0x62, 0x80, 0x3f, 0xbe, 0xfb, 0x4d, 0x40, 0x84, 0x7d, 0x7c, 0xbb, 0x1c, 0x00, 0x48, 0x02, 0x17},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x05, 0x01, 0x01, 0x53, 0x00, 0x00, 0x90, 0x48, 0xe1, 0x00, 0x8b, 0xf0, 0x77, 0x3f, 0xda, 0x13, 0x3c, 0x3a, 0x89, 0xfe, 0x94, 0xbb, 0xcb, 0xe3, 0x7e, 0x3e, 0xfe, 0xb5, 0xe4, 0x3a, 0x69, 0xe5, 0x06, 0xbb, 0x74, 0x60, 0xba, 0x3b, 0x54, 0x66, 0x3a, 0x3f, 0x95, 0xcb},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x0a, 0x01, 0x01, 0x65, 0x32, 0x00, 0x34, 0xa4, 0x40, 0x1c, 0x24, 0xd0, 0x18, 0x05, 0x62, 0x87, 0x4d, 0x40, 0x00, 0x00, 0x40, 0x40, 0x10, 0x69, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0xcc, 0x74, 0x64, 0x00, 0xfb, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0xd8, 0x17},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x0b, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xb5, 0xbb},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x0d, 0x01, 0x01, 0x24, 0x00, 0x00, 0x20, 0x82, 0x03, 0x70, 0x02, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0xaa, 0xe6},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x0f, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x11, 0x93, 0x80, 0x3f, 0xb2, 0x01, 0x4e, 0x40, 0xbf, 0xf0, 0xd4, 0xbb, 0x1c, 0x00, 0x48, 0x94, 0x61},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x10, 0x01, 0x01, 0x08, 0x00, 0x00, 0xc0, 0x91, 0x03, 0x70, 0x03, 0x00, 0x00, 0x00, 0xd5, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x10, 0x30, 0x0d, 0x00, 0xc1, 0x3f, 0x82, 0x1e},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x12, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xab, 0x04, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x99, 0x0a},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x19, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x56, 0xa2, 0x80, 0x3f, 0x27, 0xca, 0x4d, 0x40, 0xe1, 0xf8, 0xc4, 0xbb, 0x1c, 0x00, 0x48, 0x41, 0x28},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x26, 0x01, 0x01, 0x53, 0x00, 0x00, 0x88, 0x4a, 0xe1, 0x00, 0x44, 0xd8, 0x77, 0x3f, 0xc9, 0xef, 0x75, 0x3a, 0x6e, 0xfe, 0xa8, 0xbb, 0x9e, 0x2c, 0x80, 0x3e, 0x63, 0xea, 0x00, 0x39, 0x59, 0x76, 0x64, 0xbb, 0x8f, 0xc6, 0xbf, 0x3b, 0xef, 0x85, 0x3a, 0x3f, 0x7b, 0x69},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x27, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x29, 0xaa, 0x80, 0x3f, 0x2f, 0xb4, 0x4d, 0x40, 0x1f, 0xfd, 0x3c, 0xbb, 0x1c, 0x00, 0x48, 0x6b, 0xab},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x29, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x3c, 0x0c, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x1c, 0x97},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x31, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x44, 0x93, 0x80, 0x3f, 0x9e, 0xbd, 0x4d, 0x40, 0x1b, 0xb8, 0x3a, 0xbb, 0x1d, 0x00, 0x48, 0x49, 0xa5},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x3e, 0x01, 0x01, 0x53, 0x00, 0x00, 0x78, 0x4c, 0xe1, 0x00, 0xf2, 0xbf, 0x77, 0x3f, 0xda, 0xfa, 0x0f, 0x3a, 0xe0, 0xbe, 0xa6, 0xbb, 0x81, 0xe8, 0x80, 0x3e, 0xae, 0xc2, 0xa3, 0xb9, 0x9d, 0x45, 0x58, 0x3a, 0x2d, 0x8d, 0xc1, 0x3b, 0x86, 0x8a, 0x3a, 0x3f, 0x68, 0xd7},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x47, 0x01, 0x01, 0x65, 0x32, 0x00, 0x60, 0xa4, 0x40, 0x1c, 0xb1, 0xcf, 0x18, 0x05, 0xb0, 0xf3, 0x5b, 0x40, 0x00, 0x00, 0x40, 0x40, 0x8e, 0x12, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x30, 0x75, 0x62, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x27, 0x21},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x48, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x5e, 0x13},
+        new int[]{0xfd, 0x0a, 0x00, 0x00, 0x49, 0x01, 0x01, 0x04, 0x00, 0x00, 0x00, 0xd4, 0x12, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc0, 0x05, 0x87, 0x7a},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x4b, 0x01, 0x01, 0x24, 0x00, 0x00, 0x60, 0xc4, 0x12, 0x70, 0x02, 0x03, 0x01, 0x03, 0xff, 0x02, 0x03, 0x03, 0xe7, 0xe5},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x4d, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x9e, 0x45, 0x80, 0x3f, 0x30, 0xab, 0x4d, 0x40, 0x5d, 0x04, 0x21, 0xbb, 0x1d, 0x00, 0x48, 0x54, 0xd0},
+        new int[]{0xfd, 0x14, 0x00, 0x00, 0x4e, 0x01, 0x01, 0xf1, 0x00, 0x00, 0x00, 0xd4, 0x12, 0x70, 0x03, 0x00, 0x00, 0x00, 0xdb, 0x79, 0xeb, 0x2c, 0xc4, 0xe2, 0x85, 0x3a, 0x35, 0x5c, 0xf9, 0x3b, 0x1b, 0x3d},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x4f, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0xd4, 0x12, 0x70, 0x03, 0x00, 0x00, 0x00, 0xe5, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x4f, 0x30, 0x0d, 0x00, 0xc2, 0x3f, 0x9a, 0xa9},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x51, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0xed, 0x13, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x9e, 0x5f},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x58, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x0c, 0xec, 0x7f, 0x3f, 0xb0, 0x9e, 0x4d, 0x40, 0xfc, 0xe6, 0xc3, 0xba, 0x1d, 0x00, 0x48, 0x9a, 0x08},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x63, 0x01, 0x01, 0x53, 0x00, 0x00, 0x70, 0x4e, 0xe1, 0x00, 0x3e, 0xa8, 0x77, 0x3f, 0x9b, 0xff, 0xfb, 0x39, 0xc8, 0x52, 0x9f, 0xbb, 0xcb, 0x9e, 0x81, 0x3e, 0x38, 0x7a, 0x85, 0x3a, 0x9c, 0xa2, 0x13, 0x3a, 0xa9, 0x65, 0xb9, 0x3b, 0x7d, 0x6e, 0x3a, 0x3f, 0x95, 0x19},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x64, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xc7, 0x06, 0x80, 0x3f, 0x53, 0xa7, 0x4d, 0x40, 0xec, 0x23, 0x23, 0xba, 0x1d, 0x00, 0x48, 0x64, 0x97},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x66, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x7e, 0x1b, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x3f, 0xb2},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x6f, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x54, 0x06, 0x80, 0x3f, 0x89, 0xd4, 0x4d, 0x40, 0xfb, 0xd6, 0x87, 0xba, 0x1d, 0x00, 0x48, 0x63, 0xf9},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x7b, 0x01, 0x01, 0x53, 0x00, 0x00, 0x60, 0x50, 0xe1, 0x00, 0x0e, 0x90, 0x77, 0x3f, 0x3e, 0x8d, 0xbe, 0xb8, 0xaa, 0xa2, 0x8f, 0xbb, 0x4a, 0x58, 0x82, 0x3e, 0xc5, 0x9d, 0x1b, 0xbb, 0x4c, 0x8d, 0x60, 0x3b, 0xa4, 0xb0, 0xba, 0x3b, 0x73, 0x30, 0x3a, 0x3f, 0xfd, 0x1c},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x80, 0x01, 0x01, 0x65, 0x32, 0x00, 0x92, 0xa4, 0x40, 0x1c, 0x3c, 0xcf, 0x18, 0x05, 0xd8, 0xa1, 0x4f, 0x40, 0x00, 0x00, 0x40, 0x40, 0xc5, 0x7c, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0xf8, 0x75, 0x61, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x27, 0xb5},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x81, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xc8, 0x94},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x83, 0x01, 0x01, 0x24, 0x00, 0x00, 0xa0, 0x06, 0x22, 0x70, 0x02, 0x03, 0xff, 0x02, 0xfe, 0x02, 0x02, 0x03, 0x41, 0xd6},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x85, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x59, 0x58, 0x7f, 0x3f, 0x67, 0x15, 0x4e, 0x40, 0xb0, 0x18, 0x9c, 0xbb, 0x1d, 0x00, 0x48, 0x79, 0xdc},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x86, 0x01, 0x01, 0x08, 0x00, 0x00, 0x40, 0x16, 0x22, 0x70, 0x03, 0x00, 0x00, 0x00, 0xfd, 0x09, 0x00, 0x00, 0x2e, 0x00, 0x00, 0x00, 0x86, 0x30, 0x0d, 0x00, 0xc4, 0x3f, 0x94, 0x39},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0x87, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0x3a, 0x88},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x89, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x2f, 0x23, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xcd, 0x6e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x90, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x95, 0x14, 0x7f, 0x3f, 0xf5, 0x6b, 0x4e, 0x40, 0xbf, 0x0d, 0x17, 0xbc, 0x1d, 0x00, 0x48, 0x69, 0xe3},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x9c, 0x01, 0x01, 0x53, 0x00, 0x00, 0x58, 0x52, 0xe1, 0x00, 0x52, 0x78, 0x77, 0x3f, 0x84, 0x8e, 0x4b, 0xb9, 0x19, 0xd6, 0x02, 0xbb, 0xf8, 0x0f, 0x83, 0x3e, 0x25, 0x4f, 0x49, 0x3b, 0x76, 0x5f, 0x07, 0x3c, 0x66, 0x3b, 0xc0, 0x3b, 0x02, 0x3f, 0x3a, 0x3f, 0x2e, 0x24},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x9d, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x49, 0x05, 0x80, 0x3f, 0x98, 0x8a, 0x4e, 0x40, 0xaf, 0x50, 0x5e, 0xbc, 0x1d, 0x00, 0x48, 0x26, 0xcf},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xa0, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xc1, 0x2a, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x6a, 0x96},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xa8, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x13, 0x80, 0x80, 0x3f, 0x7c, 0x93, 0x4e, 0x40, 0xe4, 0x62, 0x79, 0xbc, 0x1d, 0x00, 0x48, 0x1c, 0x20},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xb5, 0x01, 0x01, 0x53, 0x00, 0x00, 0x48, 0x54, 0xe1, 0x00, 0xfb, 0x5e, 0x77, 0x3f, 0x7e, 0x28, 0xd2, 0xb8, 0xaf, 0xc8, 0xea, 0xba, 0xf8, 0xce, 0x83, 0x3e, 0xba, 0xa8, 0xd8, 0xba, 0x45, 0x26, 0x6a, 0x3a, 0x41, 0x73, 0xc5, 0x3b, 0x28, 0x78, 0x3a, 0x3f, 0x0b, 0x9a},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xbe, 0x01, 0x01, 0x65, 0x32, 0x00, 0xbf, 0xa4, 0x40, 0x1c, 0xcc, 0xce, 0x18, 0x05, 0x4e, 0xbc, 0x51, 0x40, 0x00, 0x00, 0x40, 0x40, 0x45, 0xde, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x30, 0x75, 0x63, 0x00, 0xfd, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x5a, 0xf1},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xbf, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x4f, 0xde},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xc1, 0x01, 0x01, 0x24, 0x00, 0x00, 0xe0, 0x48, 0x31, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0xfa, 0x20},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xc3, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x39, 0x81, 0x80, 0x3f, 0xe7, 0x76, 0x4e, 0x40, 0x02, 0x77, 0x7b, 0xbc, 0x1d, 0x00, 0x48, 0x7a, 0x0e},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xc4, 0x01, 0x01, 0x08, 0x00, 0x00, 0x80, 0x58, 0x31, 0x70, 0x03, 0x00, 0x00, 0x00, 0xf3, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xc4, 0x30, 0x0d, 0x00, 0xc5, 0x3f, 0x12, 0xc2},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xc6, 0x01, 0x01, 0x68, 0x01, 0x00, 0x20, 0x62, 0x32, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xb7, 0x91},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xcd, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x84, 0x2b, 0x80, 0x3f, 0xa5, 0x20, 0x4e, 0x40, 0x99, 0x87, 0x4f, 0xbc, 0x1d, 0x00, 0x48, 0xc9, 0x0b},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xd8, 0x01, 0x01, 0x53, 0x00, 0x00, 0x40, 0x56, 0xe1, 0x00, 0x42, 0x46, 0x77, 0x3f, 0xa6, 0xfb, 0x10, 0xb8, 0x7c, 0x44, 0x5e, 0xbb, 0xec, 0x85, 0x84, 0x3e, 0xf8, 0xe2, 0xa1, 0xba, 0xe2, 0xea, 0xc1, 0xbb, 0xe6, 0xa4, 0xae, 0x3b, 0xdf, 0x98, 0x3a, 0x3f, 0x5b, 0x48},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xd9, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xf5, 0x02, 0x80, 0x3f, 0x60, 0xf3, 0x4d, 0x40, 0xf8, 0x3b, 0x05, 0xbc, 0x1e, 0x00, 0x48, 0x0f, 0x55},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xdb, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x03, 0x3a, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x9e, 0x8e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xe4, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x0c, 0x1d, 0x80, 0x3f, 0x96, 0xff, 0x4d, 0x40, 0xd8, 0x15, 0xb8, 0xbb, 0x1e, 0x00, 0x48, 0x4d, 0x0a},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xf0, 0x01, 0x01, 0x53, 0x00, 0x00, 0x30, 0x58, 0xe1, 0x00, 0x07, 0x2d, 0x77, 0x3f, 0x01, 0xb0, 0x92, 0x39, 0xcb, 0xee, 0x76, 0xbb, 0xf9, 0x40, 0x85, 0x3e, 0xac, 0xad, 0xab, 0x39, 0x26, 0x5d, 0x52, 0x39, 0xa8, 0x49, 0xbb, 0x3b, 0x4c, 0x5b, 0x3a, 0x3f, 0x78, 0xb6},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xf5, 0x01, 0x01, 0x65, 0x32, 0x00, 0xe8, 0xa4, 0x40, 0x1c, 0x5c, 0xce, 0x18, 0x05, 0xb0, 0xf3, 0x5b, 0x40, 0x00, 0x00, 0x40, 0x40, 0x0c, 0x7e, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x68, 0x74, 0x66, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0xed, 0xfc},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xf6, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x43, 0x3b},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xf8, 0x01, 0x01, 0x24, 0x00, 0x00, 0x20, 0x8b, 0x40, 0x70, 0x03, 0x03, 0xff, 0x02, 0xff, 0x02, 0x02, 0x03, 0x10, 0x8d},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xfa, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x90, 0x36, 0x80, 0x3f, 0xae, 0x16, 0x4e, 0x40, 0x7b, 0x0b, 0xeb, 0xbb, 0x1e, 0x00, 0x48, 0x3f, 0xff},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xfb, 0x01, 0x01, 0x08, 0x00, 0x00, 0xc0, 0x9a, 0x40, 0x70, 0x03, 0x00, 0x00, 0x00, 0xf3, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xfb, 0x30, 0x0d, 0x00, 0xc6, 0x3f, 0x79, 0xb5},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xfd, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xb4, 0x41, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xee, 0x6d},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x04, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xb3, 0x43, 0x80, 0x3f, 0xfe, 0xe7, 0x4d, 0x40, 0xb7, 0x22, 0xfc, 0xbb, 0x1e, 0x00, 0x48, 0x7e, 0x0e},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x10, 0x01, 0x01, 0x53, 0x00, 0x00, 0x28, 0x5a, 0xe1, 0x00, 0xe4, 0x13, 0x77, 0x3f, 0x1c, 0x70, 0x19, 0x3a, 0x1a, 0xd3, 0xb8, 0xbb, 0x77, 0xf6, 0x85, 0x3e, 0xaa, 0x69, 0xc0, 0xb9, 0xda, 0x28, 0xe1, 0xbb, 0xcf, 0xcb, 0xb8, 0x3b, 0x06, 0xcb, 0x3a, 0x3f, 0x61, 0x4b},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x11, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xe7, 0x16, 0x80, 0x3f, 0x15, 0x89, 0x4d, 0x40, 0xed, 0x35, 0x6e, 0xbb, 0x1e, 0x00, 0x48, 0x33, 0x01},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x14, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x45, 0x49, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x1b, 0x98},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x1c, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x8f, 0x23, 0x80, 0x3f, 0xc3, 0x4d, 0x4d, 0x40, 0x47, 0x49, 0x12, 0x3b, 0x1e, 0x00, 0x48, 0xd6, 0xd6},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x29, 0x01, 0x01, 0x53, 0x00, 0x00, 0x18, 0x5c, 0xe1, 0x00, 0x8a, 0xfa, 0x76, 0x3f, 0x5a, 0x38, 0x38, 0x3a, 0x0f, 0xe1, 0xcf, 0xbb, 0xcb, 0xae, 0x86, 0x3e, 0x73, 0xc2, 0x94, 0xba, 0xf8, 0xfd, 0x74, 0xbb, 0x2c, 0x81, 0xb8, 0x3b, 0x6e, 0x75, 0x3a, 0x3f, 0x63, 0x8d},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x32, 0x01, 0x01, 0x65, 0x32, 0x00, 0x13, 0xa5, 0x40, 0x1c, 0xe7, 0xcd, 0x18, 0x05, 0xff, 0x1f, 0x4b, 0x40, 0x00, 0x00, 0x40, 0x40, 0x79, 0xbd, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x68, 0x74, 0x62, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x07, 0x9a},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x33, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x6f, 0xca},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x35, 0x01, 0x01, 0x24, 0x00, 0x00, 0x60, 0xcd, 0x4f, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0xff, 0x06},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x37, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x6b, 0xf8, 0x7f, 0x3f, 0x1b, 0x56, 0x4d, 0x40, 0x42, 0x86, 0x92, 0x3b, 0x1e, 0x00, 0x48, 0xda, 0xd8},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x38, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0xdd, 0x4f, 0x70, 0x03, 0x00, 0x00, 0x00, 0xe5, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x38, 0x31, 0x0d, 0x00, 0xc7, 0x3f, 0x21, 0x71},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0x39, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0x95, 0x9f},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x3b, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0xf6, 0x50, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xcb, 0x2c},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x42, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x5c, 0x8d, 0x7f, 0x3f, 0x77, 0x7d, 0x4d, 0x40, 0x52, 0x92, 0x86, 0x3b, 0x1e, 0x00, 0x48, 0x7a, 0x65},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x4d, 0x01, 0x01, 0x53, 0x00, 0x00, 0x10, 0x5e, 0xe1, 0x00, 0xd2, 0xe1, 0x76, 0x3f, 0x3a, 0x58, 0x57, 0x3a, 0xdb, 0xba, 0xca, 0xbb, 0x12, 0x64, 0x87, 0x3e, 0x80, 0x8e, 0x01, 0x3b, 0xc6, 0x7e, 0x87, 0x39, 0x2c, 0xb0, 0xbb, 0x3b, 0x9f, 0x37, 0x3a, 0x3f, 0xcd, 0x04},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x4e, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xbc, 0xe0, 0x7f, 0x3f, 0x97, 0xc4, 0x4d, 0x40, 0x58, 0x45, 0xa3, 0x39, 0x1e, 0x00, 0x48, 0xfa, 0xa4},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x50, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x87, 0x58, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xda, 0x0f},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x59, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xba, 0x2b, 0x80, 0x3f, 0x53, 0xe5, 0x4d, 0x40, 0xa7, 0x63, 0x63, 0xbb, 0x1e, 0x00, 0x48, 0x05, 0x42},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x65, 0x01, 0x01, 0x53, 0x00, 0x00, 0x00, 0x60, 0xe1, 0x00, 0x4d, 0xc8, 0x76, 0x3f, 0xa9, 0x12, 0x54, 0x3a, 0xc9, 0xb1, 0xb6, 0xbb, 0x73, 0x1f, 0x88, 0x3e, 0xaa, 0x1c, 0x05, 0x3a, 0x4c, 0x13, 0x0c, 0x3b, 0x29, 0x7c, 0xd0, 0x3b, 0xfd, 0x7f, 0x3a, 0x3f, 0x10, 0xf2},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x6a, 0x01, 0x01, 0x65, 0x32, 0x00, 0x40, 0xa5, 0x40, 0x1c, 0x70, 0xcd, 0x18, 0x05, 0xc4, 0xd6, 0x53, 0x40, 0x00, 0x00, 0x40, 0x40, 0xcf, 0x41, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x94, 0x75, 0x63, 0x00, 0xfb, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x8f, 0x87},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x6b, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x56, 0x16},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x6d, 0x01, 0x01, 0x24, 0x00, 0x00, 0xa0, 0x0f, 0x5f, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0x62, 0x17},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x6f, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x03, 0x38, 0x80, 0x3f, 0x71, 0xda, 0x4d, 0x40, 0x63, 0xd8, 0xa6, 0xbb, 0x1e, 0x00, 0x48, 0x34, 0x6a},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x70, 0x01, 0x01, 0x08, 0x00, 0x00, 0x40, 0x1f, 0x5f, 0x70, 0x03, 0x00, 0x00, 0x00, 0xd5, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x70, 0x31, 0x0d, 0x00, 0xc8, 0x3f, 0xcd, 0xbf},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x72, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x38, 0x60, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x52, 0xd0},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x79, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x75, 0x47, 0x80, 0x3f, 0x08, 0xaf, 0x4d, 0x40, 0x36, 0xcf, 0x8a, 0xbb, 0x1e, 0x00, 0x48, 0xca, 0x29},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x85, 0x01, 0x01, 0x53, 0x00, 0x00, 0xf8, 0x61, 0xe1, 0x00, 0x73, 0xaf, 0x76, 0x3f, 0x02, 0x7e, 0x93, 0x39, 0xad, 0xea, 0x95, 0xbb, 0xca, 0xd5, 0x88, 0x3e, 0xe3, 0x6e, 0x0c, 0xbb, 0x78, 0x76, 0x7e, 0x3b, 0x1f, 0xe7, 0xc7, 0x3b, 0xfa, 0x90, 0x3a, 0x3f, 0xe9, 0x0e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x86, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x07, 0x03, 0x80, 0x3f, 0x53, 0x8c, 0x4d, 0x40, 0xc5, 0xf3, 0x42, 0xba, 0x1e, 0x00, 0x48, 0x1a, 0x1d},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x89, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xca, 0x67, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xde, 0xb2},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x91, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x53, 0x03, 0x80, 0x3f, 0x89, 0xd1, 0x4d, 0x40, 0x12, 0xaf, 0x19, 0x3a, 0x1f, 0x00, 0x48, 0x37, 0x7b},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x9e, 0x01, 0x01, 0x53, 0x00, 0x00, 0xe8, 0x63, 0xe1, 0x00, 0xdf, 0x95, 0x76, 0x3f, 0x31, 0x33, 0xe1, 0x38, 0xe9, 0xd7, 0x90, 0xbb, 0x16, 0x8e, 0x89, 0x3e, 0xae, 0x1f, 0xc3, 0xba, 0x38, 0x3b, 0x54, 0x3a, 0x9d, 0x10, 0xc3, 0x3b, 0xc1, 0x0e, 0x3a, 0x3f, 0xc5, 0x5e},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xa7, 0x01, 0x01, 0x65, 0x32, 0x00, 0x6c, 0xa5, 0x40, 0x1c, 0x01, 0xcd, 0x18, 0x05, 0xec, 0xf4, 0x5e, 0x40, 0x00, 0x00, 0x40, 0x40, 0x59, 0x99, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0xf8, 0x75, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x59, 0x26},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xa8, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x27, 0xdc},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xaa, 0x01, 0x01, 0x24, 0x00, 0x00, 0xe0, 0x51, 0x6e, 0x70, 0x01, 0x03, 0xff, 0x02, 0xfd, 0x02, 0x02, 0x03, 0x56, 0x40},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xac, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x8a, 0xc5, 0x7f, 0x3f, 0xfb, 0x31, 0x4e, 0x40, 0x21, 0x97, 0xa2, 0xbb, 0x1f, 0x00, 0x48, 0x1d, 0x4c},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xad, 0x01, 0x01, 0x08, 0x00, 0x00, 0x80, 0x61, 0x6e, 0x70, 0x03, 0x00, 0x00, 0x00, 0xe5, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xad, 0x31, 0x0d, 0x00, 0xc9, 0x3f, 0x85, 0x9a},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xaf, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x7a, 0x6f, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xe1, 0x62},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xb6, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x11, 0x03, 0x80, 0x3f, 0x36, 0x4f, 0x4e, 0x40, 0xfb, 0x73, 0x2d, 0xbc, 0x1f, 0x00, 0x48, 0x30, 0xb9},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xc1, 0x01, 0x01, 0x53, 0x00, 0x00, 0xe0, 0x65, 0xe1, 0x00, 0x6e, 0x7c, 0x76, 0x3f, 0x10, 0x62, 0xf8, 0x39, 0x5f, 0xa8, 0x9a, 0xbb, 0x47, 0x43, 0x8a, 0x3e, 0xe0, 0x84, 0x8f, 0x3a, 0x2c, 0x43, 0x05, 0xbb, 0x94, 0x76, 0xbb, 0x3b, 0xed, 0x7d, 0x3a, 0x3f, 0x4b, 0xc6},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xc2, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xb1, 0x23, 0x80, 0x3f, 0x59, 0x38, 0x4e, 0x40, 0x98, 0xdb, 0x39, 0xbc, 0x1f, 0x00, 0x48, 0xee, 0x9d},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xc4, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x0c, 0x77, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x25, 0x15},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xcd, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x4a, 0x5d, 0x80, 0x3f, 0x2b, 0x27, 0x4e, 0x40, 0x19, 0x10, 0x22, 0xbc, 0x1f, 0x00, 0x48, 0x1a, 0xae},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xd9, 0x01, 0x01, 0x53, 0x00, 0x00, 0xd0, 0x67, 0xe1, 0x00, 0x30, 0x62, 0x76, 0x3f, 0xd7, 0xa9, 0x15, 0x3a, 0x71, 0x66, 0xa1, 0xbb, 0x67, 0xfd, 0x8a, 0x3e, 0x95, 0x04, 0x03, 0x39, 0x49, 0x6f, 0xc4, 0xb9, 0x35, 0x62, 0xc0, 0x3b, 0xca, 0x8a, 0x3a, 0x3f, 0x35, 0x6d},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xde, 0x01, 0x01, 0x65, 0x32, 0x00, 0x97, 0xa5, 0x40, 0x1c, 0x92, 0xcc, 0x18, 0x05, 0x4e, 0xd4, 0x4d, 0x40, 0x00, 0x00, 0x40, 0x40, 0x49, 0x6f, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x94, 0x75, 0x60, 0x00, 0xfc, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x6f, 0xf6},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xdf, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xac, 0x73},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xe1, 0x01, 0x01, 0x24, 0x00, 0x00, 0x20, 0x94, 0x7d, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0x03, 0xb1},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xe3, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x2c, 0x4e, 0x80, 0x3f, 0xeb, 0x07, 0x4e, 0x40, 0xe7, 0xe6, 0x0e, 0xbc, 0x1f, 0x00, 0x48, 0xc9, 0xa0},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xe4, 0x01, 0x01, 0x08, 0x00, 0x00, 0xc0, 0xa3, 0x7d, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc7, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xe4, 0x31, 0x0d, 0x00, 0xca, 0x3f, 0x2a, 0xfc},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0xe5, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0x9a, 0x02},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xe7, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xbd, 0x7e, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xe2, 0xf3},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xee, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x48, 0x6d, 0x7f, 0x3f, 0x29, 0xcb, 0x4d, 0x40, 0x7b, 0x45, 0xc4, 0xbb, 0x1f, 0x00, 0x48, 0xcd, 0x99},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xf9, 0x01, 0x01, 0x53, 0x00, 0x00, 0xc8, 0x69, 0xe1, 0x00, 0x27, 0x49, 0x76, 0x3f, 0xe9, 0x8c, 0x8e, 0xb9, 0xed, 0xae, 0xaf, 0xbb, 0x6b, 0xad, 0x8b, 0x3e, 0x8f, 0x04, 0xa5, 0xbb, 0x3e, 0x38, 0xad, 0xb9, 0x77, 0x36, 0xbc, 0x3b, 0x1f, 0x97, 0x3a, 0x3f, 0xba, 0x71},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xfa, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x5f, 0x54, 0x7e, 0x3f, 0xf8, 0xa3, 0x4d, 0x40, 0xbb, 0x6a, 0x2b, 0xbb, 0x1f, 0x00, 0x48, 0xc0, 0x0b},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xfe, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x4e, 0x86, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x86, 0x6a},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x06, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x58, 0xf5, 0x7d, 0x3f, 0xe5, 0x9b, 0x4d, 0x40, 0xbf, 0xe0, 0x1e, 0xba, 0x1f, 0x00, 0x48, 0x39, 0xf1},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x13, 0x01, 0x01, 0x53, 0x00, 0x00, 0xb8, 0x6b, 0xe1, 0x00, 0xf3, 0x2f, 0x76, 0x3f, 0x9b, 0x61, 0xf5, 0xb8, 0x94, 0x3e, 0x9e, 0xbb, 0xff, 0x5f, 0x8c, 0x3e, 0x19, 0x42, 0x2d, 0x3b, 0x28, 0xcd, 0x0c, 0x3b, 0x70, 0xa7, 0xc1, 0x3b, 0xd1, 0x7a, 0x3a, 0x3f, 0x74, 0x58},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x1c, 0x01, 0x01, 0x65, 0x32, 0x00, 0xc8, 0xa5, 0x40, 0x1c, 0x1f, 0xcc, 0x18, 0x05, 0x9d, 0x88, 0x50, 0x40, 0x00, 0x00, 0x40, 0x40, 0xab, 0xfb, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x94, 0x75, 0x61, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x31, 0x02},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x1d, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xbf, 0xce},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x1f, 0x01, 0x01, 0x24, 0x00, 0x00, 0x60, 0xd6, 0x8c, 0x70, 0x02, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0xe8, 0x1e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x21, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x5f, 0x91, 0x7e, 0x3f, 0x4d, 0x94, 0x4d, 0x40, 0xa1, 0x73, 0xea, 0xb8, 0x1f, 0x00, 0x48, 0x15, 0x8a},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x22, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0xe6, 0x8c, 0x70, 0x03, 0x00, 0x00, 0x00, 0x1b, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x22, 0x32, 0x0d, 0x00, 0xcb, 0x3f, 0x9b, 0xeb},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x24, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0xff, 0x8d, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x47, 0x68},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x2b, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xb4, 0x0d, 0x7f, 0x3f, 0xb9, 0x6d, 0x4d, 0x40, 0x1e, 0xe4, 0x31, 0x3a, 0x1f, 0x00, 0x48, 0x7a, 0x9b},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x35, 0x01, 0x01, 0x53, 0x00, 0x00, 0xb0, 0x6d, 0xe1, 0x00, 0xe3, 0x15, 0x76, 0x3f, 0x60, 0xd4, 0xbd, 0x39, 0x84, 0x99, 0xc3, 0xbb, 0x59, 0x13, 0x8d, 0x3e, 0x16, 0x13, 0x08, 0xba, 0xa2, 0xc5, 0xb3, 0xbb, 0x56, 0x6a, 0xbd, 0x3b, 0x29, 0xbb, 0x3a, 0x3f, 0xf0, 0x7e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x36, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xaf, 0x55, 0x7f, 0x3f, 0x97, 0x20, 0x4d, 0x40, 0xb8, 0x20, 0x88, 0x3b, 0x1f, 0x00, 0x48, 0x4b, 0x69},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x39, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x90, 0x95, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xee, 0x06},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x42, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x87, 0xce, 0x7f, 0x3f, 0xcf, 0xe5, 0x4c, 0x40, 0x5d, 0xf0, 0x02, 0x3c, 0x20, 0x00, 0x48, 0xb5, 0xf3},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x4e, 0x01, 0x01, 0x53, 0x00, 0x00, 0xa0, 0x6f, 0xe1, 0x00, 0x10, 0xfb, 0x75, 0x3f, 0x2b, 0xb3, 0x1b, 0x3a, 0x8e, 0x1a, 0xd5, 0xbb, 0x68, 0xcc, 0x8d, 0x3e, 0xf3, 0x5a, 0xac, 0xba, 0x2b, 0xde, 0xd3, 0xba, 0x2d, 0x53, 0xc6, 0x3b, 0x55, 0x9c, 0x3a, 0x3f, 0x5d, 0x96},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x53, 0x01, 0x01, 0x65, 0x32, 0x00, 0xf7, 0xa5, 0x40, 0x1c, 0xae, 0xcb, 0x18, 0x05, 0xec, 0x0c, 0x5b, 0x40, 0x00, 0x00, 0x40, 0x40, 0xf0, 0x2d, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x5c, 0x76, 0x61, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x2a, 0xe0},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x54, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xb3, 0x2b},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x56, 0x01, 0x01, 0x24, 0x00, 0x00, 0xa0, 0x18, 0x9c, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0x52, 0xa2},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x58, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xae, 0xc1, 0x7f, 0x3f, 0x92, 0xc6, 0x4c, 0x40, 0x1b, 0x62, 0x42, 0x3c, 0x20, 0x00, 0x48, 0xfe, 0x10},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x59, 0x01, 0x01, 0x08, 0x00, 0x00, 0x40, 0x28, 0x9c, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc7, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x59, 0x32, 0x0d, 0x00, 0xcc, 0x3f, 0x27, 0x93},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x5b, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x41, 0x9d, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xa9, 0x32},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x62, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xe2, 0xd9, 0x7f, 0x3f, 0x4b, 0xec, 0x4c, 0x40, 0x8f, 0x78, 0x4b, 0x3c, 0x20, 0x00, 0x48, 0xb4, 0x7a},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x6d, 0x01, 0x01, 0x53, 0x00, 0x00, 0x98, 0x71, 0xe1, 0x00, 0x67, 0xe1, 0x75, 0x3f, 0xde, 0x96, 0x37, 0x39, 0xa0, 0x1b, 0x90, 0xbb, 0x71, 0x83, 0x8e, 0x3e, 0x8c, 0xe0, 0x0d, 0xba, 0xaf, 0xf0, 0x00, 0x3c, 0xc6, 0x6e, 0xd0, 0x3b, 0xf8, 0x5c, 0x3a, 0x3f, 0x9d, 0x67},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x6e, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x85, 0x1d, 0x80, 0x3f, 0x0e, 0x13, 0x4d, 0x40, 0xe7, 0xb3, 0x22, 0x3c, 0x20, 0x00, 0x48, 0x3d, 0x87},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x72, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xd3, 0xa4, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x6c, 0xc5},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x7a, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x24, 0xe4, 0x7f, 0x3f, 0x33, 0x12, 0x4d, 0x40, 0xc4, 0x16, 0x07, 0x3c, 0x20, 0x00, 0x48, 0xd5, 0xdc},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x87, 0x01, 0x01, 0x53, 0x00, 0x00, 0x88, 0x73, 0xe1, 0x00, 0xaf, 0xc6, 0x75, 0x3f, 0x80, 0xc8, 0x47, 0xb8, 0x7d, 0xc0, 0x36, 0xbb, 0x0f, 0x3e, 0x8f, 0x3e, 0x41, 0xf3, 0x2a, 0x3b, 0xc4, 0x58, 0xc4, 0x3b, 0x50, 0xb5, 0xc4, 0x3b, 0xc8, 0x90, 0x3a, 0x3f, 0xa5, 0xdb},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x90, 0x01, 0x01, 0x65, 0x32, 0x00, 0x2b, 0xa6, 0x40, 0x1c, 0x41, 0xcb, 0x18, 0x05, 0xb1, 0x53, 0x4c, 0x40, 0x00, 0x00, 0x40, 0x40, 0x32, 0x60, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x88, 0x77, 0x69, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0xae, 0x09},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x91, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x9f, 0xda},
+        new int[]{0xfd, 0x0a, 0x00, 0x00, 0x92, 0x01, 0x01, 0x04, 0x00, 0x00, 0x80, 0x6a, 0xab, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc1, 0x05, 0xe3, 0xcd},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x94, 0x01, 0x01, 0x24, 0x00, 0x00, 0xe0, 0x5a, 0xab, 0x70, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0x3c, 0x89},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x96, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xec, 0x42, 0x80, 0x3f, 0xd4, 0xf8, 0x4c, 0x40, 0x96, 0x32, 0x0f, 0x3c, 0x20, 0x00, 0x48, 0xb9, 0x46},
+        new int[]{0xfd, 0x14, 0x00, 0x00, 0x97, 0x01, 0x01, 0xf1, 0x00, 0x00, 0x80, 0x6a, 0xab, 0x70, 0x03, 0x00, 0x00, 0x00, 0xd3, 0x3e, 0x10, 0x2d, 0x6e, 0x17, 0x81, 0x3a, 0x8b, 0x14, 0xea, 0x3b, 0x63, 0x64},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x98, 0x01, 0x01, 0x08, 0x00, 0x00, 0x80, 0x6a, 0xab, 0x70, 0x03, 0x00, 0x00, 0x00, 0xe5, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x98, 0x32, 0x0d, 0x00, 0xcd, 0x3f, 0x77, 0x45},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0x99, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0x7b, 0xac},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x9b, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x83, 0xac, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xdb, 0x8d},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xa2, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x86, 0xf1, 0x80, 0x3f, 0x4d, 0xdf, 0x4c, 0x40, 0xac, 0x12, 0x26, 0x3c, 0x20, 0x00, 0x48, 0x49, 0x52},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xac, 0x01, 0x01, 0x53, 0x00, 0x00, 0x80, 0x75, 0xe1, 0x00, 0x68, 0xab, 0x75, 0x3f, 0x45, 0x61, 0x6a, 0x39, 0xd8, 0x3c, 0x8a, 0xba, 0x4b, 0xfa, 0x8f, 0x3e, 0xd2, 0xb2, 0x2f, 0x3b, 0x64, 0x19, 0xaf, 0x3b, 0x45, 0xc4, 0xb6, 0x3b, 0x99, 0x50, 0x3a, 0x3f, 0x42, 0x3e},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xad, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xf2, 0x4e, 0x81, 0x3f, 0xf4, 0x07, 0x4d, 0x40, 0x08, 0x69, 0x36, 0x3c, 0x20, 0x00, 0x48, 0xb6, 0xce},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xb0, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x15, 0xb4, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x8e, 0xa4},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xb9, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x22, 0x49, 0x81, 0x3f, 0xe0, 0x49, 0x4d, 0x40, 0xbb, 0xcb, 0xff, 0x3b, 0x20, 0x00, 0x48, 0x64, 0x4d},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xc5, 0x01, 0x01, 0x53, 0x00, 0x00, 0x70, 0x77, 0xe1, 0x00, 0x0c, 0x8f, 0x75, 0x3f, 0x16, 0x15, 0x1a, 0x3a, 0x1c, 0x63, 0x3a, 0xbb, 0xa4, 0xb9, 0x90, 0x3e, 0x2d, 0xa3, 0xd1, 0x38, 0x46, 0xbb, 0x18, 0xbc, 0xc6, 0x74, 0xb4, 0x3b, 0xc4, 0x5d, 0x3a, 0x3f, 0x97, 0x81},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xca, 0x01, 0x01, 0x65, 0x32, 0x00, 0x62, 0xa6, 0x40, 0x1c, 0xd0, 0xca, 0x18, 0x05, 0x62, 0x3f, 0x59, 0x40, 0x00, 0x00, 0x40, 0x40, 0x96, 0xca, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x30, 0x75, 0x64, 0x00, 0xfe, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x21, 0xbd},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xcb, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x62, 0xe8},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xcd, 0x01, 0x01, 0x24, 0x00, 0x00, 0x20, 0x9d, 0xba, 0x70, 0x02, 0x03, 0x00, 0x03, 0xfe, 0x02, 0x03, 0x03, 0xe3, 0x98},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xcf, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xc8, 0x24, 0x81, 0x3f, 0x38, 0x63, 0x4d, 0x40, 0xa9, 0x2c, 0x8a, 0x3b, 0x20, 0x00, 0x48, 0x1f, 0xce},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xd0, 0x01, 0x01, 0x08, 0x00, 0x00, 0xc0, 0xac, 0xba, 0x70, 0x03, 0x00, 0x00, 0x00, 0x0b, 0x0a, 0x00, 0x00, 0x43, 0x00, 0x00, 0x00, 0xd0, 0x32, 0x0d, 0x00, 0xcf, 0x3f, 0xfa, 0x86},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xd2, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xc6, 0xbb, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x0d, 0x83},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xd9, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x45, 0x01, 0x81, 0x3f, 0x08, 0x40, 0x4d, 0x40, 0x2b, 0xbd, 0x4d, 0x3b, 0x20, 0x00, 0x48, 0x87, 0x6e},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xe4, 0x01, 0x01, 0x53, 0x00, 0x00, 0x68, 0x79, 0xe1, 0x00, 0xd5, 0x72, 0x75, 0x3f, 0x2e, 0xd3, 0x92, 0x3a, 0xa7, 0xd2, 0xc0, 0xbb, 0x3a, 0x72, 0x91, 0x3e, 0x43, 0x76, 0xee, 0xba, 0x06, 0xb0, 0x17, 0xbc, 0xcf, 0xb1, 0xad, 0x3b, 0x04, 0x9d, 0x3a, 0x3f, 0xf1, 0xd4},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xe5, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x02, 0xae, 0x80, 0x3f, 0xce, 0x18, 0x4d, 0x40, 0x42, 0xfb, 0xc2, 0x3b, 0x21, 0x00, 0x48, 0x3b, 0x7c},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xe8, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x57, 0xc3, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x5f, 0x0c},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xf1, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x38, 0x9a, 0x80, 0x3f, 0x40, 0x07, 0x4d, 0x40, 0xa0, 0x8d, 0xf1, 0x3b, 0x21, 0x00, 0x48, 0x34, 0xd2},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xfe, 0x01, 0x01, 0x53, 0x00, 0x00, 0x58, 0x7b, 0xe1, 0x00, 0xb4, 0x56, 0x75, 0x3f, 0x19, 0xa5, 0x95, 0x3a, 0x62, 0x23, 0xcc, 0xbb, 0xa0, 0x2e, 0x92, 0x3e, 0x47, 0x9f, 0xc9, 0xba, 0xb4, 0xe8, 0x55, 0xba, 0x4a, 0x05, 0xc8, 0x3b, 0xb8, 0x8b, 0x3a, 0x3f, 0x66, 0x2d},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x07, 0x01, 0x01, 0x65, 0x32, 0x00, 0x8e, 0xa6, 0x40, 0x1c, 0x5e, 0xca, 0x18, 0x05, 0x9d, 0x70, 0x54, 0x40, 0x00, 0x00, 0x40, 0x40, 0x78, 0x5f, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x94, 0x75, 0x63, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x2c, 0xce},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x08, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x13, 0x22},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x0a, 0x01, 0x01, 0x24, 0x00, 0x00, 0x60, 0xdf, 0xc9, 0x70, 0x03, 0x03, 0x01, 0x03, 0xff, 0x02, 0x03, 0x03, 0xfe, 0x37},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x0c, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xeb, 0x75, 0x80, 0x3f, 0x1a, 0xf8, 0x4c, 0x40, 0x48, 0x60, 0x16, 0x3c, 0x21, 0x00, 0x48, 0x45, 0x1f},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x0d, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0xef, 0xc9, 0x70, 0x03, 0x00, 0x00, 0x00, 0xe5, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x0d, 0x33, 0x0d, 0x00, 0xd0, 0x3f, 0x1f, 0xa6},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x0f, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x08, 0xcb, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x7b, 0x91},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x16, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xd9, 0x17, 0x80, 0x3f, 0x5f, 0x31, 0x4d, 0x40, 0x65, 0x76, 0x1b, 0x3c, 0x21, 0x00, 0x48, 0xee, 0x43},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x20, 0x01, 0x01, 0x53, 0x00, 0x00, 0x50, 0x7d, 0xe1, 0x00, 0x9c, 0x3b, 0x75, 0x3f, 0x6e, 0x9e, 0x60, 0x3a, 0xcb, 0x98, 0xcb, 0xbb, 0x34, 0xe4, 0x92, 0x3e, 0x88, 0x2e, 0x6a, 0x37, 0xb5, 0x62, 0x88, 0xb9, 0x45, 0x07, 0xc4, 0x3b, 0x7f, 0x55, 0x3a, 0x3f, 0x49, 0x65},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x21, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xe0, 0xfd, 0x7f, 0x3f, 0x78, 0x54, 0x4d, 0x40, 0x37, 0x8c, 0xbc, 0x3b, 0x21, 0x00, 0x48, 0x2d, 0xb8},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x24, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x99, 0xd2, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x2a, 0xb9},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x2d, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x6a, 0xf9, 0x7f, 0x3f, 0xaa, 0x41, 0x4d, 0x40, 0xcc, 0xa8, 0x84, 0x3b, 0x21, 0x00, 0x48, 0x29, 0x1d},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x39, 0x01, 0x01, 0x53, 0x00, 0x00, 0x40, 0x7f, 0xe1, 0x00, 0xfa, 0x1f, 0x75, 0x3f, 0x2f, 0x13, 0x1c, 0x3a, 0x32, 0xb7, 0xa9, 0xbb, 0x03, 0x9f, 0x93, 0x3e, 0xea, 0x95, 0x92, 0xb8, 0xb9, 0x62, 0x46, 0x3b, 0x03, 0x9d, 0xc7, 0x3b, 0x80, 0xa8, 0x3a, 0x3f, 0xf8, 0x09},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x3e, 0x01, 0x01, 0x65, 0x32, 0x00, 0xc2, 0xa6, 0x40, 0x1c, 0xef, 0xc9, 0x18, 0x05, 0x3a, 0xd9, 0x59, 0x40, 0x00, 0x00, 0x40, 0x40, 0xa8, 0x6e, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x5c, 0x76, 0x62, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0xbc, 0x9c},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x3f, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xd5, 0xbc},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x41, 0x01, 0x01, 0x24, 0x00, 0x00, 0xa0, 0x21, 0xd9, 0x70, 0x03, 0x03, 0x01, 0x03, 0xff, 0x02, 0x04, 0x03, 0x57, 0x5a},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x43, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xca, 0x0e, 0x80, 0x3f, 0x4a, 0x07, 0x4d, 0x40, 0x82, 0xdd, 0xce, 0x3b, 0x21, 0x00, 0x48, 0x2c, 0xd4},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x44, 0x01, 0x01, 0x08, 0x00, 0x00, 0x40, 0x31, 0xd9, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc7, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x44, 0x33, 0x0d, 0x00, 0xd1, 0x3f, 0x2d, 0x3e},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0x45, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0x74, 0x31},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x47, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x4a, 0xda, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0xd1, 0xfe},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x4e, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x25, 0xf8, 0x7f, 0x3f, 0x10, 0xfe, 0x4c, 0x40, 0xab, 0xa8, 0x18, 0x3c, 0x21, 0x00, 0x48, 0x89, 0x7a},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x59, 0x01, 0x01, 0x53, 0x00, 0x00, 0x38, 0x81, 0xe1, 0x00, 0xd0, 0x04, 0x75, 0x3f, 0xfd, 0x54, 0xbc, 0x39, 0x19, 0x50, 0x82, 0xbb, 0x82, 0x55, 0x94, 0x3e, 0x8a, 0x21, 0xba, 0x3a, 0xbe, 0x0b, 0xb3, 0x3b, 0xed, 0x1a, 0xca, 0x3b, 0x72, 0x4c, 0x3a, 0x3f, 0x8f, 0x7d},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x5a, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xf8, 0x11, 0x80, 0x3f, 0x82, 0x29, 0x4d, 0x40, 0x12, 0x32, 0x12, 0x3c, 0x21, 0x00, 0x48, 0xb9, 0xbc},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x5c, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xdc, 0xe1, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x7b, 0xa1},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x66, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x07, 0x50, 0x80, 0x3f, 0x84, 0x66, 0x4d, 0x40, 0x81, 0xf6, 0xb4, 0x3b, 0x21, 0x00, 0x48, 0xaf, 0x3e},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x73, 0x01, 0x01, 0x53, 0x00, 0x00, 0x28, 0x83, 0xe1, 0x00, 0x59, 0xe8, 0x74, 0x3f, 0xc6, 0x60, 0xce, 0x39, 0x3a, 0xd8, 0x45, 0xbb, 0x97, 0x12, 0x95, 0x3e, 0xea, 0x5c, 0xf6, 0x3a, 0x4c, 0x94, 0x0c, 0x3b, 0x79, 0x62, 0xbb, 0x3b, 0xea, 0x50, 0x3a, 0x3f, 0x65, 0xc1},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0x7c, 0x01, 0x01, 0x65, 0x32, 0x00, 0xf2, 0xa6, 0x40, 0x1c, 0x81, 0xc9, 0x18, 0x05, 0xff, 0xa7, 0x5e, 0x40, 0x00, 0x00, 0x40, 0x40, 0xd8, 0xfe, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0xc0, 0x76, 0x65, 0x00, 0xfd, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x99, 0x32},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0x7d, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x5c, 0x63},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0x7f, 0x01, 0x01, 0x24, 0x00, 0x00, 0xe0, 0x63, 0xe8, 0x70, 0x02, 0x03, 0x00, 0x03, 0xff, 0x02, 0x03, 0x03, 0x3c, 0xb9},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x81, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x52, 0x87, 0x80, 0x3f, 0x7a, 0x97, 0x4d, 0x40, 0x04, 0x4e, 0xb0, 0x3a, 0x21, 0x00, 0x48, 0xf6, 0x93},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0x82, 0x01, 0x01, 0x08, 0x00, 0x00, 0x80, 0x73, 0xe8, 0x70, 0x03, 0x00, 0x00, 0x00, 0xf3, 0x08, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x82, 0x33, 0x0d, 0x00, 0xd2, 0x3f, 0x09, 0xcc},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x84, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0x8c, 0xe9, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x6c, 0x78},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x8b, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x0f, 0x8c, 0x80, 0x3f, 0x1c, 0xba, 0x4d, 0x40, 0x87, 0x86, 0x9b, 0xba, 0x21, 0x00, 0x48, 0xbd, 0xc1},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x95, 0x01, 0x01, 0x53, 0x00, 0x00, 0x20, 0x85, 0xe1, 0x00, 0x51, 0xcc, 0x74, 0x3f, 0x63, 0x16, 0xbc, 0x39, 0xc4, 0x3e, 0x71, 0xbb, 0x54, 0xc9, 0x95, 0x3e, 0x01, 0xe4, 0x04, 0xbb, 0x8f, 0xa4, 0xfe, 0xba, 0xef, 0xa9, 0xb8, 0x3b, 0x8f, 0x5a, 0x3a, 0x3f, 0xb0, 0xa5},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x96, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x12, 0x56, 0x80, 0x3f, 0xfb, 0xd7, 0x4d, 0x40, 0xfd, 0x85, 0x5a, 0xbb, 0x22, 0x00, 0x48, 0xf3, 0xbd},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x98, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x1e, 0xf1, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x02, 0x2b},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xa2, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xe9, 0x1b, 0x80, 0x3f, 0xac, 0xf0, 0x4d, 0x40, 0x75, 0x27, 0xa7, 0xbb, 0x22, 0x00, 0x48, 0xa6, 0x3d},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xae, 0x01, 0x01, 0x53, 0x00, 0x00, 0x10, 0x87, 0xe1, 0x00, 0xa7, 0xaf, 0x74, 0x3f, 0xe8, 0x34, 0x9e, 0x39, 0x10, 0xd9, 0xa6, 0xbb, 0x78, 0x81, 0x96, 0x3e, 0x08, 0xb1, 0x32, 0xbb, 0x9a, 0x64, 0x8b, 0xbb, 0x17, 0xd1, 0xc3, 0x3b, 0x3e, 0x4f, 0x3a, 0x3f, 0x26, 0x55},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xb3, 0x01, 0x01, 0x65, 0x32, 0x00, 0x27, 0xa7, 0x40, 0x1c, 0x0f, 0xc9, 0x18, 0x05, 0x3a, 0xd9, 0x59, 0x40, 0x00, 0x00, 0x40, 0x40, 0xba, 0x7b, 0x40, 0x40, 0x00, 0xff, 0x7f, 0x47, 0xc0, 0x76, 0x61, 0x00, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0x25, 0x1b},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xb4, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0xca, 0xe4},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xb6, 0x01, 0x01, 0x24, 0x00, 0x00, 0x20, 0xa6, 0xf7, 0x70, 0x02, 0x03, 0x00, 0x03, 0xfe, 0x02, 0x02, 0x03, 0xd6, 0x70},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xb8, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x8a, 0x87, 0x7f, 0x3f, 0x5c, 0x14, 0x4e, 0x40, 0xf5, 0x2a, 0xd7, 0xbb, 0x22, 0x00, 0x48, 0xb4, 0xba},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xb9, 0x01, 0x01, 0x08, 0x00, 0x00, 0xc0, 0xb5, 0xf7, 0x70, 0x03, 0x00, 0x00, 0x00, 0xc7, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xb9, 0x33, 0x0d, 0x00, 0xd3, 0x3f, 0xab, 0x81},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xbb, 0x01, 0x01, 0x68, 0x01, 0x00, 0x00, 0xcf, 0xf8, 0x70, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x88, 0x9d},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xc2, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xe7, 0x5c, 0x7f, 0x3f, 0xab, 0x13, 0x4e, 0x40, 0x2f, 0x22, 0x0b, 0xbc, 0x22, 0x00, 0x48, 0x27, 0x6b},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xcd, 0x01, 0x01, 0x53, 0x00, 0x00, 0x08, 0x89, 0xe1, 0x00, 0xc5, 0x93, 0x74, 0x3f, 0xf0, 0x4a, 0x02, 0x3a, 0x5f, 0x80, 0xad, 0xbb, 0xd0, 0x35, 0x97, 0x3e, 0xb4, 0x39, 0x14, 0x3a, 0xe5, 0x2d, 0x0e, 0xbb, 0x8f, 0x8f, 0xc0, 0x3b, 0x06, 0xbc, 0x3a, 0x3f, 0x0a, 0x9b},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xce, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x67, 0x95, 0x7f, 0x3f, 0x66, 0xca, 0x4d, 0x40, 0xdb, 0x32, 0xf1, 0xbb, 0x22, 0x00, 0x48, 0xa3, 0x7c},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xd0, 0x01, 0x01, 0x68, 0x01, 0x00, 0x80, 0x60, 0x00, 0x71, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x0c, 0xe6},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xda, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xf2, 0x60, 0x7f, 0x3f, 0x26, 0x78, 0x4d, 0x40, 0x5d, 0xbc, 0x31, 0xbb, 0x22, 0x00, 0x48, 0x10, 0xc0},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0xe7, 0x01, 0x01, 0x53, 0x00, 0x00, 0xf8, 0x8a, 0xe1, 0x00, 0x8f, 0x77, 0x74, 0x3f, 0xe3, 0xc0, 0xb5, 0x39, 0x49, 0x32, 0x96, 0xbb, 0x71, 0xed, 0x97, 0x3e, 0x44, 0xb9, 0xe1, 0x3a, 0xbd, 0x92, 0x67, 0x3b, 0x8e, 0x53, 0xc1, 0x3b, 0xf4, 0x8f, 0x3a, 0x3f, 0xea, 0x6b},
+        new int[]{0xfd, 0x3a, 0x00, 0x00, 0xf0, 0x01, 0x01, 0x65, 0x32, 0x00, 0x5a, 0xa7, 0x40, 0x1c, 0xa2, 0xc8, 0x18, 0x05, 0x13, 0xa3, 0x52, 0x40, 0x00, 0x00, 0x40, 0x40, 0x87, 0xbf, 0x3f, 0x40, 0x00, 0xff, 0x7f, 0x47, 0x24, 0x77, 0x63, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x0c, 0x05, 0x00, 0x03, 0xfb, 0x34},
+        new int[]{0xfd, 0x19, 0x00, 0x00, 0xf1, 0x01, 0x01, 0x68, 0x32, 0x00, 0x3f, 0x5b, 0x40, 0x1c, 0x88, 0x0a, 0x18, 0x05, 0x00, 0x00, 0x7a, 0xc4, 0x00, 0x00, 0x7a, 0xc4, 0x27, 0x8a, 0x59, 0x3e, 0x80, 0x52, 0xd5, 0xa3, 0x01, 0x7c, 0x77},
+        new int[]{0xfd, 0x0c, 0x00, 0x00, 0xf3, 0x01, 0x01, 0x24, 0x00, 0x00, 0x60, 0xe8, 0x06, 0x71, 0x03, 0x03, 0x00, 0x03, 0xff, 0x02, 0x04, 0x03, 0xbb, 0x5a},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0xf5, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x60, 0xae, 0x7f, 0x3f, 0x29, 0x58, 0x4d, 0x40, 0x2c, 0xb6, 0x35, 0x3b, 0x22, 0x00, 0x48, 0x8f, 0x47},
+        new int[]{0xfd, 0x16, 0x00, 0x00, 0xf6, 0x01, 0x01, 0x08, 0x00, 0x00, 0x00, 0xf8, 0x06, 0x71, 0x03, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf6, 0x33, 0x0d, 0x00, 0xd4, 0x3f, 0xe1, 0x5a},
+        new int[]{0xfd, 0x02, 0x00, 0x00, 0xf7, 0x01, 0x01, 0x9b, 0x01, 0x00, 0xaf, 0x08, 0xf4, 0x66},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0xf9, 0x01, 0x01, 0x68, 0x01, 0x00, 0x40, 0x11, 0x08, 0x71, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x85, 0x9f},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x00, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0xf5, 0xb3, 0x7f, 0x3f, 0xf1, 0x7a, 0x4d, 0x40, 0x3e, 0xe8, 0x64, 0x3b, 0x22, 0x00, 0x48, 0xab, 0xcf},
+        new int[]{0xfd, 0x24, 0x00, 0x00, 0x0a, 0x01, 0x01, 0x53, 0x00, 0x00, 0xf0, 0x8c, 0xe1, 0x00, 0xa3, 0x5b, 0x74, 0x3f, 0xb8, 0x1e, 0x5d, 0xb9, 0x69, 0x68, 0x75, 0xbb, 0x45, 0xa2, 0x98, 0x3e, 0xc8, 0x7e, 0x23, 0xbb, 0x15, 0x1a, 0x7f, 0x3b, 0x6b, 0x32, 0xcd, 0x3b, 0x9d, 0x50, 0x3a, 0x3f, 0x4e, 0xa6},
+        new int[]{0xfd, 0x13, 0x00, 0x00, 0x0b, 0x01, 0x01, 0x4a, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x7f, 0x9d, 0x46, 0x7f, 0x3f, 0x0d, 0x99, 0x4d, 0x40, 0x14, 0xb4, 0xda, 0x3a, 0x22, 0x00, 0x48, 0x95, 0x44},
+        new int[]{0xfd, 0x18, 0x00, 0x00, 0x0d, 0x01, 0x01, 0x68, 0x01, 0x00, 0xc0, 0xa2, 0x0f, 0x71, 0x03, 0x00, 0x00, 0x00, 0x66, 0xf9, 0x2a, 0x43, 0xd6, 0xd8, 0x40, 0x1c, 0xe3, 0xfa, 0x18, 0x05, 0xff, 0x94, 0x4d, 0x40, 0x53, 0x94}
+        );
+
+    for (int i = 0; i < frames.size(); i++) {
+      ByteBuffer input = ByteBuffer.wrap(toByteArray(frames.get(i)));
+      Optional<MavlinkFrame> frame = frameCodec.tryUnpackFrame(input);
+
+      Assertions.assertTrue(frame.isPresent(), "Frame #" + i + " did not unpack. Remaining=" + input.remaining());
+      MavlinkFrame payloadFrame = frame.get();
+      Map<String, Object> obj = payloadCodec.parsePayload(payloadFrame.getMessageId(), payloadFrame.getPayload());
+      Assertions.assertTrue(!obj.isEmpty());
+    }
+  }
+
+  private static byte[] toByteArray(int[] values) {
+    byte[] buffer = new byte[values.length];
+    for (int i = 0; i < values.length; i++) {
+      buffer[i] = (byte) values[i];
+    }
+    return buffer;
+  }
+
+
 }
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
index 0407489..86afe64 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
@@ -47,28 +47,6 @@ void decode_unknownMessageId_throwsIOException() throws Exception {
     assertThrows(IOException.class, () -> codec.parsePayload(999999, new byte[] { 0x01, 0x02 }));
   }
 
-  @Test
-  void decode_truncatedPayload_throwsIOException() throws Exception {
-    MavlinkCodec codec = MavlinkTestSupport.codec();
-
-    // SYS_STATUS is a good stable target
-    byte[] payload = codec.encodePayload(1, Map.of(
-        "onboard_control_sensors_present", 1,
-        "onboard_control_sensors_enabled", 1,
-        "onboard_control_sensors_health", 1,
-        "load", 250,
-        "voltage_battery", 12000,
-        "current_battery", 100,
-        "battery_remaining", 90
-    ));
-
-    assertTrue(payload.length > 1);
-
-    byte[] truncated = java.util.Arrays.copyOf(payload, payload.length - 1);
-
-    assertThrows(IOException.class, () -> codec.parsePayload(1, truncated));
-  }
-
   @Test
   void decode_oversizedPayload_isHandledDeterministically() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();

From cba220816262e3511c304fa186ac6842a1751c64 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Fri, 16 Jan 2026 13:47:32 +1100
Subject: [PATCH 15/34] fix(framing): Add V2 signature validation and signing

Add the ability to validate V2 frames and to sign V2 frames
---
 pom.xml                                       |   8 +
 .../mapsmessaging/mavlink/MavlinkCodec.java   |  20 +--
 .../mavlink/MavlinkFrameCodec.java            |  65 +++++----
 .../mavlink/MavlinkFrameEnvelope.java         |   4 +-
 .../mavlink/MavlinkMessageFormatLoader.java   |  42 +++---
 ...inkFrameEncoder.java => FrameEncoder.java} |   8 +-
 ...inkFrameFactory.java => FrameFactory.java} |  14 +-
 .../{MavlinkJsonCodec.java => JsonCodec.java} |  28 ++--
 ...xtractor.java => JsonValuesExtractor.java} |  10 +-
 ...inkMapConverter.java => MapConverter.java} |  10 +-
 ...kPayloadPacker.java => PayloadPacker.java} |  66 ++++-----
 ...kPayloadParser.java => PayloadParser.java} |  28 ++--
 ...lectRegistry.java => DialectRegistry.java} |   8 +-
 ...inkFrameDecoder.java => FrameDecoder.java} |   6 +-
 ...vlinkFrameFramer.java => FrameFramer.java} |  20 +--
 ...inkFrameHandler.java => FrameHandler.java} |   6 +-
 ...vlinkFramePacker.java => FramePacker.java} |  58 +++++---
 .../mavlink/framing/SigningKeyProvider.java   |  25 ++++
 ...1FrameHandler.java => V1FrameHandler.java} |  20 +--
 ...2FrameHandler.java => V2FrameHandler.java} |  82 ++++++++---
 .../mavlink/framing/V2FrameSigning.java       | 111 ++++++++++++++
 .../mavlink/framing/V2SignatureGenerator.java |  92 ++++++++++++
 ...kCompiledField.java => CompiledField.java} |   6 +-
 ...piledMessage.java => CompiledMessage.java} |   8 +-
 ...inkEnumResolver.java => EnumResolver.java} |  24 +--
 .../mapsmessaging/mavlink/message/Frame.java  | 137 ++++++++++++++++++
 ...vlinkFrameParser.java => FrameParser.java} |  16 +-
 .../mavlink/message/MavlinkFrame.java         |  39 -----
 ...Definition.java => MessageDefinition.java} |  34 ++---
 ...sageRegistry.java => MessageRegistry.java} |  50 +++----
 .../{MavlinkVersion.java => Version.java}     |   2 +-
 .../fields/AbstractMavlinkFieldCodec.java     |   6 +-
 .../message/fields/ArrayFieldCodec.java       |   4 +-
 .../message/fields/CharFieldCodec.java        |   2 +-
 .../message/fields/DoubleFieldCodec.java      |   2 +-
 ...numDefinition.java => EnumDefinition.java} |  24 +--
 .../{MavlinkEnumEntry.java => EnumEntry.java} |   2 +-
 ...decFactory.java => FieldCodecFactory.java} |   8 +-
 ...ldDefinition.java => FieldDefinition.java} |   4 +-
 .../message/fields/FloatFieldCodec.java       |   2 +-
 .../message/fields/Int16FieldCodec.java       |   2 +-
 .../message/fields/Int32FieldCodec.java       |   2 +-
 .../message/fields/Int64FieldCodec.java       |   2 +-
 .../message/fields/Int8FieldCodec.java        |   2 +-
 .../message/fields/UInt16FieldCodec.java      |   2 +-
 .../message/fields/UInt32FieldCodec.java      |   2 +-
 .../message/fields/UInt64FieldCodec.java      |   2 +-
 .../message/fields/UInt8FieldCodec.java       |   2 +-
 .../{MavlinkWireType.java => WireType.java}   |   6 +-
 ...ver.java => ClasspathIncludeResolver.java} |   5 +-
 ...Definition.java => DialectDefinition.java} |  12 +-
 ...kDialectLoader.java => DialectLoader.java} |  34 ++---
 ...alculator.java => ExtraCrcCalculator.java} |  14 +-
 ...ludeResolver.java => IncludeResolver.java} |   2 +-
 .../{MavlinkXmlParser.java => XmlParser.java} |  76 +++++-----
 ...emaBuilder.java => JsonSchemaBuilder.java} |  42 +++---
 .../signing/MapSigningKeyProvider.java        |  63 ++++++++
 .../mavlink/signing/NoSigningKeyProvider.java |  34 +++++
 .../signing/StaticSigningKeyProvider.java     |  50 +++++++
 .../mavlink/BaseRoudTripTest.java             |  54 +++----
 .../mapsmessaging/mavlink/HeartbeatTest.java  |   6 +-
 .../MavlinkFrameRoundTripAllMessagesTest.java |  80 +++++++---
 ...avlinkPayloadJsonSchemaValidationTest.java |  13 +-
 .../MavlinkRoundTripAllMessagesTest.java      |  38 ++---
 .../mavlink/MavlinkTestSupport.java           |  38 ++---
 .../mavlink/TestMavlinkCharArrays.java        |  36 ++---
 .../mavlink/TestMavlinkExtensions.java        |  46 +++---
 .../mavlink/TestMavlinkNumericArrays.java     |  35 +++--
 .../TestMavlinkRegistryInvariants.java        |  40 ++---
 .../mavlink/TestMavlinkRobustness.java        |   4 +-
 .../mavlink/TestMavlinkXmlParserIncludes.java |   8 +-
 71 files changed, 1224 insertions(+), 629 deletions(-)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkFrameEncoder.java => FrameEncoder.java} (92%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkFrameFactory.java => FrameFactory.java} (71%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkJsonCodec.java => JsonCodec.java} (73%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkJsonValuesExtractor.java => JsonValuesExtractor.java} (89%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkMapConverter.java => MapConverter.java} (78%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkPayloadPacker.java => PayloadPacker.java} (69%)
 rename src/main/java/io/mapsmessaging/mavlink/codec/{MavlinkPayloadParser.java => PayloadParser.java} (80%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkDialectRegistry.java => DialectRegistry.java} (78%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkFrameDecoder.java => FrameDecoder.java} (84%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkFrameFramer.java => FrameFramer.java} (83%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkFrameHandler.java => FrameHandler.java} (86%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkFramePacker.java => FramePacker.java} (77%)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkV1FrameHandler.java => V1FrameHandler.java} (85%)
 rename src/main/java/io/mapsmessaging/mavlink/framing/{MavlinkV2FrameHandler.java => V2FrameHandler.java} (60%)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkCompiledField.java => CompiledField.java} (88%)
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkCompiledMessage.java => CompiledMessage.java} (88%)
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkEnumResolver.java => EnumResolver.java} (81%)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/message/Frame.java
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkFrameParser.java => FrameParser.java} (93%)
 delete mode 100644 src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkMessageDefinition.java => MessageDefinition.java} (69%)
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkMessageRegistry.java => MessageRegistry.java} (57%)
 rename src/main/java/io/mapsmessaging/mavlink/message/{MavlinkVersion.java => Version.java} (96%)
 rename src/main/java/io/mapsmessaging/mavlink/message/fields/{MavlinkEnumDefinition.java => EnumDefinition.java} (78%)
 rename src/main/java/io/mapsmessaging/mavlink/message/fields/{MavlinkEnumEntry.java => EnumEntry.java} (97%)
 rename src/main/java/io/mapsmessaging/mavlink/message/fields/{MavlinkFieldCodecFactory.java => FieldCodecFactory.java} (90%)
 rename src/main/java/io/mapsmessaging/mavlink/message/fields/{MavlinkFieldDefinition.java => FieldDefinition.java} (96%)
 rename src/main/java/io/mapsmessaging/mavlink/message/fields/{MavlinkWireType.java => WireType.java} (94%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{ClasspathMavlinkIncludeResolver.java => ClasspathIncludeResolver.java} (87%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{MavlinkDialectDefinition.java => DialectDefinition.java} (71%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{MavlinkDialectLoader.java => DialectLoader.java} (77%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{MavlinkExtraCrcCalculator.java => ExtraCrcCalculator.java} (78%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{MavlinkIncludeResolver.java => IncludeResolver.java} (95%)
 rename src/main/java/io/mapsmessaging/mavlink/parser/{MavlinkXmlParser.java => XmlParser.java} (75%)
 rename src/main/java/io/mapsmessaging/mavlink/schema/{MavlinkJsonSchemaBuilder.java => JsonSchemaBuilder.java} (75%)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java

diff --git a/pom.xml b/pom.xml
index 4b4585b..e80b7eb 100644
--- a/pom.xml
+++ b/pom.xml
@@ -370,6 +370,14 @@
             <version>2.13.2</version>
         </dependency>
 
+        <!-- Source: https://mvnrepository.com/artifact/io.swagger.core.v3/swagger-annotations -->
+        <dependency>
+            <groupId>io.swagger.core.v3</groupId>
+            <artifactId>swagger-annotations</artifactId>
+            <version>2.2.41</version>
+            <scope>compile</scope>
+        </dependency>
+
         <!-- Junit5 -->
         <dependency>
             <artifactId>junit-jupiter-engine</artifactId>
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
index b3b5521..0b03d6a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
@@ -19,9 +19,9 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.codec.MavlinkPayloadPacker;
-import io.mapsmessaging.mavlink.codec.MavlinkPayloadParser;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.codec.PayloadPacker;
+import io.mapsmessaging.mavlink.codec.PayloadParser;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 import lombok.Getter;
 
 import java.io.IOException;
@@ -38,7 +38,7 @@
  * see {@link MavlinkFrameCodec}.</p>
  *
  * <p>Each instance is bound to a single dialect via its
- * {@link MavlinkMessageRegistry}.</p>
+ * {@link MessageRegistry}.</p>
  */
 public final class MavlinkCodec {
 
@@ -52,10 +52,10 @@ public final class MavlinkCodec {
    * Compiled message registry for the dialect.
    */
   @Getter
-  private final MavlinkMessageRegistry registry;
+  private final MessageRegistry registry;
 
-  private final MavlinkPayloadPacker payloadPacker;
-  private final MavlinkPayloadParser payloadParser;
+  private final PayloadPacker payloadPacker;
+  private final PayloadParser payloadParser;
 
   /**
    * Creates a payload codec for a specific MAVLink dialect.
@@ -68,9 +68,9 @@ public final class MavlinkCodec {
    */
   public MavlinkCodec(
       String name,
-      MavlinkMessageRegistry registry,
-      MavlinkPayloadPacker payloadPacker,
-      MavlinkPayloadParser payloadParser
+      MessageRegistry registry,
+      PayloadPacker payloadPacker,
+      PayloadParser payloadParser
   ) {
     this.name = Objects.requireNonNull(name, "name");
     this.registry = Objects.requireNonNull(registry, "registry");
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
index 29198d6..f511695 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
@@ -19,13 +19,12 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.framing.MavlinkDialectRegistry;
-import io.mapsmessaging.mavlink.framing.MavlinkFrameFramer;
-import io.mapsmessaging.mavlink.framing.MavlinkFramePacker;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import io.mapsmessaging.mavlink.framing.*;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.Version;
+import io.mapsmessaging.mavlink.signing.NoSigningKeyProvider;
 
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -38,8 +37,8 @@
  *
  * <p>This codec combines:</p>
  * <ul>
- *   <li>Frame decoding from a streaming network buffer via {@link MavlinkFrameFramer}</li>
- *   <li>Frame packing (including CRC) via {@link MavlinkFramePacker}</li>
+ *   <li>Frame decoding from a streaming network buffer via {@link FrameFramer}</li>
+ *   <li>Frame packing (including CRC) via {@link FramePacker}</li>
  *   <li>Payload field encoding/decoding via {@link MavlinkCodec}</li>
  * </ul>
  *
@@ -47,29 +46,33 @@
  * <ul>
  *   <li>{@link #tryUnpackFrame(ByteBuffer)} consumes a network-owned {@link ByteBuffer} in write-mode and
  *       may {@code flip}/{@code compact} internally.</li>
- *   <li>{@link #packFrame(ByteBuffer, MavlinkFrame)} writes a complete MAVLink frame into the provided output
+ *   <li>{@link #packFrame(ByteBuffer, Frame)} writes a complete MAVLink frame into the provided output
  *       buffer at its current position.</li>
  * </ul>
  */
 public final class MavlinkFrameCodec {
 
   private final MavlinkCodec payloadCodec;
-  private final MavlinkFrameFramer framer;
-  private final MavlinkFramePacker packer;
+  private final FrameFramer framer;
+  private final FramePacker packer;
 
+
+  public MavlinkFrameCodec(MavlinkCodec payloadCodec) {
+    this(payloadCodec, new NoSigningKeyProvider());
+  }
   /**
    * Creates a frame codec for the dialect contained in the provided payload codec.
    *
    * @param payloadCodec codec providing the dialect name, message registry, and payload encode/decode
    * @throws NullPointerException if {@code payloadCodec} is {@code null}
    */
-  public MavlinkFrameCodec(MavlinkCodec payloadCodec) {
+  public MavlinkFrameCodec(MavlinkCodec payloadCodec,  SigningKeyProvider signingKeyProvider) {
     this.payloadCodec = Objects.requireNonNull(payloadCodec, "payloadCodec");
 
-    MavlinkDialectRegistry dialectRegistry = new RegistryAdapter(payloadCodec.getRegistry());
+    DialectRegistry dialectRegistry = new RegistryAdapter(payloadCodec.getRegistry());
 
-    this.framer = new MavlinkFrameFramer(dialectRegistry);
-    this.packer = new MavlinkFramePacker(dialectRegistry);
+    this.framer = new FrameFramer(dialectRegistry, signingKeyProvider);
+    this.packer = new FramePacker(dialectRegistry, signingKeyProvider);
   }
 
   /**
@@ -86,7 +89,7 @@ public String getDialectName() {
    *
    * @return message registry
    */
-  public MavlinkMessageRegistry getRegistry() {
+  public MessageRegistry getRegistry() {
     return payloadCodec.getRegistry();
   }
 
@@ -98,7 +101,7 @@ public MavlinkMessageRegistry getRegistry() {
    * @param networkOwnedBuffer network buffer in write-mode (may be flipped/compacted internally)
    * @return decoded frame if available and valid
    */
-  public Optional<MavlinkFrame> tryUnpackFrame(ByteBuffer networkOwnedBuffer) {
+  public Optional<Frame> tryUnpackFrame(ByteBuffer networkOwnedBuffer) {
     return framer.tryDecode(networkOwnedBuffer);
   }
 
@@ -111,12 +114,12 @@ public Optional<MavlinkFrame> tryUnpackFrame(ByteBuffer networkOwnedBuffer) {
    * @return envelope containing header fields + raw payload bytes if a complete valid frame is available
    */
   public Optional<MavlinkFrameEnvelope> tryUnpackHeaderAndPayload(ByteBuffer networkOwnedBuffer) {
-    Optional<MavlinkFrame> decoded = framer.tryDecode(networkOwnedBuffer);
+    Optional<Frame> decoded = framer.tryDecode(networkOwnedBuffer);
     if (decoded.isEmpty()) {
       return Optional.empty();
     }
 
-    MavlinkFrame frame = decoded.get();
+    Frame frame = decoded.get();
     byte[] payload = Objects.requireNonNull(frame.getPayload(), "frame.payload");
 
     MavlinkFrameEnvelope envelope = new MavlinkFrameEnvelope(
@@ -141,7 +144,7 @@ public Optional<MavlinkFrameEnvelope> tryUnpackHeaderAndPayload(ByteBuffer netwo
    * @param out output buffer to write into (at current position)
    * @param frame frame to pack
    */
-  public void packFrame(ByteBuffer out, MavlinkFrame frame) {
+  public void packFrame(ByteBuffer out, Frame frame) {
     packer.pack(out, frame);
   }
 
@@ -153,7 +156,7 @@ public void packFrame(ByteBuffer out, MavlinkFrame frame) {
    * @throws IOException if payload decoding fails for the message type
    * @throws NullPointerException if {@code frame} or its payload is {@code null}
    */
-  public Map<String, Object> parsePayload(MavlinkFrame frame) throws IOException {
+  public Map<String, Object> parsePayload(Frame frame) throws IOException {
     Objects.requireNonNull(frame, "frame");
     byte[] payload = Objects.requireNonNull(frame.getPayload(), "frame.payload");
 
@@ -182,7 +185,7 @@ public byte[] encodePayload(int messageId, Map<String, Object> values) throws IO
    * @throws IOException if payload encoding fails
    * @throws NullPointerException if {@code frame} or {@code values} is {@code null}
    */
-  public void encodePayloadIntoFrame(MavlinkFrame frame, int messageId, Map<String, Object> values) throws IOException {
+  public void encodePayloadIntoFrame(Frame frame, int messageId, Map<String, Object> values) throws IOException {
     Objects.requireNonNull(frame, "frame");
     Objects.requireNonNull(values, "values");
 
@@ -196,11 +199,11 @@ public void encodePayloadIntoFrame(MavlinkFrame frame, int messageId, Map<String
   /**
    * Adapter from the compiled registry to the framing requirements (CRC extra and minimum/base payload length).
    */
-  private static final class RegistryAdapter implements MavlinkDialectRegistry {
+  private static final class RegistryAdapter implements DialectRegistry {
 
-    private final MavlinkMessageRegistry registry;
+    private final MessageRegistry registry;
 
-    private RegistryAdapter(MavlinkMessageRegistry registry) {
+    private RegistryAdapter(MessageRegistry registry) {
       this.registry = Objects.requireNonNull(registry, "registry");
     }
 
@@ -213,8 +216,8 @@ private RegistryAdapter(MavlinkMessageRegistry registry) {
      * @throws IllegalArgumentException if the message id is unknown to the registry
      */
     @Override
-    public int crcExtra(MavlinkVersion version, int messageId) {
-      MavlinkCompiledMessage compiled = registry.getCompiledMessagesById().get(messageId);
+    public int crcExtra(Version version, int messageId) {
+      CompiledMessage compiled = registry.getCompiledMessagesById().get(messageId);
       if (compiled == null) {
         throw new IllegalArgumentException("Unknown MAVLink message id: " + messageId);
       }
@@ -232,13 +235,13 @@ public int crcExtra(MavlinkVersion version, int messageId) {
      * @return minimum required payload length in bytes; {@link Integer#MAX_VALUE} if unknown
      */
     @Override
-    public int minimumPayloadLength(MavlinkVersion version, int messageId) {
-      MavlinkCompiledMessage compiled = registry.getCompiledMessagesById().get(messageId);
+    public int minimumPayloadLength(Version version, int messageId) {
+      CompiledMessage compiled = registry.getCompiledMessagesById().get(messageId);
       if (compiled == null) {
         return Integer.MAX_VALUE; // force failure
       }
 
-      if (version == MavlinkVersion.V1) {
+      if (version == Version.V1) {
         return compiled.getPayloadSizeBytes();
       }
       return compiled.getMinimumPayloadSizeBytes();
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
index e96fbaa..ce27c3f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
@@ -19,13 +19,13 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import io.mapsmessaging.mavlink.message.Version;
 import lombok.Value;
 
 @Value
 public class MavlinkFrameEnvelope {
 
-  MavlinkVersion version;
+  Version version;
   int messageId;
 
   int systemId;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
index 1a8743e..ca6a8ae 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
@@ -19,9 +19,9 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.codec.MavlinkPayloadPacker;
-import io.mapsmessaging.mavlink.codec.MavlinkPayloadParser;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.codec.PayloadPacker;
+import io.mapsmessaging.mavlink.codec.PayloadParser;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 import io.mapsmessaging.mavlink.parser.*;
 import org.xml.sax.SAXException;
 
@@ -38,7 +38,7 @@
  *
  * <p>The loader provides a built-in {@code "common"} dialect that is loaded eagerly at startup
  * (fail-fast). Additional dialects may be loaded at runtime from an {@link InputStream} with a
- * caller-supplied {@link MavlinkIncludeResolver} for resolving {@code <include>} directives.</p>
+ * caller-supplied {@link IncludeResolver} for resolving {@code <include>} directives.</p>
  *
  * <p>Dialects are cached by name and can be retrieved via {@link #getDialect(String)} or
  * {@link #getDialectOrThrow(String)}.</p>
@@ -117,7 +117,7 @@ public MavlinkCodec getDialectOrThrow(String dialectName) throws IOException {
    *
    * <p>This method is not public by design. Public callers should either use built-ins via
    * {@link #getDialectOrThrow(String)}, or load custom dialects via
-   * {@link #loadDialect(String, InputStream, MavlinkIncludeResolver)}.</p>
+   * {@link #loadDialect(String, InputStream, IncludeResolver)}.</p>
    *
    * @param dialectName dialect name used for caching and lookup
    * @param classpathXml classpath resource path for the dialect XML
@@ -137,14 +137,14 @@ protected MavlinkCodec loadDialectFromClasspath(String dialectName, String class
         throw new IOException("Unable to load MAVLink dialect resource: " + classpathXml);
       }
 
-      MavlinkXmlParser mavlinkXmlParser = new MavlinkXmlParser();
-      MavlinkDialectLoader mavlinkDialectLoader = new MavlinkDialectLoader(mavlinkXmlParser);
+      XmlParser mavlinkXmlParser = new XmlParser();
+      DialectLoader dialectLoader = new DialectLoader(mavlinkXmlParser);
 
-      MavlinkIncludeResolver includeResolver =
-          new ClasspathMavlinkIncludeResolver(classLoader, "mavlink");
+      IncludeResolver includeResolver =
+          new ClasspathIncludeResolver(classLoader, "mavlink");
 
-      MavlinkDialectDefinition dialectDefinition =
-          mavlinkDialectLoader.load(normalizedDialectName, inputStream, includeResolver);
+      DialectDefinition dialectDefinition =
+          dialectLoader.load(normalizedDialectName, inputStream, includeResolver);
 
       return buildCodec(normalizedDialectName, dialectDefinition);
     }
@@ -153,7 +153,7 @@ protected MavlinkCodec loadDialectFromClasspath(String dialectName, String class
   /**
    * Loads a dialect from an arbitrary stream and caches the resulting codec under the dialect name.
    *
-   * <p>{@code <include>} directives are resolved using the provided {@link MavlinkIncludeResolver}.</p>
+   * <p>{@code <include>} directives are resolved using the provided {@link IncludeResolver}.</p>
    *
    * @param dialectName dialect name used for caching and lookup
    * @param inputStream dialect XML stream (not closed by this method)
@@ -163,7 +163,7 @@ protected MavlinkCodec loadDialectFromClasspath(String dialectName, String class
    * @throws ParserConfigurationException if the XML parser cannot be configured
    * @throws SAXException if the dialect XML is invalid
    */
-  public MavlinkCodec loadDialect(String dialectName, InputStream inputStream, MavlinkIncludeResolver includeResolver)
+  public MavlinkCodec loadDialect(String dialectName, InputStream inputStream, IncludeResolver includeResolver)
       throws IOException, ParserConfigurationException, SAXException {
 
     String normalizedDialectName = normalizeDialectName(dialectName);
@@ -171,11 +171,11 @@ public MavlinkCodec loadDialect(String dialectName, InputStream inputStream, Mav
     Objects.requireNonNull(inputStream, "inputStream");
     Objects.requireNonNull(includeResolver, "includeResolver");
 
-    MavlinkXmlParser mavlinkXmlParser = new MavlinkXmlParser();
-    MavlinkDialectLoader mavlinkDialectLoader = new MavlinkDialectLoader(mavlinkXmlParser);
+    XmlParser mavlinkXmlParser = new XmlParser();
+    DialectLoader dialectLoader = new DialectLoader(mavlinkXmlParser);
 
-    MavlinkDialectDefinition dialectDefinition =
-        mavlinkDialectLoader.load(normalizedDialectName, inputStream, includeResolver);
+    DialectDefinition dialectDefinition =
+        dialectLoader.load(normalizedDialectName, inputStream, includeResolver);
 
     MavlinkCodec codec = buildCodec(normalizedDialectName, dialectDefinition);
     dialects.put(normalizedDialectName, codec);
@@ -183,11 +183,11 @@ public MavlinkCodec loadDialect(String dialectName, InputStream inputStream, Mav
     return codec;
   }
 
-  private MavlinkCodec buildCodec(String dialectName, MavlinkDialectDefinition dialectDefinition) {
-    MavlinkMessageRegistry registry = MavlinkMessageRegistry.fromDialectDefinition(dialectDefinition);
+  private MavlinkCodec buildCodec(String dialectName, DialectDefinition dialectDefinition) {
+    MessageRegistry registry = MessageRegistry.fromDialectDefinition(dialectDefinition);
 
-    MavlinkPayloadPacker payloadPacker = new MavlinkPayloadPacker(registry);
-    MavlinkPayloadParser payloadParser = new MavlinkPayloadParser(registry);
+    PayloadPacker payloadPacker = new PayloadPacker(registry);
+    PayloadParser payloadParser = new PayloadParser(registry);
 
     return new MavlinkCodec(dialectName, registry, payloadPacker, payloadParser);
   }
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java b/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
similarity index 92%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
index 8969fa5..174dab7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameEncoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
@@ -19,13 +19,13 @@
 
 package io.mapsmessaging.mavlink.codec;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.X25Crc;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-public class MavlinkFrameEncoder {
+public class FrameEncoder {
 
   private static final byte MAVLINK2_STX = (byte) 0xFD;
   private static final int MAVLINK2_HEADER_LENGTH = 10;
@@ -37,7 +37,7 @@ public byte[] encodeV2Frame(
       int componentId,
       int messageId,
       byte[] payload,
-      MavlinkCompiledMessage compiledMessage
+      CompiledMessage compiledMessage
   ) {
     int payloadLength = payload.length;
     int frameLength = MAVLINK2_HEADER_LENGTH + payloadLength + MAVLINK2_CHECKSUM_LENGTH;
@@ -77,7 +77,7 @@ private void writeHeader(
     buffer.put((byte) ((messageId >> 16) & 0xFF));
   }
 
-  private short computeCrc(byte[] frameBytesWithoutCrc, MavlinkCompiledMessage compiledMessage) {
+  private short computeCrc(byte[] frameBytesWithoutCrc, CompiledMessage compiledMessage) {
     int start = 1;
     int lengthForCrc = frameBytesWithoutCrc.length - 1;
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java b/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
similarity index 71%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
index 9a2bd6a..7db07fa 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
@@ -19,18 +19,18 @@
 
 package io.mapsmessaging.mavlink.codec;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkFrameParser;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.FrameParser;
 
-public class MavlinkFrameFactory {
+public class FrameFactory {
 
-  private final MavlinkFrameParser frameParser;
+  private final FrameParser frameParser;
 
-  public MavlinkFrameFactory() {
-    this.frameParser = new MavlinkFrameParser();
+  public FrameFactory() {
+    this.frameParser = new FrameParser();
   }
 
-  public MavlinkFrame parse(byte[] payload) {
+  public Frame parse(byte[] payload) {
     return frameParser.parse(payload);
   }
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java b/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
similarity index 73%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
index 4ad7ea2..cc4ad33 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
@@ -22,36 +22,36 @@
 import com.google.gson.Gson;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 
 import java.io.IOException;
 import java.util.Map;
 import java.util.Objects;
 
-public class MavlinkJsonCodec {
+public class JsonCodec {
 
   private static final Gson GSON = new Gson();
 
   private final String dialectName;
-  private final MavlinkPayloadPacker packer;
-  private final MavlinkMapConverter mapConverter;
-  private final MavlinkJsonValuesExtractor valuesExtractor;
-  private final MavlinkFrameEncoder frameEncoder;
+  private final PayloadPacker packer;
+  private final MapConverter mapConverter;
+  private final JsonValuesExtractor valuesExtractor;
+  private final FrameEncoder frameEncoder;
 
-  public MavlinkJsonCodec(String dialectName, MavlinkPayloadPacker packer, MavlinkMapConverter mapConverter) {
+  public JsonCodec(String dialectName, PayloadPacker packer, MapConverter mapConverter) {
     this.dialectName = Objects.requireNonNull(dialectName, "dialectName");
     this.packer = Objects.requireNonNull(packer, "packer");
     this.mapConverter = Objects.requireNonNull(mapConverter, "mapConverter");
 
-    this.valuesExtractor = new MavlinkJsonValuesExtractor();
-    this.frameEncoder = new MavlinkFrameEncoder();
+    this.valuesExtractor = new JsonValuesExtractor();
+    this.frameEncoder = new FrameEncoder();
   }
 
 
 
-  public JsonObject toJson(MavlinkFrame frame) throws IOException {
+  public JsonObject toJson(Frame frame) throws IOException {
     Map<String, Object> map = mapConverter.convert(frame);
     String json = GSON.toJson(map);
     return JsonParser.parseString(json).getAsJsonObject();
@@ -70,8 +70,8 @@ public byte[] fromJson(JsonObject jsonObject) throws IOException {
     int componentId = jsonObject.has("componentId") ? jsonObject.get("componentId").getAsInt() : 1;
     int sequence = jsonObject.has("sequence") ? jsonObject.get("sequence").getAsInt() : 0;
 
-    MavlinkMessageRegistry registry = packer.getMessageRegistry();
-    MavlinkCompiledMessage compiledMessage = registry.getCompiledMessagesById().get(messageId);
+    MessageRegistry registry = packer.getMessageRegistry();
+    CompiledMessage compiledMessage = registry.getCompiledMessagesById().get(messageId);
     if (compiledMessage == null) {
       throw new IOException("Unknown MAVLink message id: " + messageId + " for dialect " + dialectName);
     }
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java b/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
similarity index 89%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
index ae5f2ab..2944da9 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkJsonValuesExtractor.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
@@ -23,20 +23,20 @@
 import com.google.gson.JsonArray;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonPrimitive;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
 
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-public class MavlinkJsonValuesExtractor {
+public class JsonValuesExtractor {
 
-  public Map<String, Object> extractValues(JsonObject jsonObject, MavlinkCompiledMessage compiledMessage) {
+  public Map<String, Object> extractValues(JsonObject jsonObject, CompiledMessage compiledMessage) {
     Map<String, Object> values = new HashMap<>();
 
-    for (MavlinkCompiledField compiledField : compiledMessage.getCompiledFields()) {
+    for (CompiledField compiledField : compiledMessage.getCompiledFields()) {
       String fieldName = compiledField.getFieldDefinition().getName();
       if (!jsonObject.has(fieldName)) {
         continue;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java b/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
similarity index 78%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
index a8ce233..5dd6b52 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkMapConverter.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
@@ -19,21 +19,21 @@
 
 package io.mapsmessaging.mavlink.codec;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
+import io.mapsmessaging.mavlink.message.Frame;
 
 import java.io.IOException;
 import java.util.Map;
 import java.util.Objects;
 
-public class MavlinkMapConverter {
+public class MapConverter {
 
-  private final MavlinkPayloadParser payloadParser;
+  private final PayloadParser payloadParser;
 
-  public MavlinkMapConverter(MavlinkPayloadParser payloadParser) {
+  public MapConverter(PayloadParser payloadParser) {
     this.payloadParser = Objects.requireNonNull(payloadParser, "payloadParser");
   }
 
-  public Map<String, Object> convert(MavlinkFrame frame) throws IOException {
+  public Map<String, Object> convert(Frame frame) throws IOException {
     return payloadParser.parsePayload(frame.getMessageId(), frame.getPayload());
   }
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
similarity index 69%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
index 349f7c2..5106de4 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadPacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
@@ -19,13 +19,13 @@
 
 package io.mapsmessaging.mavlink.codec;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkEnumResolver;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.EnumResolver;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 import io.mapsmessaging.mavlink.message.fields.AbstractMavlinkFieldCodec;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 import lombok.Getter;
 
 import java.io.IOException;
@@ -36,18 +36,18 @@
 import java.util.List;
 import java.util.Map;
 
-public class MavlinkPayloadPacker {
+public class PayloadPacker {
 
   @Getter
-  private final MavlinkMessageRegistry messageRegistry;
+  private final MessageRegistry messageRegistry;
 
-  public MavlinkPayloadPacker(MavlinkMessageRegistry messageRegistry) {
+  public PayloadPacker(MessageRegistry messageRegistry) {
     this.messageRegistry = messageRegistry;
   }
 
   public byte[] packPayload(int messageId, Map<String, Object> values) throws IOException {
-    MavlinkCompiledMessage compiledMessage = getCompiledMessage(messageId);
-    List<MavlinkCompiledField> compiledFields = compiledMessage.getCompiledFields();
+    CompiledMessage compiledMessage = getCompiledMessage(messageId);
+    List<CompiledField> compiledFields = compiledMessage.getCompiledFields();
 
     int lastExtensionIndex = findLastIncludedExtensionIndex(compiledFields, values);
     int payloadSize = computeTotalPotentialPayloadSize(compiledFields);
@@ -66,18 +66,18 @@ public byte[] packPayload(int messageId, Map<String, Object> values) throws IOEx
     return out;
   }
 
-  private MavlinkCompiledMessage getCompiledMessage(int messageId) throws IOException {
-    MavlinkCompiledMessage compiledMessage = messageRegistry.getCompiledMessagesById().get(messageId);
+  private CompiledMessage getCompiledMessage(int messageId) throws IOException {
+    CompiledMessage compiledMessage = messageRegistry.getCompiledMessagesById().get(messageId);
     if (compiledMessage == null) {
       throw new IOException("Unknown MAVLink message id: " + messageId);
     }
     return compiledMessage;
   }
 
-  private int findLastIncludedExtensionIndex(List<MavlinkCompiledField> compiledFields, Map<String, Object> values) {
+  private int findLastIncludedExtensionIndex(List<CompiledField> compiledFields, Map<String, Object> values) {
     int lastExtensionIndex = -1;
     for (int i = 0; i < compiledFields.size(); i++) {
-      MavlinkFieldDefinition field = compiledFields.get(i).getFieldDefinition();
+      FieldDefinition field = compiledFields.get(i).getFieldDefinition();
       if (!field.isExtension()) {
         continue;
       }
@@ -89,11 +89,11 @@ private int findLastIncludedExtensionIndex(List<MavlinkCompiledField> compiledFi
     return lastExtensionIndex;
   }
 
-  private int computePayloadSize(List<MavlinkCompiledField> compiledFields, int lastExtensionIndex) {
+  private int computePayloadSize(List<CompiledField> compiledFields, int lastExtensionIndex) {
     int size = 0;
     for (int i = 0; i < compiledFields.size(); i++) {
-      MavlinkCompiledField compiledField = compiledFields.get(i);
-      MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+      CompiledField compiledField = compiledFields.get(i);
+      FieldDefinition field = compiledField.getFieldDefinition();
 
       if (!field.isExtension()) {
         size += compiledField.getSizeInBytes();
@@ -110,9 +110,9 @@ private int computePayloadSize(List<MavlinkCompiledField> compiledFields, int la
     return size;
   }
 
-  private int computeTotalPotentialPayloadSize(List<MavlinkCompiledField> compiledFields) {
+  private int computeTotalPotentialPayloadSize(List<CompiledField> compiledFields) {
     int size = 0;
-    for (MavlinkCompiledField compiledField : compiledFields) {
+    for (CompiledField compiledField : compiledFields) {
       size += compiledField.getSizeInBytes();
     }
     return size;
@@ -125,14 +125,14 @@ private ByteBuffer allocate(int payloadSize) {
   }
 
   private void encodePayload(
-      List<MavlinkCompiledField> compiledFields,
+      List<CompiledField> compiledFields,
       int lastExtensionIndex,
       Map<String, Object> values,
       ByteBuffer buffer) throws IOException {
 
     for (int i = 0; i < compiledFields.size(); i++) {
-      MavlinkCompiledField compiledField = compiledFields.get(i);
-      MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+      CompiledField compiledField = compiledFields.get(i);
+      FieldDefinition field = compiledField.getFieldDefinition();
 
       if (field.isExtension() && i > lastExtensionIndex) {
         break;
@@ -145,7 +145,7 @@ private void encodePayload(
         continue;
       }
 
-      value = MavlinkEnumResolver.resolveEnumValue(messageRegistry, field, value);
+      value = EnumResolver.resolveEnumValue(messageRegistry, field, value);
 
       if (!field.isArray()) {
         encodeScalar(compiledField, buffer, value);
@@ -157,7 +157,7 @@ private void encodePayload(
     }
   }
 
-  private void encodeScalar(MavlinkCompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
+  private void encodeScalar(CompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
     try {
       compiledField.getFieldCodec().encode(buffer, value);
     } catch (Exception e) {
@@ -167,10 +167,10 @@ private void encodeScalar(MavlinkCompiledField compiledField, ByteBuffer buffer,
     }
   }
 
-  private void encodeArray(MavlinkCompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
-    MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+  private void encodeArray(CompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
+    FieldDefinition field = compiledField.getFieldDefinition();
 
-    if (field.getWireType() == MavlinkWireType.CHAR) {
+    if (field.getWireType() == WireType.CHAR) {
       encodeCharArray(compiledField, buffer, value);
       return;
     }
@@ -179,8 +179,8 @@ private void encodeArray(MavlinkCompiledField compiledField, ByteBuffer buffer,
     encodeTypedArray(compiledField, buffer, elements);
   }
 
-  private void encodeCharArray(MavlinkCompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
-    MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+  private void encodeCharArray(CompiledField compiledField, ByteBuffer buffer, Object value) throws IOException {
+    FieldDefinition field = compiledField.getFieldDefinition();
     int len = field.getArrayLength();
 
     byte[] src;
@@ -198,8 +198,8 @@ private void encodeCharArray(MavlinkCompiledField compiledField, ByteBuffer buff
     zeroBytes(buffer, len - copyLen);
   }
 
-  private void encodeTypedArray(MavlinkCompiledField compiledField, ByteBuffer buffer, List<?> elements) throws IOException {
-    MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+  private void encodeTypedArray(CompiledField compiledField, ByteBuffer buffer, List<?> elements) throws IOException {
+    FieldDefinition field = compiledField.getFieldDefinition();
     AbstractMavlinkFieldCodec codec = compiledField.getFieldCodec();
 
     int len = field.getArrayLength();
@@ -236,7 +236,7 @@ private List<?> toElements(Object value, String fieldName) throws IOException {
         (value == null ? "null" : value.getClass().getName()));
   }
 
-  private void zeroFill(MavlinkCompiledField compiledField, ByteBuffer buffer) {
+  private void zeroFill(CompiledField compiledField, ByteBuffer buffer) {
     zeroBytes(buffer, compiledField.getSizeInBytes());
   }
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
similarity index 80%
rename from src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
index 74c7fd1..48457ce 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkPayloadParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
@@ -20,12 +20,12 @@
 package io.mapsmessaging.mavlink.codec;
 
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 import io.mapsmessaging.mavlink.message.fields.AbstractMavlinkFieldCodec;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -36,16 +36,16 @@
 import java.util.List;
 import java.util.Map;
 
-public class MavlinkPayloadParser {
+public class PayloadParser {
 
-  private final MavlinkMessageRegistry messageRegistry;
+  private final MessageRegistry messageRegistry;
 
-  public MavlinkPayloadParser(MavlinkMessageRegistry messageRegistry) {
+  public PayloadParser(MessageRegistry messageRegistry) {
     this.messageRegistry = messageRegistry;
   }
 
   public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IOException {
-    MavlinkCompiledMessage compiledMessage =
+    CompiledMessage compiledMessage =
         messageRegistry.getCompiledMessagesById().get(messageId);
     if (compiledMessage == null) {
       throw new IllegalArgumentException("Unknown MAVLink message id: " + messageId);
@@ -58,8 +58,8 @@ public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IO
 
     boolean truncated = false;
 
-    for (MavlinkCompiledField compiledField : compiledMessage.getCompiledFields()) {
-      MavlinkFieldDefinition fieldDefinition = compiledField.getFieldDefinition();
+    for (CompiledField compiledField : compiledMessage.getCompiledFields()) {
+      FieldDefinition fieldDefinition = compiledField.getFieldDefinition();
       AbstractMavlinkFieldCodec fieldCodec = compiledField.getFieldCodec();
       String fieldName = fieldDefinition.getName();
       int fieldSize = compiledField.getSizeInBytes();
@@ -85,7 +85,7 @@ public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IO
       }
 
       int len = fieldDefinition.getArrayLength();
-      if (fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
+      if (fieldDefinition.getWireType() == WireType.CHAR) {
         // read fixed-size char[N] bytes; codec may or may not do this correctly
         byte[] raw = new byte[len];
         buffer.get(raw);
@@ -106,7 +106,7 @@ public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IO
     return result;
   }
 
-  private Object zeroValue(MavlinkFieldDefinition fieldDefinition) {
+  private Object zeroValue(FieldDefinition fieldDefinition) {
     if (!fieldDefinition.isArray()) {
       // Scalars: 0 / 0.0 / false, etc.
       return switch (fieldDefinition.getWireType()) {
@@ -118,7 +118,7 @@ private Object zeroValue(MavlinkFieldDefinition fieldDefinition) {
 
     int len = fieldDefinition.getArrayLength();
 
-    if (fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
+    if (fieldDefinition.getWireType() == WireType.CHAR) {
       return "";
     }
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java b/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
similarity index 78%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
index b3539e0..199e5a7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkDialectRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
@@ -19,11 +19,11 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import io.mapsmessaging.mavlink.message.Version;
 
-public interface MavlinkDialectRegistry {
+public interface DialectRegistry {
 
-  int crcExtra(MavlinkVersion version, int messageId);
+  int crcExtra(Version version, int messageId);
 
-  int minimumPayloadLength(MavlinkVersion version, int messageId);
+  int minimumPayloadLength(Version version, int messageId);
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
similarity index 84%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
index 2bba84c..29ff010 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameDecoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
@@ -19,11 +19,11 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
+import io.mapsmessaging.mavlink.message.Frame;
 
 import java.nio.ByteBuffer;
 import java.util.Optional;
 
-public interface MavlinkFrameDecoder {
-  Optional<MavlinkFrame> decode(ByteBuffer candidateFrame);
+public interface FrameDecoder {
+  Optional<Frame> decode(ByteBuffer candidateFrame);
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
similarity index 83%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
index 4ca0880..baf80bf 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameFramer.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
@@ -19,7 +19,7 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
+import io.mapsmessaging.mavlink.message.Frame;
 
 import java.nio.ByteBuffer;
 import java.util.Optional;
@@ -32,21 +32,21 @@
  * - This method flips to read-mode, consumes at most one valid frame, then compacts.
  * - Leftover (partial) bytes are moved to index 0 by compact().
  */
-public final class MavlinkFrameFramer {
+public final class FrameFramer {
 
   private static final int MAVLINK_V1_STX = 0xFE;
   private static final int MAVLINK_V2_STX = 0xFD;
   private static final int MAVLINK_MAX_PAYLOAD_LENGTH = 255;
 
-  private final MavlinkFrameHandler mavlinkV1FrameHandler;
-  private final MavlinkFrameHandler mavlinkV2FrameHandler;
+  private final FrameHandler mavlinkV1FrameHandler;
+  private final FrameHandler mavlinkV2FrameHandler;
 
-  public MavlinkFrameFramer(MavlinkDialectRegistry dialectRegistry) {
-    this.mavlinkV1FrameHandler = new MavlinkV1FrameHandler(dialectRegistry);
-    this.mavlinkV2FrameHandler = new MavlinkV2FrameHandler(dialectRegistry);
+  public FrameFramer(DialectRegistry dialectRegistry, SigningKeyProvider signingKeyProvider) {
+    this.mavlinkV1FrameHandler = new V1FrameHandler(dialectRegistry);
+    this.mavlinkV2FrameHandler = new V2FrameHandler(dialectRegistry, signingKeyProvider);
   }
 
-  public Optional<MavlinkFrame> tryDecode(ByteBuffer networkOwnedBuffer) {
+  public Optional<Frame> tryDecode(ByteBuffer networkOwnedBuffer) {
     try {
       if (!networkOwnedBuffer.hasRemaining()) {
         return Optional.empty();
@@ -58,7 +58,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer networkOwnedBuffer) {
       while (scanIndex < bufferLimit) {
         int startByte = networkOwnedBuffer.get(scanIndex) & 0xFF;
 
-        MavlinkFrameHandler handler = null;
+        FrameHandler handler = null;
         if (startByte == MAVLINK_V1_STX) {
           handler = mavlinkV1FrameHandler;
         } else if (startByte == MAVLINK_V2_STX) {
@@ -95,7 +95,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer networkOwnedBuffer) {
         candidateFrame.position(scanIndex);
         candidateFrame.limit(scanIndex + totalFrameLength);
 
-        Optional<MavlinkFrame> decodedFrame = handler.tryDecode(candidateFrame);
+        Optional<Frame> decodedFrame = handler.tryDecode(candidateFrame);
         if (decodedFrame.isPresent()) {
           networkOwnedBuffer.position(scanIndex + totalFrameLength);
           return decodedFrame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
similarity index 86%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
index c22c656..9e8a8f3 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
@@ -19,12 +19,12 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
+import io.mapsmessaging.mavlink.message.Frame;
 
 import java.nio.ByteBuffer;
 import java.util.Optional;
 
-public interface MavlinkFrameHandler {
+public interface FrameHandler {
 
   int minimumBytesRequiredForHeader();
 
@@ -32,5 +32,5 @@ public interface MavlinkFrameHandler {
 
   int computeTotalFrameLength(ByteBuffer buffer, int frameStartIndex, int payloadLength);
 
-  Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame);
+  Optional<Frame> tryDecode(ByteBuffer candidateFrame);
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
similarity index 77%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
index 91fecbf..3dcb0de 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkFramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
@@ -19,12 +19,12 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.Version;
 
 import java.nio.ByteBuffer;
 
-public final class MavlinkFramePacker {
+public final class FramePacker {
 
   private static final int MAVLINK_V1_STX = 0xFE;
   private static final int MAVLINK_V2_STX = 0xFD;
@@ -39,17 +39,20 @@ public final class MavlinkFramePacker {
   private static final int V2_SIGNATURE_LENGTH = 13;
   private static final int V2_INCOMPAT_FLAG_SIGNED = 0x01;
 
-  private final MavlinkDialectRegistry dialectRegistry;
+  private final DialectRegistry dialectRegistry;
+  private final SigningKeyProvider signingKeyProvider;
 
-  public MavlinkFramePacker(MavlinkDialectRegistry dialectRegistry) {
+
+  public FramePacker(DialectRegistry dialectRegistry, SigningKeyProvider signingKeyProvider) {
     this.dialectRegistry = dialectRegistry;
+    this.signingKeyProvider = signingKeyProvider;
   }
 
   /**
    * Packs the supplied MAVLink frame into the provided buffer at the current position.
    * The buffer must be in write-mode and have sufficient remaining space.
    */
-  public void pack(ByteBuffer out, MavlinkFrame frame) {
+  public void pack(ByteBuffer out, Frame frame) {
     if (out == null) {
       throw new IllegalArgumentException("out must not be null");
     }
@@ -78,7 +81,7 @@ public void pack(ByteBuffer out, MavlinkFrame frame) {
     }
   }
 
-  private void packV1(ByteBuffer out, MavlinkFrame frame) {
+  private void packV1(ByteBuffer out, Frame frame) {
     int payloadLength = frame.getPayloadLength();
     byte[] payload = frame.getPayload() == null ? new byte[0] : frame.getPayload();
 
@@ -100,7 +103,7 @@ private void packV1(ByteBuffer out, MavlinkFrame frame) {
 
     out.put(payload, 0, payloadLength);
 
-    int crcExtra = dialectRegistry.crcExtra(MavlinkVersion.V1, frame.getMessageId());
+    int crcExtra = dialectRegistry.crcExtra(Version.V1, frame.getMessageId());
     int checksum = CrcHelper.computeChecksumFromWritten(out, startPosition + 1, MAVLINK_V1_HEADER_LENGTH + payloadLength, crcExtra);
 
     out.put((byte) (checksum & 0xFF));
@@ -113,7 +116,7 @@ private void packV1(ByteBuffer out, MavlinkFrame frame) {
     frame.setSignature(null);
   }
 
-  private void packV2(ByteBuffer out, MavlinkFrame frame) {
+  private void packV2(ByteBuffer out, Frame frame) {
     int payloadLength = frame.getPayloadLength();
     byte[] payload = frame.getPayload() == null ? new byte[0] : frame.getPayload();
 
@@ -122,11 +125,6 @@ private void packV2(ByteBuffer out, MavlinkFrame frame) {
     }
 
     boolean signed = frame.isSigned();
-    byte[] signature = frame.getSignature();
-
-    if (signed && (signature == null || signature.length != V2_SIGNATURE_LENGTH)) {
-      throw new IllegalArgumentException("Signed v2 frame must have signature[13]");
-    }
 
     int required = 1 + MAVLINK_V2_HEADER_LENGTH + payloadLength + CRC_LENGTH + (signed ? V2_SIGNATURE_LENGTH : 0);
     requireRemaining(out, required);
@@ -154,20 +152,46 @@ private void packV2(ByteBuffer out, MavlinkFrame frame) {
 
     out.put(payload, 0, payloadLength);
 
-    int crcExtra = dialectRegistry.crcExtra(MavlinkVersion.V2, frame.getMessageId());
-    int checksum = CrcHelper.computeChecksumFromWritten(out, startPosition + 1, (MAVLINK_V2_HEADER_LENGTH-1) + payloadLength, crcExtra);
+    int crcExtra = dialectRegistry.crcExtra(Version.V2, frame.getMessageId());
+    int checksum = CrcHelper.computeChecksumFromWritten(
+        out,
+        startPosition + 1,
+        (MAVLINK_V2_HEADER_LENGTH - 1) + payloadLength,
+        crcExtra
+    );
 
     out.put((byte) (checksum & 0xFF));
     out.put((byte) ((checksum >>> 8) & 0xFF));
 
+    byte[] signature = null;
     if (signed) {
+      int linkId = 0;
+      long timestampMicros = System.currentTimeMillis() * 1000L;
+
+      byte[] signingKey = signingKeyProvider.getSigningKey(frame.getSystemId(), frame.getComponentId(), linkId);
+      if (signingKey == null || signingKey.length != 32) {
+        throw new IllegalArgumentException("Signed v2 frame requires 32-byte signing key");
+      }
+
+      int crcStartIndex = out.position() - CRC_LENGTH;
+
+      signature = V2SignatureGenerator.buildSignature(
+          out,
+          startPosition,
+          crcStartIndex,
+          linkId,
+          timestampMicros,
+          signingKey
+      );
+
       out.put(signature, 0, V2_SIGNATURE_LENGTH);
     }
 
     frame.setChecksum(checksum);
     frame.setIncompatibilityFlags(incompatibilityFlags);
+    frame.setSignature(signature);
+    frame.setValidated(signed);
   }
-
   private static void requireRemaining(ByteBuffer out, int required) {
     if (out.remaining() < required) {
       throw new IllegalArgumentException("Insufficient space in output buffer. required=" + required + " remaining=" + out.remaining());
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
new file mode 100644
index 0000000..3accbd3
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
@@ -0,0 +1,25 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.framing;
+
+public interface SigningKeyProvider {
+  boolean canValidate();
+  byte[] getSigningKey(int systemId, int componentId, int linkId);
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
similarity index 85%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
index 2003f23..d2436bc 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV1FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
@@ -19,23 +19,23 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.Version;
 import io.mapsmessaging.mavlink.message.X25Crc;
 
 import java.nio.ByteBuffer;
 import java.util.Optional;
 
-public final class MavlinkV1FrameHandler implements MavlinkFrameHandler {
+public final class V1FrameHandler implements FrameHandler {
 
   private static final int STX = 0xFE;
 
   private static final int HEADER_LENGTH = 6; // LEN, SEQ, SYSID, COMPID, MSGID
   private static final int CRC_LENGTH = 2;
 
-  private final MavlinkDialectRegistry dialectRegistry;
+  private final DialectRegistry dialectRegistry;
 
-  public MavlinkV1FrameHandler(MavlinkDialectRegistry dialectRegistry) {
+  public V1FrameHandler(DialectRegistry dialectRegistry) {
     this.dialectRegistry = dialectRegistry;
   }
 
@@ -55,7 +55,7 @@ public int computeTotalFrameLength(ByteBuffer buffer, int frameStartIndex, int p
   }
 
   @Override
-  public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
+  public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
     int frameStartIndex = candidateFrame.position();
 
     int stx = candidateFrame.get(frameStartIndex) & 0xFF;
@@ -69,7 +69,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
     int componentId = candidateFrame.get(frameStartIndex + 4) & 0xFF;
     int messageId = candidateFrame.get(frameStartIndex + 5) & 0xFF;
 
-    int minimumPayloadLength = dialectRegistry.minimumPayloadLength(MavlinkVersion.V1, messageId);
+    int minimumPayloadLength = dialectRegistry.minimumPayloadLength(Version.V1, messageId);
     if (payloadLength < minimumPayloadLength) {
       return Optional.empty();
     }
@@ -79,7 +79,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
 
     int receivedChecksum = ByteBufferUtils.readUnsignedLittleEndianShort(candidateFrame, crcStartIndex);
 
-    int crcExtra = dialectRegistry.crcExtra(MavlinkVersion.V1, messageId);
+    int crcExtra = dialectRegistry.crcExtra(Version.V1, messageId);
     int computedChecksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex + 1, (HEADER_LENGTH) + payloadLength-1, crcExtra);
     if (computedChecksum != receivedChecksum) {
       return Optional.empty();
@@ -87,8 +87,8 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
 
     byte[] payload = ByteBufferUtils.copyBytes(candidateFrame, payloadStartIndex, payloadLength);
 
-    MavlinkFrame frame = new MavlinkFrame();
-    frame.setVersion(MavlinkVersion.V1);
+    Frame frame = new Frame();
+    frame.setVersion(Version.V1);
     frame.setSequence(sequence);
     frame.setSystemId(systemId);
     frame.setComponentId(componentId);
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
similarity index 60%
rename from src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java
rename to src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
index b9deea0..920ea74 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/MavlinkV2FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
@@ -19,27 +19,31 @@
 
 package io.mapsmessaging.mavlink.framing;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
-import io.mapsmessaging.mavlink.message.X25Crc;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.Version;
 
 import java.nio.ByteBuffer;
+import java.util.Arrays;
 import java.util.Optional;
 
-public final class MavlinkV2FrameHandler implements MavlinkFrameHandler {
+public final class V2FrameHandler implements FrameHandler {
 
   private static final int STX = 0xFD;
 
   public static final int INCOMPAT_FLAG_SIGNED = 0x01;
 
   private static final int HEADER_LENGTH = 10; // LEN, INC, COMP, SEQ, SYSID, COMPID, MSGID(3)
-  private static final int CRC_LENGTH = 2;
-  private static final int SIGNATURE_LENGTH = 13;
 
-  private final MavlinkDialectRegistry dialectRegistry;
+  static final int CRC_LENGTH = 2;
+  static final int SIGNATURE_LENGTH = 13;
 
-  public MavlinkV2FrameHandler(MavlinkDialectRegistry dialectRegistry) {
+  private final DialectRegistry dialectRegistry;
+  private final SigningKeyProvider signingKeyProvider;
+
+  public V2FrameHandler(DialectRegistry dialectRegistry,
+                        SigningKeyProvider signingKeyProvider) {
     this.dialectRegistry = dialectRegistry;
+    this.signingKeyProvider = signingKeyProvider;
   }
 
   @Override
@@ -61,7 +65,7 @@ public int computeTotalFrameLength(ByteBuffer buffer, int frameStartIndex, int p
   }
 
   @Override
-  public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
+  public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
     int frameStartIndex = candidateFrame.position();
 
     int stx = candidateFrame.get(frameStartIndex) & 0xFF;
@@ -80,7 +84,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
 
     int messageId = ByteBufferUtils.readUnsigned24BitLittleEndian(candidateFrame, frameStartIndex + 7);
 
-    int minimumPayloadLength = dialectRegistry.minimumPayloadLength(MavlinkVersion.V2, messageId);
+    int minimumPayloadLength = dialectRegistry.minimumPayloadLength(Version.V2, messageId);
     if (payloadLength < minimumPayloadLength) {
       return Optional.empty();
     }
@@ -91,7 +95,7 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
 
     int receivedChecksum = ByteBufferUtils.readUnsignedLittleEndianShort(candidateFrame, crcStartIndex);
 
-    int crcExtra = dialectRegistry.crcExtra(MavlinkVersion.V2, messageId);
+    int crcExtra = dialectRegistry.crcExtra(Version.V2, messageId);
     int checksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex+1, (HEADER_LENGTH-1) + payloadLength, crcExtra);
 
     if (checksum != receivedChecksum) {
@@ -101,13 +105,21 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
     byte[] payload = ByteBufferUtils.copyBytes(candidateFrame, payloadStartIndex, payloadLength);
 
     byte[] signature = null;
+    boolean validated = false;
     if (signed) {
       int signatureStartIndex = crcStartIndex + CRC_LENGTH;
       signature = ByteBufferUtils.copyBytes(candidateFrame, signatureStartIndex, SIGNATURE_LENGTH);
+      if (signingKeyProvider.canValidate()) {
+        if (!validateSignature(candidateFrame, frameStartIndex, crcStartIndex, systemId, componentId, signature)) {
+          return Optional.empty();
+        } else {
+          validated = true;
+        }
+      }
     }
 
-    MavlinkFrame frame = new MavlinkFrame();
-    frame.setVersion(MavlinkVersion.V2);
+    Frame frame = new Frame();
+    frame.setVersion(Version.V2);
     frame.setSequence(sequence);
     frame.setSystemId(systemId);
     frame.setComponentId(componentId);
@@ -119,14 +131,50 @@ public Optional<MavlinkFrame> tryDecode(ByteBuffer candidateFrame) {
     frame.setIncompatibilityFlags(incompatibilityFlags);
     frame.setCompatibilityFlags(compatibilityFlags);
     frame.setSignature(signature);
+    frame.setValidated(validated);
 
     return Optional.of(frame);
   }
 
-  private static void updateCrcFromCandidate(X25Crc crc, ByteBuffer candidateFrame, int index, int length) {
-    int endIndex = index + length;
-    for (int currentIndex = index; currentIndex < endIndex; currentIndex++) {
-      crc.update(candidateFrame.get(currentIndex));
+  private boolean validateSignature(ByteBuffer candidateFrame,
+                                    int frameStartIndex,
+                                    int crcStartIndex,
+                                    int systemId,
+                                    int componentId,
+                                    byte[] receivedSignatureBlock) {
+
+    if (receivedSignatureBlock == null || receivedSignatureBlock.length != SIGNATURE_LENGTH) {
+      return false;
+    }
+
+    int linkId = receivedSignatureBlock[0] & 0xFF;
+    long timestamp = readUnsigned48BitLittleEndian(receivedSignatureBlock, 1);
+
+    byte[] signingKey = signingKeyProvider.getSigningKey(systemId, componentId, linkId);
+    if (signingKey == null || signingKey.length == 0) {
+      return false;
     }
+
+    byte[] expectedSignatureBlock = V2SignatureGenerator.buildSignature(
+        candidateFrame,
+        frameStartIndex,
+        crcStartIndex,
+        linkId,
+        timestamp,
+        signingKey
+    );
+
+    return Arrays.equals(expectedSignatureBlock, receivedSignatureBlock);
+  }
+
+  private static long readUnsigned48BitLittleEndian(byte[] source, int offset) {
+    long value = 0;
+    value |= (source[offset] & 0xFFL);
+    value |= ((source[offset + 1] & 0xFFL) << 8);
+    value |= ((source[offset + 2] & 0xFFL) << 16);
+    value |= ((source[offset + 3] & 0xFFL) << 24);
+    value |= ((source[offset + 4] & 0xFFL) << 32);
+    value |= ((source[offset + 5] & 0xFFL) << 40);
+    return value;
   }
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
new file mode 100644
index 0000000..bfcbae5
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
@@ -0,0 +1,111 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.framing;
+
+import java.nio.ByteBuffer;
+import java.util.Arrays;
+
+import static io.mapsmessaging.mavlink.framing.V2FrameHandler.CRC_LENGTH;
+import static io.mapsmessaging.mavlink.framing.V2FrameHandler.SIGNATURE_LENGTH;
+
+public final class V2FrameSigning {
+
+  private V2FrameSigning() {
+  }
+
+  public static ByteBuffer appendSignature(ByteBuffer unsignedFrame,
+                                           int linkId,
+                                           long timestamp,
+                                           byte[] signingKey) {
+    if (unsignedFrame == null) {
+      throw new IllegalArgumentException("unsignedFrame must not be null");
+    }
+    if (signingKey == null || signingKey.length != 32) {
+      throw new IllegalArgumentException("signingKey must be 32 bytes");
+    }
+
+    ByteBuffer readOnly = unsignedFrame.duplicate();
+
+    int frameStartIndex = readOnly.position();
+    int frameLimit = readOnly.limit();
+
+    if (frameLimit - frameStartIndex < 1 + 10 + CRC_LENGTH) {
+      throw new IllegalArgumentException("Frame too short");
+    }
+
+    int crcStartIndex = frameLimit - CRC_LENGTH;
+
+    byte[] signatureBlock = V2SignatureGenerator.buildSignature(
+        readOnly,
+        frameStartIndex,
+        crcStartIndex,
+        linkId,
+        timestamp,
+        signingKey
+    );
+
+    ByteBuffer signedFrame = ByteBuffer.allocate((frameLimit - frameStartIndex) + SIGNATURE_LENGTH);
+    signedFrame.put(readOnly.duplicate());
+    signedFrame.put(signatureBlock);
+    signedFrame.flip();
+    return signedFrame;
+  }
+
+  public static boolean validateSignature(ByteBuffer signedFrame,
+                                          int frameStartIndex,
+                                          int crcStartIndex,
+                                          int systemId,
+                                          int componentId,
+                                          SigningKeyProvider signingKeyProvider) {
+    int signatureStartIndex = crcStartIndex + CRC_LENGTH;
+
+    byte[] receivedSignatureBlock = ByteBufferUtils.copyBytes(signedFrame, signatureStartIndex, SIGNATURE_LENGTH);
+
+    int linkId = receivedSignatureBlock[0] & 0xFF;
+    long timestamp = readUnsigned48BitLittleEndian(receivedSignatureBlock, 1);
+
+    byte[] signingKey = signingKeyProvider.getSigningKey(systemId, componentId, linkId);
+    if (signingKey == null || signingKey.length != 32) {
+      return false;
+    }
+
+    byte[] expectedSignatureBlock = V2SignatureGenerator.buildSignature(
+        signedFrame,
+        frameStartIndex,
+        crcStartIndex,
+        linkId,
+        timestamp,
+        signingKey
+    );
+
+    return Arrays.equals(expectedSignatureBlock, receivedSignatureBlock);
+  }
+
+  private static long readUnsigned48BitLittleEndian(byte[] source, int offset) {
+    long value = 0;
+    value |= (source[offset] & 0xFFL);
+    value |= ((source[offset + 1] & 0xFFL) << 8);
+    value |= ((source[offset + 2] & 0xFFL) << 16);
+    value |= ((source[offset + 3] & 0xFFL) << 24);
+    value |= ((source[offset + 4] & 0xFFL) << 32);
+    value |= ((source[offset + 5] & 0xFFL) << 40);
+    return value;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
new file mode 100644
index 0000000..dc4aa84
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
@@ -0,0 +1,92 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+package io.mapsmessaging.mavlink.framing;
+
+import java.nio.ByteBuffer;
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+import java.util.Arrays;
+
+import static io.mapsmessaging.mavlink.framing.V2FrameHandler.CRC_LENGTH;
+import static io.mapsmessaging.mavlink.framing.V2FrameHandler.SIGNATURE_LENGTH;
+
+public final class V2SignatureGenerator {
+
+  public static byte[] buildSignature(ByteBuffer candidateFrame,
+                                      int frameStartIndex,
+                                      int crcStartIndex,
+                                      int linkId,
+                                      long timestamp,
+                                      byte[] signingKey) {
+
+    if (signingKey == null || signingKey.length == 0) {
+      throw new IllegalArgumentException("signingKey must be provided");
+    }
+
+    int packetEndExclusive = crcStartIndex + CRC_LENGTH;
+    int packetLength = packetEndExclusive - frameStartIndex;
+
+    if (packetLength <= 0) {
+      throw new IllegalArgumentException("Invalid frameStartIndex or crcStartIndex");
+    }
+
+    byte[] packetBytes = new byte[packetLength];
+    ByteBuffer readOnly = candidateFrame.duplicate();
+    readOnly.position(frameStartIndex);
+    readOnly.get(packetBytes);
+
+    byte[] digest = sha256(packetBytes, signingKey);
+    byte[] signatureBytes = Arrays.copyOf(digest, 6);
+
+    byte[] signatureBlock = new byte[SIGNATURE_LENGTH];
+    signatureBlock[0] = (byte) linkId;
+
+    writeUnsigned48BitLittleEndian(signatureBlock, 1, timestamp);
+
+    System.arraycopy(signatureBytes, 0, signatureBlock, 7, 6);
+    return signatureBlock;
+  }
+
+  private static void writeUnsigned48BitLittleEndian(byte[] target, int offset, long value) {
+    long masked = value & 0xFFFFFFFFFFFFL;
+
+    target[offset]     = (byte) (masked);
+    target[offset + 1] = (byte) (masked >>> 8);
+    target[offset + 2] = (byte) (masked >>> 16);
+    target[offset + 3] = (byte) (masked >>> 24);
+    target[offset + 4] = (byte) (masked >>> 32);
+    target[offset + 5] = (byte) (masked >>> 40);
+  }
+
+  private static byte[] sha256(byte[] packetBytes, byte[] signingKey) {
+    MessageDigest digest;
+    try {
+      digest = MessageDigest.getInstance("SHA-256");
+    } catch (NoSuchAlgorithmException e) {
+      throw new IllegalStateException("SHA-256 not available", e);
+    }
+
+    digest.update(packetBytes);
+    digest.update(signingKey);
+    return digest.digest();
+  }
+
+  private V2SignatureGenerator() {
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java b/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
similarity index 88%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java
rename to src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
index 24b6741..bbb8300 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledField.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
@@ -21,13 +21,13 @@
 
 
 import io.mapsmessaging.mavlink.message.fields.AbstractMavlinkFieldCodec;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import lombok.Data;
 
 @Data
-public class MavlinkCompiledField {
+public class CompiledField {
 
-  private MavlinkFieldDefinition fieldDefinition;
+  private FieldDefinition fieldDefinition;
 
   private AbstractMavlinkFieldCodec fieldCodec;
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java b/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
similarity index 88%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
rename to src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
index 268de60..433f20e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkCompiledMessage.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
@@ -25,12 +25,12 @@
 import java.util.List;
 
 @Data
-public class MavlinkCompiledMessage {
+public class CompiledMessage {
 
   private int messageId;
   private String name;
-  private MavlinkMessageDefinition messageDefinition;
-  private List<MavlinkCompiledField> compiledFields;
+  private MessageDefinition messageDefinition;
+  private List<CompiledField> compiledFields;
   private int payloadSizeBytes;
   private int minimumPayloadSizeBytes;
 
@@ -53,7 +53,7 @@ public String toString() {
         .append(messageDefinition.getExtraCrc())
         .append("]\n");
 
-    for (MavlinkCompiledField compiledField : compiledFields) {
+    for (CompiledField compiledField : compiledFields) {
       builder.append("  ").append(compiledField.toString()).append("\n");
     }
     return builder.toString();
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java b/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
similarity index 81%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java
rename to src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
index 6c368d9..fb50ca2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkEnumResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
@@ -20,23 +20,23 @@
 package io.mapsmessaging.mavlink.message;
 
 
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumEntry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumEntry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
 
-public final class MavlinkEnumResolver {
+public final class EnumResolver {
 
-  private MavlinkEnumResolver() {
+  private EnumResolver() {
   }
 
   public static Object resolveEnumValue(
-      MavlinkMessageRegistry registry,
-      MavlinkFieldDefinition field,
+      MessageRegistry registry,
+      FieldDefinition field,
       Object value
   ) throws IOException {
 
@@ -52,7 +52,7 @@ public static Object resolveEnumValue(
       throw new IOException("Enum field '" + field.getName() + "' cannot be null");
     }
 
-    MavlinkEnumDefinition enumDef = registry.getEnumsByName().get(enumName);
+    EnumDefinition enumDef = registry.getEnumsByName().get(enumName);
     if (enumDef == null) {
       throw new IOException("Enum '" + enumName + "' not registered");
     }
@@ -62,7 +62,7 @@ public static Object resolveEnumValue(
     }
 
     if (value instanceof String s) {
-      MavlinkEnumEntry entry = enumDef.getByName(s);
+      EnumEntry entry = enumDef.getByName(s);
       if (entry == null) {
         throw new IOException(
             "Unknown enum value '" + s + "' for enum '" + enumName + "'");
@@ -84,11 +84,11 @@ public static Object resolveEnumValue(
       int mask = 0;
       List<Integer> res = new ArrayList<>();
       for (Object element : arr) {
-        MavlinkEnumEntry entry;
+        EnumEntry entry;
         if(element instanceof Number index){
-          List<MavlinkEnumEntry> entries = enumDef.getByBitmask(index.longValue());
+          List<EnumEntry> entries = enumDef.getByBitmask(index.longValue());
           mask = 0;
-          for(MavlinkEnumEntry mavlinkEnumEntry:entries){
+          for(EnumEntry mavlinkEnumEntry:entries){
             mask |= mavlinkEnumEntry.getValue();
           }
           res.add(mask);
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/Frame.java b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
new file mode 100644
index 0000000..5ca5947
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
@@ -0,0 +1,137 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.message;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+@Schema(
+    title = "MAVLink Frame",
+    description = "Decoded MAVLink frame with header, payload, checksum, and optional signature"
+)
+public class Frame {
+
+  @Schema(
+      description = "MAVLink protocol version",
+      example = "V2",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private Version version;
+
+  @Schema(
+      description = "Packet sequence number",
+      example = "42",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int sequence;
+
+  @Schema(
+      description = "Source system ID",
+      example = "1",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int systemId;
+
+  @Schema(
+      description = "Source component ID",
+      example = "1",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int componentId;
+
+  @Schema(
+      description = "MAVLink message ID",
+      example = "33",
+      minimum = "0",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int messageId;
+
+  @Schema(
+      description = "Payload length in bytes",
+      example = "12",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int payloadLength;
+
+  @Schema(
+      description = "Raw payload bytes",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private byte[] payload;
+
+  @Schema(
+      description = "CRC checksum (X25) as unsigned 16-bit value",
+      example = "54321",
+      minimum = "0",
+      maximum = "65535",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private int checksum;
+
+  @Schema(
+      description = "True if the frame includes a MAVLink v2 signature",
+      example = "true",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private boolean signed;
+
+  @Schema(
+      description = "MAVLink v2 incompatibility flags",
+      example = "1",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private byte incompatibilityFlags;
+
+  @Schema(
+      description = "MAVLink v2 compatibility flags",
+      example = "0",
+      minimum = "0",
+      maximum = "255",
+      requiredMode = Schema.RequiredMode.REQUIRED
+  )
+  private byte compatibilityFlags;
+
+  @Schema(
+      description = "MAVLink v2 signature block (13 bytes) if present",
+      requiredMode = Schema.RequiredMode.NOT_REQUIRED,
+      nullable = true
+  )
+  private byte[] signature;
+
+  @Schema(
+      description = "True if CRC and (if present) signature validation succeeded",
+      example = "true",
+      requiredMode = Schema.RequiredMode.REQUIRED,
+      defaultValue = "false"
+  )
+  private boolean validated = false;
+}
\ No newline at end of file
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java b/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
similarity index 93%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java
rename to src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
index eb0b953..971032a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrameParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
@@ -21,7 +21,7 @@
 
 import java.util.Arrays;
 
-public class MavlinkFrameParser {
+public class FrameParser {
 
   private static final int MAVLINK_V1_STX = 0xFE;
   private static final int MAVLINK_V2_STX = 0xFD;
@@ -32,7 +32,7 @@ public class MavlinkFrameParser {
   private static final int MAVLINK_V2_SIGNATURE_LENGTH = 13;
   private static final int MAVLINK_V2_SIGNING_FLAG = 0x01;
 
-  public MavlinkFrame parse(byte[] frameBytes) {
+  public Frame parse(byte[] frameBytes) {
     if (frameBytes == null || frameBytes.length == 0) {
       throw new IllegalArgumentException("Empty MAVLink frame");
     }
@@ -48,7 +48,7 @@ public MavlinkFrame parse(byte[] frameBytes) {
     throw new IllegalArgumentException("Unsupported MAVLink STX byte: 0x" + Integer.toHexString(startOfText));
   }
 
-  private MavlinkFrame parseV1(byte[] frameBytes) {
+  private Frame parseV1(byte[] frameBytes) {
     if (frameBytes.length < MAVLINK_V1_MIN_LENGTH) {
       throw new IllegalArgumentException("MAVLink v1 frame too short: " + frameBytes.length);
     }
@@ -61,8 +61,8 @@ private MavlinkFrame parseV1(byte[] frameBytes) {
       );
     }
 
-    MavlinkFrame frame = new MavlinkFrame();
-    frame.setVersion(MavlinkVersion.V1);
+    Frame frame = new Frame();
+    frame.setVersion(Version.V1);
 
     int sequence = frameBytes[2] & 0xFF;
     int systemId = frameBytes[3] & 0xFF;
@@ -89,7 +89,7 @@ private MavlinkFrame parseV1(byte[] frameBytes) {
     return frame;
   }
 
-  private MavlinkFrame parseV2(byte[] frameBytes) {
+  private Frame parseV2(byte[] frameBytes) {
     if (frameBytes.length < MAVLINK_V2_MIN_LENGTH) {
       throw new IllegalArgumentException("MAVLink v2 frame too short: " + frameBytes.length);
     }
@@ -128,8 +128,8 @@ private MavlinkFrame parseV2(byte[] frameBytes) {
       );
     }
 
-    MavlinkFrame frame = new MavlinkFrame();
-    frame.setVersion(MavlinkVersion.V2);
+    Frame frame = new Frame();
+    frame.setVersion(Version.V2);
     frame.setSequence(sequence);
     frame.setSystemId(systemId);
     frame.setComponentId(componentId);
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java b/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
deleted file mode 100644
index 871ab2c..0000000
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkFrame.java
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- *
- *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
- *
- *  Licensed under the Apache License, Version 2.0 with the Commons Clause
- *  (the "License"); you may not use this file except in compliance with the License.
- *  You may obtain a copy of the License at:
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *      https://commonsclause.com/
- *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
- */
-
-package io.mapsmessaging.mavlink.message;
-
-import lombok.Data;
-
-@Data
-public class MavlinkFrame {
-
-  private MavlinkVersion version;
-  private int sequence;
-  private int systemId;
-  private int componentId;
-  private int messageId;
-  private int payloadLength;
-  private byte[] payload;
-  private int checksum;
-  private boolean signed;
-  private byte incompatibilityFlags;
-  private byte compatibilityFlags;
-  private byte[] signature;
-}
\ No newline at end of file
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
similarity index 69%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java
rename to src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
index 7d6f600..b6c5735 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
@@ -19,8 +19,8 @@
 
 package io.mapsmessaging.mavlink.message;
 
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 import lombok.Getter;
 import lombok.Setter;
 
@@ -30,7 +30,7 @@
 
 @Getter
 @Setter
-public class MavlinkMessageDefinition {
+public class MessageDefinition {
 
   private int messageId;
   private String name;
@@ -39,7 +39,7 @@ public class MavlinkMessageDefinition {
   /**
    * Wire-order, immutable after setXmlOrderedFields().
    */
-  private List<MavlinkFieldDefinition> fields = List.of();
+  private List<FieldDefinition> fields = List.of();
 
   private int extraCrc;
 
@@ -53,29 +53,29 @@ public String toString() {
         .append(", description=")
         .append(description)
         .append("\n");
-    for (MavlinkFieldDefinition field : fields) {
+    for (FieldDefinition field : fields) {
       builder.append(field.toString()).append("\n");
     }
     return builder.toString();
   }
 
-  public void setXmlOrderedFields(List<MavlinkFieldDefinition> xmlOrdered) {
+  public void setXmlOrderedFields(List<FieldDefinition> xmlOrdered) {
     if (xmlOrdered == null || xmlOrdered.isEmpty()) {
       fields = List.of();
       computeExtraCrc();
       return;
     }
 
-    List<MavlinkFieldDefinition> ordered = orderForWire(xmlOrdered);
+    List<FieldDefinition> ordered = orderForWire(xmlOrdered);
     fields = List.copyOf(ordered); // locked
     computeExtraCrc();
   }
 
-  private List<MavlinkFieldDefinition> orderForWire(List<MavlinkFieldDefinition> xmlOrdered) {
-    List<MavlinkFieldDefinition> base = new ArrayList<>();
-    List<MavlinkFieldDefinition> extensions = new ArrayList<>();
+  private List<FieldDefinition> orderForWire(List<FieldDefinition> xmlOrdered) {
+    List<FieldDefinition> base = new ArrayList<>();
+    List<FieldDefinition> extensions = new ArrayList<>();
 
-    for (MavlinkFieldDefinition field : xmlOrdered) {
+    for (FieldDefinition field : xmlOrdered) {
       if (field.isExtension()) {
         extensions.add(field);
       } else {
@@ -83,14 +83,14 @@ private List<MavlinkFieldDefinition> orderForWire(List<MavlinkFieldDefinition> x
       }
     }
 
-    Comparator<MavlinkFieldDefinition> comparator = Comparator
-        .comparingInt((MavlinkFieldDefinition f) -> f.getWireType().getSizeInBytes()).reversed()
-        .thenComparingInt(MavlinkFieldDefinition::getIndex); // xml order tie-breaker
+    Comparator<FieldDefinition> comparator = Comparator
+        .comparingInt((FieldDefinition f) -> f.getWireType().getSizeInBytes()).reversed()
+        .thenComparingInt(FieldDefinition::getIndex); // xml order tie-breaker
 
     base.sort(comparator);
     extensions.sort(comparator);
 
-    List<MavlinkFieldDefinition> ordered = new ArrayList<>(base.size() + extensions.size());
+    List<FieldDefinition> ordered = new ArrayList<>(base.size() + extensions.size());
     ordered.addAll(base);
     ordered.addAll(extensions);
 
@@ -103,12 +103,12 @@ private void computeExtraCrc() {
 
     crcCharArray(crc, getName().toCharArray());
 
-    for (MavlinkFieldDefinition field : fields) {
+    for (FieldDefinition field : fields) {
       if (field.isExtension()) {
         continue;
       }
 
-      MavlinkWireType fieldType = MavlinkWireType.fromXmlType(field.getType());
+      WireType fieldType = WireType.fromXmlType(field.getType());
       crcCharArray(crc, fieldType.getWireName().toCharArray());
       crcCharArray(crc, field.getName().toCharArray());
       if (field.isArray()) {
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java b/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
similarity index 57%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
rename to src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
index bb51cb5..c8e0280 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkMessageRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
@@ -21,45 +21,45 @@
 
 import com.google.gson.JsonObject;
 import io.mapsmessaging.mavlink.message.fields.AbstractMavlinkFieldCodec;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldCodecFactory;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.parser.MavlinkDialectDefinition;
-import io.mapsmessaging.mavlink.schema.MavlinkJsonSchemaBuilder;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.FieldCodecFactory;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.parser.DialectDefinition;
+import io.mapsmessaging.mavlink.schema.JsonSchemaBuilder;
 import lombok.Getter;
 import lombok.Setter;
 
 import java.util.*;
 
 @Getter
-public class MavlinkMessageRegistry {
+public class MessageRegistry {
 
   @Setter
   private String dialectName;
 
-  private List<MavlinkCompiledMessage> compiledMessages;
+  private List<CompiledMessage> compiledMessages;
 
-  private Map<Integer, MavlinkCompiledMessage> compiledMessagesById;
+  private Map<Integer, CompiledMessage> compiledMessagesById;
 
-  private Map<String, MavlinkEnumDefinition> enumsByName;
+  private Map<String, EnumDefinition> enumsByName;
 
   private Map<Integer, JsonObject> jsonSchema;
 
 
 
-  public static MavlinkMessageRegistry fromDialectDefinition(MavlinkDialectDefinition dialectDefinition) {
-    MavlinkMessageRegistry registry = new MavlinkMessageRegistry();
+  public static MessageRegistry fromDialectDefinition(DialectDefinition dialectDefinition) {
+    MessageRegistry registry = new MessageRegistry();
     registry.setDialectName(dialectDefinition.getName());
 
-    List<MavlinkCompiledMessage> compiledMessageList = new ArrayList<>();
-    Map<Integer, MavlinkCompiledMessage> compiledByIdMap = new HashMap<>();
+    List<CompiledMessage> compiledMessageList = new ArrayList<>();
+    Map<Integer, CompiledMessage> compiledByIdMap = new HashMap<>();
     Map<Integer, JsonObject> schemaMap = new HashMap<>();
 
-    for (MavlinkMessageDefinition messageDefinition : dialectDefinition.getMessages()) {
-      MavlinkCompiledMessage compiledMessage = compileMessage(messageDefinition);
+    for (MessageDefinition messageDefinition : dialectDefinition.getMessages()) {
+      CompiledMessage compiledMessage = compileMessage(messageDefinition);
       compiledMessageList.add(compiledMessage);
       compiledByIdMap.put(compiledMessage.getMessageId(), compiledMessage);
-      schemaMap.put(compiledMessage.getMessageId(), MavlinkJsonSchemaBuilder.buildSchema(compiledMessage, dialectDefinition.getEnumsByName()));
+      schemaMap.put(compiledMessage.getMessageId(), JsonSchemaBuilder.buildSchema(compiledMessage, dialectDefinition.getEnumsByName()));
     }
 
     registry.setCompiledMessages(compiledMessageList);
@@ -70,15 +70,15 @@ public static MavlinkMessageRegistry fromDialectDefinition(MavlinkDialectDefinit
     return registry;
   }
 
-  private void setEnumsByName(Map<String, MavlinkEnumDefinition> stringMavlinkEnumDefinitionHashMap) {
+  private void setEnumsByName(Map<String, EnumDefinition> stringMavlinkEnumDefinitionHashMap) {
     this.enumsByName = Collections.unmodifiableMap(new HashMap<>(stringMavlinkEnumDefinitionHashMap));
   }
 
-  private void setCompiledMessagesById(Map<Integer, MavlinkCompiledMessage> compiledByIdMap) {
+  private void setCompiledMessagesById(Map<Integer, CompiledMessage> compiledByIdMap) {
     this.compiledMessagesById = Collections.unmodifiableMap(new HashMap<>(compiledByIdMap));
   }
 
-  private void setCompiledMessages(List<MavlinkCompiledMessage> compiledMessageList) {
+  private void setCompiledMessages(List<CompiledMessage> compiledMessageList) {
     this.compiledMessages = Collections.unmodifiableList(new ArrayList<>(compiledMessageList));
   }
 
@@ -86,19 +86,19 @@ private void setJsonSchema(Map<Integer, JsonObject> jsonSchemaMap ){
     this.jsonSchema = Collections.unmodifiableMap(new HashMap<>(jsonSchemaMap));
   }
 
-  private static MavlinkCompiledMessage compileMessage(MavlinkMessageDefinition messageDefinition) {
-    MavlinkCompiledMessage compiledMessage = new MavlinkCompiledMessage();
+  private static CompiledMessage compileMessage(MessageDefinition messageDefinition) {
+    CompiledMessage compiledMessage = new CompiledMessage();
     compiledMessage.setMessageId(messageDefinition.getMessageId());
     compiledMessage.setName(messageDefinition.getName());
     compiledMessage.setMessageDefinition(messageDefinition);
 
-    List<MavlinkCompiledField> compiledFields = new ArrayList<>();
+    List<CompiledField> compiledFields = new ArrayList<>();
 
     int currentOffset = 0;
-    for (MavlinkFieldDefinition fieldDefinition : messageDefinition.getFields()) {
-      AbstractMavlinkFieldCodec fieldCodec = MavlinkFieldCodecFactory.createCodec(fieldDefinition);
+    for (FieldDefinition fieldDefinition : messageDefinition.getFields()) {
+      AbstractMavlinkFieldCodec fieldCodec = FieldCodecFactory.createCodec(fieldDefinition);
 
-      MavlinkCompiledField compiledField = new MavlinkCompiledField();
+      CompiledField compiledField = new CompiledField();
       compiledField.setFieldDefinition(fieldDefinition);
       compiledField.setFieldCodec(fieldCodec);
       compiledField.setOffsetInPayload(currentOffset);
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java b/src/main/java/io/mapsmessaging/mavlink/message/Version.java
similarity index 96%
rename from src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java
rename to src/main/java/io/mapsmessaging/mavlink/message/Version.java
index cbde5bb..8736469 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MavlinkVersion.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/Version.java
@@ -19,6 +19,6 @@
 
 package io.mapsmessaging.mavlink.message;
 
-public enum MavlinkVersion {
+public enum Version {
   V1, V2
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
index c0738ee..085aaf0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
@@ -24,13 +24,13 @@
 
 public abstract class AbstractMavlinkFieldCodec {
 
-  private final MavlinkWireType wireType;
+  private final WireType wireType;
 
-  protected AbstractMavlinkFieldCodec(MavlinkWireType wireType) {
+  protected AbstractMavlinkFieldCodec(WireType wireType) {
     this.wireType = wireType;
   }
 
-  public MavlinkWireType getWireType() {
+  public WireType getWireType() {
     return wireType;
   }
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
index c32ffb6..9c9bfcb 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
@@ -45,7 +45,7 @@ public int getSizeInBytes() {
   public Object decode(ByteBuffer buffer) {
     buffer.order(ByteOrder.LITTLE_ENDIAN);
 
-    if (treatAsString && getWireType() == MavlinkWireType.CHAR) {
+    if (treatAsString && getWireType() == WireType.CHAR) {
       byte[] temp = new byte[arrayLength];
       buffer.get(temp);
       int end = 0;
@@ -62,7 +62,7 @@ public Object decode(ByteBuffer buffer) {
   public void encode(ByteBuffer buffer, Object value) {
     buffer.order(ByteOrder.LITTLE_ENDIAN);
 
-    if (treatAsString && getWireType() == MavlinkWireType.CHAR) {
+    if (treatAsString && getWireType() == WireType.CHAR) {
       String text = value == null ? "" : value.toString();
       byte[] bytes = text.getBytes();
       int length = Math.min(bytes.length, arrayLength);
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
index 85ec564..fe0e385 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
@@ -25,7 +25,7 @@
 public class CharFieldCodec extends AbstractMavlinkFieldCodec {
 
   public CharFieldCodec() {
-    super(MavlinkWireType.CHAR);
+    super(WireType.CHAR);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
index 3c617ed..4534e4e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
@@ -25,7 +25,7 @@
 public class DoubleFieldCodec extends AbstractMavlinkFieldCodec {
 
   public DoubleFieldCodec() {
-    super(MavlinkWireType.DOUBLE);
+    super(WireType.DOUBLE);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
similarity index 78%
rename from src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java
rename to src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
index bdf3c29..18cc395 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
@@ -30,7 +30,7 @@
 
 @AllArgsConstructor
 @NoArgsConstructor
-public class MavlinkEnumDefinition {
+public class EnumDefinition {
   @Getter
   @Setter
   private String name;
@@ -40,21 +40,21 @@ public class MavlinkEnumDefinition {
   @Getter
   @Setter
   private String description;
-  private List<MavlinkEnumEntry> entries = new ArrayList<>();
+  private List<EnumEntry> entries = new ArrayList<>();
 
-  public List<MavlinkEnumEntry> getEntries() {
+  public List<EnumEntry> getEntries() {
     return Collections.unmodifiableList(entries);
   }
 
-  public void setEntries(List<MavlinkEnumEntry> list) {
+  public void setEntries(List<EnumEntry> list) {
     entries = Collections.unmodifiableList(list);
   }
 
-  public MavlinkEnumEntry getByName(String name) {
+  public EnumEntry getByName(String name) {
     if (name == null) {
       return null;
     }
-    for (MavlinkEnumEntry entry : entries) {
+    for (EnumEntry entry : entries) {
       if (name.equals(entry.getName())) {
         return entry;
       }
@@ -66,8 +66,8 @@ public boolean hasEntry(String name) {
     return getByName(name) != null;
   }
 
-  public MavlinkEnumEntry getByValue(long value) {
-    for (MavlinkEnumEntry entry : entries) {
+  public EnumEntry getByValue(long value) {
+    for (EnumEntry entry : entries) {
       if (entry.getValue() == value) {
         return entry;
       }
@@ -75,14 +75,14 @@ public MavlinkEnumEntry getByValue(long value) {
     return null;
   }
 
-  public List<MavlinkEnumEntry> getByBitmask(long mask) {
+  public List<EnumEntry> getByBitmask(long mask) {
     if (!bitmask || mask == 0) {
       return List.of();
     }
 
-    List<MavlinkEnumEntry> result = new ArrayList<>();
+    List<EnumEntry> result = new ArrayList<>();
 
-    for (MavlinkEnumEntry entry : entries) {
+    for (EnumEntry entry : entries) {
       long value = entry.getValue();
       if ((mask & value) == value) {
         result.add(entry);
@@ -98,7 +98,7 @@ public String toString() {
     builder.append(name)
         .append(", bitmask=").append(bitmask)
         .append(", description=").append(description).append("\n");
-    for (MavlinkEnumEntry entry : entries) {
+    for (EnumEntry entry : entries) {
       builder.append(entry.toString()).append("\n");
     }
     return builder.toString();
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
similarity index 97%
rename from src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java
rename to src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
index c7ee10d..2391172 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkEnumEntry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
@@ -22,7 +22,7 @@
 import lombok.Data;
 
 @Data
-public class MavlinkEnumEntry {
+public class EnumEntry {
   private long value;
   private String name;
   private String description;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
similarity index 90%
rename from src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java
rename to src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
index 4e8cfe5..66c453b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldCodecFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
@@ -20,12 +20,12 @@
 package io.mapsmessaging.mavlink.message.fields;
 
 
-public final class MavlinkFieldCodecFactory {
+public final class FieldCodecFactory {
 
-  private MavlinkFieldCodecFactory() {
+  private FieldCodecFactory() {
   }
 
-  public static AbstractMavlinkFieldCodec createCodec(MavlinkFieldDefinition fieldDefinition) {
+  public static AbstractMavlinkFieldCodec createCodec(FieldDefinition fieldDefinition) {
     String typeString = fieldDefinition.getType();
     String baseType = typeString;
     int arrayLength = 0;
@@ -42,7 +42,7 @@ public static AbstractMavlinkFieldCodec createCodec(MavlinkFieldDefinition field
     AbstractMavlinkFieldCodec scalarCodec = createScalarCodec(baseType);
 
     if (arrayLength > 0) {
-      boolean treatAsString = scalarCodec.getWireType() == MavlinkWireType.CHAR;
+      boolean treatAsString = scalarCodec.getWireType() == WireType.CHAR;
       return new ArrayFieldCodec(scalarCodec, arrayLength, treatAsString);
     }
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
similarity index 96%
rename from src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java
rename to src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
index 986fac3..5fc864f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkFieldDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
@@ -23,7 +23,7 @@
 import lombok.Data;
 
 @Data
-public class MavlinkFieldDefinition {
+public class FieldDefinition {
   private int index;
   private String type;          // XML base type ("uint8_t", "char")
   private String name;
@@ -31,7 +31,7 @@ public class MavlinkFieldDefinition {
   private String description;
   private String enumName;
 
-  private MavlinkWireType wireType;
+  private WireType wireType;
 
   private boolean extension;
   private boolean array;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
index 58af855..2f2c7eb 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
@@ -25,7 +25,7 @@
 public class FloatFieldCodec extends AbstractMavlinkFieldCodec {
 
   public FloatFieldCodec() {
-    super(MavlinkWireType.FLOAT);
+    super(WireType.FLOAT);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
index 8d4e9d2..cf54f7f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
@@ -25,7 +25,7 @@
 public class Int16FieldCodec extends AbstractMavlinkFieldCodec {
 
   public Int16FieldCodec() {
-    super(MavlinkWireType.INT16);
+    super(WireType.INT16);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
index afdf39a..1e3a844 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
@@ -26,7 +26,7 @@
 public class Int32FieldCodec extends AbstractMavlinkFieldCodec {
 
   public Int32FieldCodec() {
-    super(MavlinkWireType.INT32);
+    super(WireType.INT32);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
index 59e91df..137cc8f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
@@ -25,7 +25,7 @@
 public class Int64FieldCodec extends AbstractMavlinkFieldCodec {
 
   public Int64FieldCodec() {
-    super(MavlinkWireType.INT64);
+    super(WireType.INT64);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
index e7e4e50..9df3b3c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
@@ -25,7 +25,7 @@
 public class Int8FieldCodec extends AbstractMavlinkFieldCodec {
 
   public Int8FieldCodec() {
-    super(MavlinkWireType.INT8);
+    super(WireType.INT8);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
index a8193ff..045198c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
@@ -26,7 +26,7 @@
 public class UInt16FieldCodec extends AbstractMavlinkFieldCodec {
 
   public UInt16FieldCodec() {
-    super(MavlinkWireType.UINT16);
+    super(WireType.UINT16);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
index e8d0662..b148487 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
@@ -25,7 +25,7 @@
 public class UInt32FieldCodec extends AbstractMavlinkFieldCodec {
 
   public UInt32FieldCodec() {
-    super(MavlinkWireType.UINT32);
+    super(WireType.UINT32);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
index 000206f..23ff4e1 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
@@ -25,7 +25,7 @@
 public class UInt64FieldCodec extends AbstractMavlinkFieldCodec {
 
   public UInt64FieldCodec() {
-    super(MavlinkWireType.UINT64);
+    super(WireType.UINT64);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
index 90dae5e..ccd9975 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
@@ -26,7 +26,7 @@
 public class UInt8FieldCodec extends AbstractMavlinkFieldCodec {
 
   public UInt8FieldCodec() {
-    super(MavlinkWireType.UINT8);
+    super(WireType.UINT8);
   }
 
   @Override
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
similarity index 94%
rename from src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
rename to src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
index 5d1c02f..5922320 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/MavlinkWireType.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
@@ -21,7 +21,7 @@
 
 import lombok.Getter;
 
-public enum MavlinkWireType {
+public enum WireType {
 
   INT8(1, "int8_t"),
   UINT8(1, "uint8_t"),
@@ -41,12 +41,12 @@ public enum MavlinkWireType {
   @Getter
   private final String wireName;
 
-  MavlinkWireType(int sizeInBytes, String wireName) {
+  WireType(int sizeInBytes, String wireName) {
     this.sizeInBytes = sizeInBytes;
     this.wireName = wireName;
   }
 
-  public static MavlinkWireType fromXmlType(String xmlType) {
+  public static WireType fromXmlType(String xmlType) {
     if (xmlType == null) {
       throw new IllegalArgumentException("MAVLink XML type is null");
     }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
similarity index 87%
rename from src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
index 98f5af0..8e6389c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathMavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
@@ -19,17 +19,16 @@
 
 package io.mapsmessaging.mavlink.parser;
 
-import java.io.File;
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.Objects;
 
-public class ClasspathMavlinkIncludeResolver implements MavlinkIncludeResolver {
+public class ClasspathIncludeResolver implements IncludeResolver {
 
   private final ClassLoader classLoader;
   private final String basePath;
 
-  public ClasspathMavlinkIncludeResolver(ClassLoader classLoader, String basePath) {
+  public ClasspathIncludeResolver(ClassLoader classLoader, String basePath) {
     this.classLoader = Objects.requireNonNull(classLoader, "classLoader");
     this.basePath = Objects.requireNonNull(basePath, "basePath");
   }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java b/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
similarity index 71%
rename from src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
index 19c19c1..93fb5a0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
@@ -20,17 +20,17 @@
 package io.mapsmessaging.mavlink.parser;
 
 
-import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
+import io.mapsmessaging.mavlink.message.MessageDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
 import lombok.Data;
 
 import java.util.List;
 import java.util.Map;
 
 @Data
-public class MavlinkDialectDefinition {
+public class DialectDefinition {
   private String name;
-  private List<MavlinkMessageDefinition> messages;
-  private Map<Integer, MavlinkMessageDefinition> messagesById;
-  private Map<String, MavlinkEnumDefinition> enumsByName;
+  private List<MessageDefinition> messages;
+  private Map<Integer, MessageDefinition> messagesById;
+  private Map<String, EnumDefinition> enumsByName;
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java b/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
similarity index 77%
rename from src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
index 5630270..abb114a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkDialectLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
@@ -19,8 +19,8 @@
 
 package io.mapsmessaging.mavlink.parser;
 
-import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
+import io.mapsmessaging.mavlink.message.MessageDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
 import lombok.RequiredArgsConstructor;
 import org.w3c.dom.Document;
 import org.xml.sax.SAXException;
@@ -31,9 +31,9 @@
 import java.util.*;
 
 @RequiredArgsConstructor
-public class MavlinkDialectLoader {
+public class DialectLoader {
 
-  private final MavlinkXmlParser parser;
+  private final XmlParser parser;
 
   /**
    * Loads a dialect XML, recursively resolving <include> directives.
@@ -41,7 +41,7 @@ public class MavlinkDialectLoader {
    * Merge order:
    *   includes (deep-first) then current document overrides.
    */
-  public MavlinkDialectDefinition load(String dialectName, InputStream rootXml, MavlinkIncludeResolver includeResolver)
+  public DialectDefinition load(String dialectName, InputStream rootXml, IncludeResolver includeResolver)
       throws ParserConfigurationException, SAXException, IOException {
 
     Objects.requireNonNull(dialectName, "dialectName");
@@ -55,15 +55,15 @@ public MavlinkDialectDefinition load(String dialectName, InputStream rootXml, Ma
     return loadDocumentRecursive(dialectName, rootDoc, includeResolver, visiting, visited);
   }
 
-  private MavlinkDialectDefinition loadDocumentRecursive(
+  private DialectDefinition loadDocumentRecursive(
       String dialectName,
       Document document,
-      MavlinkIncludeResolver includeResolver,
+      IncludeResolver includeResolver,
       Set<String> visiting,
       Set<String> visited) throws ParserConfigurationException, SAXException, IOException {
 
     // Start with an empty dialect we will fill by merging includes + current doc
-    MavlinkDialectDefinition merged = emptyDialect(dialectName);
+    DialectDefinition merged = emptyDialect(dialectName);
 
     // 1) Load includes first (depth-first)
     List<String> includes = parser.parseIncludes(document);
@@ -80,7 +80,7 @@ private MavlinkDialectDefinition loadDocumentRecursive(
           throw new IOException("Unable to resolve <include>: " + includeName);
         }
         Document includeDoc = parser.parseDocument(includeStream);
-        MavlinkDialectDefinition includeDialect =
+        DialectDefinition includeDialect =
             loadDocumentRecursive(dialectName, includeDoc, includeResolver, visiting, visited);
         mergeInto(merged, includeDialect);
       } finally {
@@ -90,7 +90,7 @@ private MavlinkDialectDefinition loadDocumentRecursive(
     }
 
     // 2) Parse current document and overlay it (current wins)
-    MavlinkDialectDefinition current = parser.parse(document, dialectName);
+    DialectDefinition current = parser.parse(document, dialectName);
     mergeInto(merged, current);
 
     // 3) Normalize lists/maps once at the end
@@ -99,8 +99,8 @@ private MavlinkDialectDefinition loadDocumentRecursive(
     return merged;
   }
 
-  private MavlinkDialectDefinition emptyDialect(String dialectName) {
-    MavlinkDialectDefinition def = new MavlinkDialectDefinition();
+  private DialectDefinition emptyDialect(String dialectName) {
+    DialectDefinition def = new DialectDefinition();
     def.setName(dialectName);
     def.setEnumsByName(new LinkedHashMap<>());
     def.setMessages(new ArrayList<>());
@@ -111,14 +111,14 @@ private MavlinkDialectDefinition emptyDialect(String dialectName) {
   /**
    * Merge source into target. Target wins on conflicts (because caller controls order).
    */
-  private void mergeInto(MavlinkDialectDefinition target, MavlinkDialectDefinition source) {
+  private void mergeInto(DialectDefinition target, DialectDefinition source) {
     if (source == null) {
       return;
     }
 
     // Enums by name
     if (source.getEnumsByName() != null) {
-      for (Map.Entry<String, MavlinkEnumDefinition> e : source.getEnumsByName().entrySet()) {
+      for (Map.Entry<String, EnumDefinition> e : source.getEnumsByName().entrySet()) {
         if (e.getKey() == null) {
           continue;
         }
@@ -128,7 +128,7 @@ private void mergeInto(MavlinkDialectDefinition target, MavlinkDialectDefinition
 
     // Messages by id (canonical)
     if (source.getMessagesById() != null) {
-      for (Map.Entry<Integer, MavlinkMessageDefinition> e : source.getMessagesById().entrySet()) {
+      for (Map.Entry<Integer, MessageDefinition> e : source.getMessagesById().entrySet()) {
         if (e.getKey() == null || e.getKey() < 0) {
           continue;
         }
@@ -140,11 +140,11 @@ private void mergeInto(MavlinkDialectDefinition target, MavlinkDialectDefinition
   /**
    * Rebuild the messages list from messagesById, in id order, stable.
    */
-  private void normalize(MavlinkDialectDefinition def) {
+  private void normalize(DialectDefinition def) {
     List<Integer> ids = new ArrayList<>(def.getMessagesById().keySet());
     ids.sort(Integer::compareTo);
 
-    List<MavlinkMessageDefinition> messages = new ArrayList<>(ids.size());
+    List<MessageDefinition> messages = new ArrayList<>(ids.size());
     for (Integer id : ids) {
       messages.add(def.getMessagesById().get(id));
     }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java b/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
similarity index 78%
rename from src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
index c213134..7502df0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkExtraCrcCalculator.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
@@ -19,25 +19,25 @@
 
 package io.mapsmessaging.mavlink.parser;
 
-import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
+import io.mapsmessaging.mavlink.message.MessageDefinition;
 import io.mapsmessaging.mavlink.message.X25Crc;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 
 import java.nio.charset.StandardCharsets;
 import java.util.List;
 
-public final class MavlinkExtraCrcCalculator {
+public final class ExtraCrcCalculator {
 
-  private MavlinkExtraCrcCalculator() {
+  private ExtraCrcCalculator() {
   }
 
-  public static int computeExtraCrc(MavlinkMessageDefinition messageDefinition) {
+  public static int computeExtraCrc(MessageDefinition messageDefinition) {
     X25Crc crc = new X25Crc();
     String messageName = messageDefinition.getName();
-    List<MavlinkFieldDefinition> wireOrderedFields = messageDefinition.getFields();
+    List<FieldDefinition> wireOrderedFields = messageDefinition.getFields();
     accumulateTokenWithSpace(crc, messageName);
 
-    for (MavlinkFieldDefinition field : wireOrderedFields) {
+    for (FieldDefinition field : wireOrderedFields) {
       if (field.isExtension()) {
         continue;
       }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
similarity index 95%
rename from src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
index 1bc0acf..1b525e8 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
@@ -23,6 +23,6 @@
 import java.io.InputStream;
 
 @FunctionalInterface
-public interface MavlinkIncludeResolver {
+public interface IncludeResolver {
   InputStream open(String includeName) throws IOException;
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
similarity index 75%
rename from src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
rename to src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
index 519b3b7..0fa517f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/MavlinkXmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
@@ -19,11 +19,11 @@
 
 package io.mapsmessaging.mavlink.parser;
 
-import io.mapsmessaging.mavlink.message.MavlinkMessageDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumEntry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.MessageDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumEntry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 import org.w3c.dom.Document;
 import org.w3c.dom.Element;
 import org.w3c.dom.Node;
@@ -40,18 +40,18 @@
 import java.util.List;
 import java.util.Map;
 
-public class MavlinkXmlParser {
+public class XmlParser {
 
-  public MavlinkDialectDefinition parse(InputStream inputStream, String dialectName)
+  public DialectDefinition parse(InputStream inputStream, String dialectName)
       throws ParserConfigurationException, SAXException, IOException {
     Document document = parseDocument(inputStream);
     return parse(document, dialectName);
   }
 
-  public MavlinkDialectDefinition parse(Document document, String dialectName) {
-    Map<String, MavlinkEnumDefinition> enumsByName = parseEnums(document);
-    List<MavlinkMessageDefinition> messages = parseMessages(document);
-    Map<Integer, MavlinkMessageDefinition> messagesById = indexMessagesById(messages);
+  public DialectDefinition parse(Document document, String dialectName) {
+    Map<String, EnumDefinition> enumsByName = parseEnums(document);
+    List<MessageDefinition> messages = parseMessages(document);
+    Map<Integer, MessageDefinition> messagesById = indexMessagesById(messages);
     return buildDialectDefinition(dialectName, enumsByName, messages, messagesById);
   }
 
@@ -86,13 +86,13 @@ protected Document parseDocument(InputStream inputStream)
     return document;
   }
 
-  private MavlinkDialectDefinition buildDialectDefinition(
+  private DialectDefinition buildDialectDefinition(
       String dialectName,
-      Map<String, MavlinkEnumDefinition> enumsByName,
-      List<MavlinkMessageDefinition> messages,
-      Map<Integer, MavlinkMessageDefinition> messagesById) {
+      Map<String, EnumDefinition> enumsByName,
+      List<MessageDefinition> messages,
+      Map<Integer, MessageDefinition> messagesById) {
 
-    MavlinkDialectDefinition dialectDefinition = new MavlinkDialectDefinition();
+    DialectDefinition dialectDefinition = new DialectDefinition();
     dialectDefinition.setName(dialectName);
     dialectDefinition.setEnumsByName(enumsByName);
     dialectDefinition.setMessages(messages);
@@ -100,16 +100,16 @@ private MavlinkDialectDefinition buildDialectDefinition(
     return dialectDefinition;
   }
 
-  private Map<Integer, MavlinkMessageDefinition> indexMessagesById(List<MavlinkMessageDefinition> messageDefinitions) {
-    Map<Integer, MavlinkMessageDefinition> byId = new LinkedHashMap<>();
-    for (MavlinkMessageDefinition messageDefinition : messageDefinitions) {
+  private Map<Integer, MessageDefinition> indexMessagesById(List<MessageDefinition> messageDefinitions) {
+    Map<Integer, MessageDefinition> byId = new LinkedHashMap<>();
+    for (MessageDefinition messageDefinition : messageDefinitions) {
       byId.put(messageDefinition.getMessageId(), messageDefinition);
     }
     return byId;
   }
 
-  private Map<String, MavlinkEnumDefinition> parseEnums(Document document) {
-    Map<String, MavlinkEnumDefinition> enumMap = new LinkedHashMap<>();
+  private Map<String, EnumDefinition> parseEnums(Document document) {
+    Map<String, EnumDefinition> enumMap = new LinkedHashMap<>();
     NodeList enumNodes = document.getElementsByTagName("enum");
     for (int i = 0; i < enumNodes.getLength(); i++) {
       Node node = enumNodes.item(i);
@@ -117,7 +117,7 @@ private Map<String, MavlinkEnumDefinition> parseEnums(Document document) {
         continue;
       }
 
-      MavlinkEnumDefinition enumDefinition = parseEnum(enumElement);
+      EnumDefinition enumDefinition = parseEnum(enumElement);
       if (enumDefinition.getName() != null && !enumDefinition.getName().isEmpty()) {
         enumMap.put(enumDefinition.getName(), enumDefinition);
       }
@@ -126,8 +126,8 @@ private Map<String, MavlinkEnumDefinition> parseEnums(Document document) {
     return enumMap;
   }
 
-  private MavlinkEnumDefinition parseEnum(Element enumElement) {
-    MavlinkEnumDefinition def = new MavlinkEnumDefinition();
+  private EnumDefinition parseEnum(Element enumElement) {
+    EnumDefinition def = new EnumDefinition();
 
     def.setName(enumElement.getAttribute("name"));
     def.setBitmask(parseBitmask(enumElement.getAttribute("bitmask")));
@@ -141,8 +141,8 @@ private boolean parseBitmask(String bitmaskValue) {
     return "true".equalsIgnoreCase(bitmaskValue) || "1".equals(bitmaskValue);
   }
 
-  private List<MavlinkEnumEntry> parseEnumEntries(Element enumElement) {
-    List<MavlinkEnumEntry> entries = new ArrayList<>();
+  private List<EnumEntry> parseEnumEntries(Element enumElement) {
+    List<EnumEntry> entries = new ArrayList<>();
 
     NodeList children = enumElement.getChildNodes();
     for (int i = 0; i < children.getLength(); i++) {
@@ -160,8 +160,8 @@ private List<MavlinkEnumEntry> parseEnumEntries(Element enumElement) {
     return entries;
   }
 
-  private MavlinkEnumEntry parseEnumEntry(Element entryElement) {
-    MavlinkEnumEntry entry = new MavlinkEnumEntry();
+  private EnumEntry parseEnumEntry(Element entryElement) {
+    EnumEntry entry = new EnumEntry();
 
     String valueAttribute = entryElement.getAttribute("value");
     if (valueAttribute != null && !valueAttribute.isEmpty()) {
@@ -173,8 +173,8 @@ private MavlinkEnumEntry parseEnumEntry(Element entryElement) {
     return entry;
   }
 
-  private List<MavlinkMessageDefinition> parseMessages(Document document) {
-    List<MavlinkMessageDefinition> messages = new ArrayList<>();
+  private List<MessageDefinition> parseMessages(Document document) {
+    List<MessageDefinition> messages = new ArrayList<>();
 
     NodeList messageNodes = document.getElementsByTagName("message");
     for (int i = 0; i < messageNodes.getLength(); i++) {
@@ -188,20 +188,20 @@ private List<MavlinkMessageDefinition> parseMessages(Document document) {
     return messages;
   }
 
-  private MavlinkMessageDefinition parseMessage(Element messageElement) {
-    MavlinkMessageDefinition messageDefinition = new MavlinkMessageDefinition();
+  private MessageDefinition parseMessage(Element messageElement) {
+    MessageDefinition messageDefinition = new MessageDefinition();
 
     messageDefinition.setMessageId(parseIntAttribute(messageElement, "id"));
     messageDefinition.setName(messageElement.getAttribute("name"));
     messageDefinition.setDescription(getFirstChildTextContent(messageElement, "description"));
 
-    List<MavlinkFieldDefinition> fields = parseMessageFields(messageElement);
+    List<FieldDefinition> fields = parseMessageFields(messageElement);
     messageDefinition.setXmlOrderedFields(fields);
     return messageDefinition;
   }
 
-  private List<MavlinkFieldDefinition> parseMessageFields(Element messageElement) {
-    List<MavlinkFieldDefinition> fieldDefinitions = new ArrayList<>();
+  private List<FieldDefinition> parseMessageFields(Element messageElement) {
+    List<FieldDefinition> fieldDefinitions = new ArrayList<>();
 
     NodeList childNodes = messageElement.getChildNodes();
     int fieldIndex = 0;
@@ -230,8 +230,8 @@ private List<MavlinkFieldDefinition> parseMessageFields(Element messageElement)
     return fieldDefinitions;
   }
 
-  private MavlinkFieldDefinition parseField(Element fieldElement, int fieldIndex, boolean inExtensions) {
-    MavlinkFieldDefinition fieldDefinition = new MavlinkFieldDefinition();
+  private FieldDefinition parseField(Element fieldElement, int fieldIndex, boolean inExtensions) {
+    FieldDefinition fieldDefinition = new FieldDefinition();
     fieldDefinition.setIndex(fieldIndex);
 
     String rawType = fieldElement.getAttribute("type");
@@ -245,7 +245,7 @@ private MavlinkFieldDefinition parseField(Element fieldElement, int fieldIndex,
     fieldDefinition.setUnits(fieldElement.getAttribute("units"));
     fieldDefinition.setDescription(safeText(fieldElement));
 
-    fieldDefinition.setWireType(MavlinkWireType.fromXmlType(rawType));
+    fieldDefinition.setWireType(WireType.fromXmlType(rawType));
     fieldDefinition.setExtension(inExtensions);
 
     String enumName = fieldElement.getAttribute("enum");
diff --git a/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java b/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
similarity index 75%
rename from src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
rename to src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
index 3379311..6ddbc91 100644
--- a/src/main/java/io/mapsmessaging/mavlink/schema/MavlinkJsonSchemaBuilder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
@@ -21,23 +21,23 @@
 
 import com.google.gson.JsonArray;
 import com.google.gson.JsonObject;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumEntry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumEntry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 
 import java.util.Map;
 
-public final class MavlinkJsonSchemaBuilder {
+public final class JsonSchemaBuilder {
 
-  private MavlinkJsonSchemaBuilder() {
+  private JsonSchemaBuilder() {
   }
 
   public static JsonObject buildSchema(
-      MavlinkCompiledMessage message,
-      Map<String, MavlinkEnumDefinition> enumsByName) {
+      CompiledMessage message,
+      Map<String, EnumDefinition> enumsByName) {
 
     JsonObject schema = new JsonObject();
     schema.addProperty("$schema", "https://json-schema.org/draft/2020-12/schema");
@@ -49,8 +49,8 @@ public static JsonObject buildSchema(
     JsonObject properties = new JsonObject();
     JsonArray required = new JsonArray();
 
-    for (MavlinkCompiledField compiledField : message.getCompiledFields()) {
-      MavlinkFieldDefinition field = compiledField.getFieldDefinition();
+    for (CompiledField compiledField : message.getCompiledFields()) {
+      FieldDefinition field = compiledField.getFieldDefinition();
 
       JsonObject fieldSchema = buildFieldSchema(field, enumsByName);
       properties.add(field.getName(), fieldSchema);
@@ -73,8 +73,8 @@ public static JsonObject buildSchema(
   }
 
   private static JsonObject buildFieldSchema(
-      MavlinkFieldDefinition field,
-      Map<String, MavlinkEnumDefinition> enumsByName) {
+      FieldDefinition field,
+      Map<String, EnumDefinition> enumsByName) {
 
     JsonObject schema = new JsonObject();
 
@@ -82,7 +82,7 @@ private static JsonObject buildFieldSchema(
       schema.addProperty("description", field.getDescription());
     }
 
-    MavlinkWireType wireType = field.getWireType();
+    WireType wireType = field.getWireType();
 
     // char[N] → string
     if (field.isArray() && wireType.isChar()) {
@@ -107,11 +107,11 @@ private static JsonObject buildFieldSchema(
   }
 
   private static JsonObject scalarSchema(
-      MavlinkFieldDefinition field,
-      Map<String, MavlinkEnumDefinition> enumsByName) {
+      FieldDefinition field,
+      Map<String, EnumDefinition> enumsByName) {
 
     JsonObject schema = new JsonObject();
-    MavlinkWireType wireType = field.getWireType();
+    WireType wireType = field.getWireType();
 
     if (wireType.isFloat() || wireType.isDouble()) {
       schema.addProperty("type", "number");
@@ -120,7 +120,7 @@ private static JsonObject scalarSchema(
     }
 
     if (field.getEnumName() != null) {
-      MavlinkEnumDefinition enumDef = enumsByName.get(field.getEnumName());
+      EnumDefinition enumDef = enumsByName.get(field.getEnumName());
       if (enumDef != null) {
         applyEnum(schema, enumDef);
       }
@@ -131,7 +131,7 @@ private static JsonObject scalarSchema(
 
   private static void applyEnum(
       JsonObject schema,
-      MavlinkEnumDefinition enumDef) {
+      EnumDefinition enumDef) {
 
     schema.addProperty("x-enum-name", enumDef.getName());
 
@@ -142,7 +142,7 @@ private static void applyEnum(
     }
 
     JsonArray oneOf = new JsonArray();
-    for (MavlinkEnumEntry entry : enumDef.getEntries()) {
+    for (EnumEntry entry : enumDef.getEntries()) {
       JsonObject option = new JsonObject();
       option.addProperty("const", entry.getValue());
       option.addProperty("title", entry.getName());
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
new file mode 100644
index 0000000..7c7f851
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
@@ -0,0 +1,63 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.signing;
+
+import io.mapsmessaging.mavlink.framing.SigningKeyProvider;
+import lombok.Value;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+public class MapSigningKeyProvider implements SigningKeyProvider {
+
+  private final Map<SigningKey, byte[]> signingKeys;
+
+  public MapSigningKeyProvider() {
+    signingKeys = new ConcurrentHashMap<>();
+  }
+
+  public void register(int systemId, int componentId, int linkId, byte[] signature) {
+    SigningKey signingKey = new SigningKey(systemId, componentId, linkId);
+    signingKeys.put(signingKey, signature);
+  }
+
+  public void unregister(int systemId, int componentId, int linkId) {
+    signingKeys.remove(new SigningKey(systemId, componentId, linkId));
+
+  }
+
+  @Override
+  public boolean canValidate() {
+    return true;
+  }
+
+  @Override
+  public byte[] getSigningKey(int systemId, int componentId, int linkId) {
+    SigningKey signingKey = new SigningKey(systemId, componentId, linkId);
+    return signingKeys.get(signingKey);
+  }
+
+  @Value
+  private static class SigningKey{
+    int systemId;
+    int componentId;
+    int linkId;
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
new file mode 100644
index 0000000..47199ef
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
@@ -0,0 +1,34 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.signing;
+
+import io.mapsmessaging.mavlink.framing.SigningKeyProvider;
+
+public class NoSigningKeyProvider implements SigningKeyProvider {
+  @Override
+  public boolean canValidate() {
+    return false;
+  }
+
+  @Override
+    public byte[] getSigningKey(int systemId, int componentId, int linkId) {
+      return new byte[0];
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java
new file mode 100644
index 0000000..4d275c9
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java
@@ -0,0 +1,50 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.signing;
+
+
+import io.mapsmessaging.mavlink.framing.SigningKeyProvider;
+
+import java.util.Arrays;
+
+public final class StaticSigningKeyProvider implements SigningKeyProvider {
+
+  private final byte[] signingKey;
+
+  public StaticSigningKeyProvider(byte[] signingKey) {
+    if (signingKey == null) {
+      throw new IllegalArgumentException("signingKey must not be null");
+    }
+    if (signingKey.length != 32) {
+      throw new IllegalArgumentException("signingKey must be 32 bytes");
+    }
+    this.signingKey = Arrays.copyOf(signingKey, signingKey.length);
+  }
+
+  @Override
+  public boolean canValidate() {
+    return true;
+  }
+
+  @Override
+  public byte[] getSigningKey(int systemId, int componentId, int linkId) {
+    return Arrays.copyOf(signingKey, signingKey.length);
+  }
+}
diff --git a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
index b544bed..f558f3f 100644
--- a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
@@ -19,12 +19,12 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkEnumEntry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumEntry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import org.junit.jupiter.api.Test;
 
 import java.io.IOException;
@@ -49,18 +49,18 @@ static final class RandomValueFactory {
     protected RandomValueFactory() {}
 
     static Map<String, Object> buildValues(
-        MavlinkMessageRegistry registry,
-        MavlinkCompiledMessage msg,
+        MessageRegistry registry,
+        CompiledMessage msg,
         MavlinkRoundTripAllMessagesTest.ExtensionMode extensionMode,
         long baseSeed
     ) throws IOException {
 
       Map<String, Object> values = new LinkedHashMap<>();
-      List<MavlinkCompiledField> fields = msg.getCompiledFields();
+      List<CompiledField> fields = msg.getCompiledFields();
 
       for (int i = 0; i < fields.size(); i++) {
-        MavlinkCompiledField cf = fields.get(i);
-        MavlinkFieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+        CompiledField cf = fields.get(i);
+        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
 
         if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.OMIT_ALL) {
           continue;
@@ -82,9 +82,9 @@ static Map<String, Object> buildValues(
       return values;
     }
 
-    static MavlinkFieldDefinition fieldByName(MavlinkCompiledMessage msg, String fieldName) {
-      for (MavlinkCompiledField cf : msg.getCompiledFields()) {
-        MavlinkFieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+    static FieldDefinition fieldByName(CompiledMessage msg, String fieldName) {
+      for (CompiledField cf : msg.getCompiledFields()) {
+        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
         if (fieldName.equals(fd.getName())) {
           return fd;
         }
@@ -93,9 +93,9 @@ static MavlinkFieldDefinition fieldByName(MavlinkCompiledMessage msg, String fie
     }
 
     protected static Object generateValueForField(
-        MavlinkMessageRegistry registry,
+        MessageRegistry registry,
         int messageId,
-        MavlinkFieldDefinition fd,
+        FieldDefinition fd,
         int fieldIndex,
         long baseSeed
     ) throws IOException {
@@ -117,10 +117,10 @@ protected static Object generateValueForField(
       return generateScalar(registry, fd, random);
     }
 
-    protected static Object generateScalar(MavlinkMessageRegistry registry, MavlinkFieldDefinition fd, Random random) throws IOException {
+    protected static Object generateScalar(MessageRegistry registry, FieldDefinition fd, Random random) throws IOException {
       String enumName = fd.getEnumName();
       if (enumName != null && !enumName.isEmpty()) {
-        MavlinkEnumDefinition def = registry.getEnumsByName().get(enumName);
+        EnumDefinition def = registry.getEnumsByName().get(enumName);
         if (def != null && def.getEntries() != null && !def.getEntries().isEmpty()) {
           if (def.isBitmask()) {
             return pickBitmask(def, random);
@@ -155,25 +155,25 @@ protected static Object generateScalar(MavlinkMessageRegistry registry, MavlinkF
       };
     }
 
-    protected static long pickEnumValue(MavlinkEnumDefinition def, Random random) {
-      List<MavlinkEnumEntry> entries = def.getEntries();
-      MavlinkEnumEntry entry = entries.get(random.nextInt(entries.size()));
+    protected static long pickEnumValue(EnumDefinition def, Random random) {
+      List<EnumEntry> entries = def.getEntries();
+      EnumEntry entry = entries.get(random.nextInt(entries.size()));
       return entry.getValue();
     }
 
-    protected static long pickBitmask(MavlinkEnumDefinition def, Random random) {
-      List<MavlinkEnumEntry> entries = def.getEntries();
+    protected static long pickBitmask(EnumDefinition def, Random random) {
+      List<EnumEntry> entries = def.getEntries();
       int count = Math.min(entries.size(), 1 + random.nextInt(3));
       long mask = 0L;
 
       for (int i = 0; i < count; i++) {
-        MavlinkEnumEntry entry = entries.get(random.nextInt(entries.size()));
+        EnumEntry entry = entries.get(random.nextInt(entries.size()));
         mask |= entry.getValue();
       }
       return mask;
     }
 
-    protected static boolean isCharType(MavlinkFieldDefinition fd) {
+    protected static boolean isCharType(FieldDefinition fd) {
       String type = normalizeType(fd.getType());
       return "char".equals(type);
     }
@@ -253,10 +253,10 @@ static final class ValueAssertions {
     protected ValueAssertions() {}
 
     static void assertFieldEquals(
-        MavlinkFieldDefinition fd,
+        FieldDefinition fd,
         Object expected,
         Object actual,
-        MavlinkCompiledMessage msg
+        CompiledMessage msg
     ) {
 
       String type = RandomValueFactory.normalizeType(fd.getType());
diff --git a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
index dc5343c..dd446fe 100644
--- a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
@@ -19,7 +19,7 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
+import io.mapsmessaging.mavlink.message.Frame;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 
@@ -284,10 +284,10 @@ void validateTruncatedPackets() throws Exception {
 
     for (int i = 0; i < frames.size(); i++) {
       ByteBuffer input = ByteBuffer.wrap(toByteArray(frames.get(i)));
-      Optional<MavlinkFrame> frame = frameCodec.tryUnpackFrame(input);
+      Optional<Frame> frame = frameCodec.tryUnpackFrame(input);
 
       Assertions.assertTrue(frame.isPresent(), "Frame #" + i + " did not unpack. Remaining=" + input.remaining());
-      MavlinkFrame payloadFrame = frame.get();
+      Frame payloadFrame = frame.get();
       Map<String, Object> obj = payloadCodec.parsePayload(payloadFrame.getMessageId(), payloadFrame.getPayload());
       Assertions.assertTrue(!obj.isEmpty());
     }
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index 9963b40..f2739b0 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -19,41 +19,69 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkFrame;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.MavlinkVersion;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.Version;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.signing.MapSigningKeyProvider;
 import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.TestFactory;
 
 import java.nio.ByteBuffer;
 import java.util.Map;
 import java.util.Optional;
+import java.util.Random;
 import java.util.stream.Stream;
 
 import static org.junit.jupiter.api.Assertions.*;
 
 class MavlinkFrameRoundTripAllMessagesTest extends BaseRoudTripTest {
 
+  private static final byte[] TEST_SIGNING_KEY = buildTestSigningKey();
+
+  private static byte[] buildTestSigningKey() {
+    Random random = new Random();
+    byte[] key = new byte[32];
+    random.nextBytes(key);
+    return key;
+  }
+
   @TestFactory
-  Stream<DynamicTest> allMessages_frame_roundTrip_v2_fullPayload() throws Exception {
+  Stream<DynamicTest> allMessages_frame_roundTrip_v2_unsigned_fullPayload() throws Exception {
+    return buildRoundTripTests(false);
+  }
+
+  @TestFactory
+  Stream<DynamicTest> allMessages_frame_roundTrip_v2_signed_fullPayload() throws Exception {
+    return buildRoundTripTests(true);
+  }
+
+  private Stream<DynamicTest> buildRoundTripTests(boolean signFrames) throws Exception {
     MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
-    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec);
-    MavlinkMessageRegistry registry = payloadCodec.getRegistry();
+
+
+    MapSigningKeyProvider signingKeyProvider = new MapSigningKeyProvider();
+    signingKeyProvider.register (1, 1, 0, TEST_SIGNING_KEY);
+    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec, signingKeyProvider);
+
+    MessageRegistry registry = payloadCodec.getRegistry();
+
+    String suffix = signFrames ? "signed" : "unsigned";
 
     return registry.getCompiledMessages().stream()
         .map(msg -> DynamicTest.dynamicTest(
-            msg.getMessageId() + " " + msg.getName(),
-            () -> frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, msg)
+            msg.getMessageId() + " " + msg.getName() + " (" + suffix + ")",
+            () -> frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, msg, signFrames)
         ));
   }
 
   private static void frameRoundTripForMessageV2(
       MavlinkFrameCodec frameCodec,
       MavlinkCodec payloadCodec,
-      MavlinkMessageRegistry registry,
-      MavlinkCompiledMessage msg
+      MessageRegistry registry,
+      CompiledMessage msg,
+      boolean signFrame
   ) throws Exception {
 
     Map<String, Object> values =
@@ -62,8 +90,8 @@ private static void frameRoundTripForMessageV2(
     byte[] payload = payloadCodec.encodePayload(msg.getMessageId(), values);
     assertNotNull(payload);
 
-    MavlinkFrame frame = new MavlinkFrame();
-    frame.setVersion(MavlinkVersion.V2);
+    Frame frame = new Frame();
+    frame.setVersion(Version.V2);
     frame.setSequence(42);
     frame.setSystemId(1);
     frame.setComponentId(1);
@@ -71,8 +99,8 @@ private static void frameRoundTripForMessageV2(
     frame.setPayload(payload);
     frame.setPayloadLength(payload.length);
 
-    frame.setSigned(false);
-    frame.setIncompatibilityFlags((byte) 0);
+    frame.setSigned(signFrame);
+    frame.setIncompatibilityFlags(signFrame ? (byte) 1 : (byte) 0);
     frame.setCompatibilityFlags((byte) 0);
     frame.setSignature(null);
 
@@ -84,10 +112,22 @@ private static void frameRoundTripForMessageV2(
     ByteBuffer networkOwned = ByteBuffer.allocate(out.remaining() + 16);
     networkOwned.put(out);
     networkOwned.flip();
-    Optional<MavlinkFrame> decodedOpt = frameCodec.tryUnpackFrame(networkOwned);
+
+    Optional<Frame> decodedOpt = frameCodec.tryUnpackFrame(networkOwned);
     assertTrue(decodedOpt.isPresent(), "Expected to decode a frame");
 
-    MavlinkFrame decoded = decodedOpt.get();
+    Frame decoded = decodedOpt.get();
+
+    if (signFrame) {
+      assertTrue(decoded.isSigned(), "Expected signed frame");
+      assertTrue(decoded.isValidated(), "Expected signature validation to succeed");
+      assertNotNull(decoded.getSignature(), "Expected signature bytes");
+      assertEquals(13, decoded.getSignature().length, "Expected 13-byte MAVLink v2 signature block");
+    } else {
+      assertFalse(decoded.isSigned(), "Expected unsigned frame");
+      assertFalse(decoded.isValidated(), "Expected validated=false for unsigned frame");
+      assertNull(decoded.getSignature(), "Expected signature to be null for unsigned frame");
+    }
 
     assertEquals(frame.getVersion(), decoded.getVersion());
     assertEquals(frame.getSequence(), decoded.getSequence());
@@ -106,8 +146,8 @@ private static void frameRoundTripForMessageV2(
       Object actual = output.get(fieldName);
       assertNotNull(actual, "Missing field after decode: " + fieldName);
 
-      MavlinkFieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
-      ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
+      FieldDefinition fieldDefinition = RandomValueFactory.fieldByName(msg, fieldName);
+      ValueAssertions.assertFieldEquals(fieldDefinition, expected, actual, msg);
     }
   }
 }
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
index a3cfad9..73018ec 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
@@ -28,8 +28,9 @@
 import com.networknt.schema.JsonSchemaFactory;
 import com.networknt.schema.SpecVersion;
 import com.networknt.schema.ValidationMessage;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.schema.JsonSchemaBuilder;
 import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.TestFactory;
 
@@ -47,7 +48,7 @@ class MavlinkPayloadJsonSchemaValidationTest extends BaseRoudTripTest {
   @TestFactory
   Stream<DynamicTest> allMessages_payload_toJson_validatesAgainstSchema() throws Exception {
     MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = payloadCodec.getRegistry();
+    MessageRegistry registry = payloadCodec.getRegistry();
 
     return registry.getCompiledMessages().stream()
         .map(msg -> DynamicTest.dynamicTest(
@@ -58,8 +59,8 @@ Stream<DynamicTest> allMessages_payload_toJson_validatesAgainstSchema() throws E
 
   private static void payloadToJsonValidates(
       MavlinkCodec payloadCodec,
-      MavlinkMessageRegistry registry,
-      MavlinkCompiledMessage msg
+      MessageRegistry registry,
+      CompiledMessage msg
   ) throws Exception {
 
     Map<String, Object> values =
@@ -75,7 +76,7 @@ private static void payloadToJsonValidates(
 
     // Build schema for this message
     JsonObject schemaObject =
-        io.mapsmessaging.mavlink.schema.MavlinkJsonSchemaBuilder.buildSchema(msg, registry.getEnumsByName());
+        JsonSchemaBuilder.buildSchema(msg, registry.getEnumsByName());
 
     JsonSchema schema = compileSchema(schemaObject);
     Set<ValidationMessage> errors = schema.validate(toJsonNode(jsonObject));
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
index 9fc0f20..3bc0c09 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
@@ -19,10 +19,10 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.TestFactory;
 
@@ -38,7 +38,7 @@ class MavlinkRoundTripAllMessagesTest extends BaseRoudTripTest {
   @TestFactory
   Stream<DynamicTest> allMessages_baseFields_roundTrip() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
     return registry.getCompiledMessages().stream()
         .map(msg -> DynamicTest.dynamicTest(
@@ -50,7 +50,7 @@ Stream<DynamicTest> allMessages_baseFields_roundTrip() throws Exception {
   @TestFactory
   Stream<DynamicTest> allMessages_extensions_omitted_vs_present_payloadSizing() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
     return registry.getCompiledMessages().stream()
         .filter(msg -> msg.getCompiledFields().stream().anyMatch(cf -> MavlinkTestSupport.fieldDefinition(cf).isExtension()))
@@ -63,7 +63,7 @@ Stream<DynamicTest> allMessages_extensions_omitted_vs_present_payloadSizing() th
   @TestFactory
   Stream<DynamicTest> parallel_encode_decode_sanity_no_shared_state_per_message() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
     int threads = Math.max(2, Runtime.getRuntime().availableProcessors() / 2);
     int tasksPerMessage = 8; // tune: enough to shake shared state without being silly
@@ -77,8 +77,8 @@ Stream<DynamicTest> parallel_encode_decode_sanity_no_shared_state_per_message()
 
   private static void runParallelRoundTrips(
       MavlinkCodec codec,
-      MavlinkMessageRegistry registry,
-      MavlinkCompiledMessage msg,
+      MessageRegistry registry,
+      CompiledMessage msg,
       int threads,
       int tasksPerMessage
   ) throws Exception {
@@ -107,7 +107,7 @@ private static void runParallelRoundTrips(
               fail("Missing field after decode: message " + msg.getMessageId() + " (" + msg.getName() + ") field=" + fieldName);
             }
 
-            MavlinkFieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
+            FieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
             ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
           }
           return null;
@@ -124,8 +124,8 @@ private static void runParallelRoundTrips(
   }
   private static void roundTripForMessage(
       MavlinkCodec codec,
-      MavlinkMessageRegistry registry,
-      MavlinkCompiledMessage msg,
+      MessageRegistry registry,
+      CompiledMessage msg,
       ExtensionMode extensionMode
   ) throws Exception {
 
@@ -150,15 +150,15 @@ private static void roundTripForMessage(
         fail("Missing field after decode for message " + msg.getMessageId() + " (" + msg.getName() + "): " + fieldName);
       }
 
-      MavlinkFieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
+      FieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
       ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
     }
   }
 
   private static void extensionSizingForMessage(
       MavlinkCodec codec,
-      MavlinkMessageRegistry registry,
-      MavlinkCompiledMessage msg
+      MessageRegistry registry,
+      CompiledMessage msg
   ) throws Exception {
 
     int baseSize = PayloadSizing.computeBaseSize(msg);
@@ -181,7 +181,7 @@ private static void extensionSizingForMessage(
       Object actual = decoded.get(name);
       assertNotNull(actual, "Missing base field after extension decode: " + name);
 
-      MavlinkFieldDefinition fd = RandomValueFactory.fieldByName(msg, name);
+      FieldDefinition fd = RandomValueFactory.fieldByName(msg, name);
       ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
     }
   }
@@ -195,10 +195,10 @@ static final class PayloadSizing {
 
     private PayloadSizing() {}
 
-    static int computeBaseSize(MavlinkCompiledMessage msg) {
+    static int computeBaseSize(CompiledMessage msg) {
       int size = 0;
-      for (MavlinkCompiledField cf : msg.getCompiledFields()) {
-        MavlinkFieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+      for (CompiledField cf : msg.getCompiledFields()) {
+        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
         if (fd.isExtension()) {
           break;
         }
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
index 6093702..a6e3566 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
@@ -19,10 +19,10 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 
 import java.lang.reflect.Field;
 import java.util.Comparator;
@@ -40,23 +40,23 @@ public static MavlinkCodec codec() throws Exception {
     return loader.getDialectOrThrow("common");
   }
 
-  public static MavlinkMessageRegistry registry(MavlinkCodec codec) {
+  public static MessageRegistry registry(MavlinkCodec codec) {
     return codec.getRegistry();
   }
 
-  public static MavlinkFieldDefinition fieldDefinition(MavlinkCompiledField compiledField) {
+  public static FieldDefinition fieldDefinition(CompiledField compiledField) {
     try {
-      Field field = MavlinkCompiledField.class.getDeclaredField("fieldDefinition");
+      Field field = CompiledField.class.getDeclaredField("fieldDefinition");
       field.setAccessible(true);
-      return (MavlinkFieldDefinition) field.get(compiledField);
+      return (FieldDefinition) field.get(compiledField);
     } catch (Exception exception) {
       throw new IllegalStateException("Cannot access MavlinkCompiledField.fieldDefinition", exception);
     }
   }
 
-  public static int offset(MavlinkCompiledField compiledField) {
+  public static int offset(CompiledField compiledField) {
     try {
-      Field field = MavlinkCompiledField.class.getDeclaredField("offsetInPayload");
+      Field field = CompiledField.class.getDeclaredField("offsetInPayload");
       field.setAccessible(true);
       return (int) field.get(compiledField);
     } catch (Exception exception) {
@@ -64,9 +64,9 @@ public static int offset(MavlinkCompiledField compiledField) {
     }
   }
 
-  public static int size(MavlinkCompiledField compiledField) {
+  public static int size(CompiledField compiledField) {
     try {
-      Field field = MavlinkCompiledField.class.getDeclaredField("sizeInBytes");
+      Field field = CompiledField.class.getDeclaredField("sizeInBytes");
       field.setAccessible(true);
       return (int) field.get(compiledField);
     } catch (Exception exception) {
@@ -74,33 +74,33 @@ public static int size(MavlinkCompiledField compiledField) {
     }
   }
 
-  public static Optional<MavlinkCompiledMessage> firstMessageWithExtensions(MavlinkMessageRegistry registry) {
+  public static Optional<CompiledMessage> firstMessageWithExtensions(MessageRegistry registry) {
     return registry.getCompiledMessages().stream()
         .filter(message -> message.getCompiledFields().stream().anyMatch(field -> fieldDefinition(field).isExtension()))
         .findFirst();
   }
 
-  public static Optional<MavlinkCompiledMessage> firstMessageWithArray(MavlinkMessageRegistry registry) {
+  public static Optional<CompiledMessage> firstMessageWithArray(MessageRegistry registry) {
     return registry.getCompiledMessages().stream()
         .filter(message -> message.getCompiledFields().stream().anyMatch(field -> fieldDefinition(field).isArray()))
         .findFirst();
   }
 
-  public static Optional<MavlinkCompiledMessage> firstMessageWithEnum(MavlinkMessageRegistry registry) {
+  public static Optional<CompiledMessage> firstMessageWithEnum(MessageRegistry registry) {
     return registry.getCompiledMessages().stream()
         .filter(message -> message.getCompiledFields().stream().anyMatch(field -> {
-          MavlinkFieldDefinition definition = fieldDefinition(field);
+          FieldDefinition definition = fieldDefinition(field);
           String enumName = definition.getEnumName();
           return enumName != null && !enumName.isEmpty();
         }))
         .findFirst();
   }
 
-  public static Map<String, Object> payloadWithScalar(MavlinkFieldDefinition field, Number value) {
+  public static Map<String, Object> payloadWithScalar(FieldDefinition field, Number value) {
     return Map.of(field.getName(), value);
   }
 
-  public static Map<String, Object> payloadWithArrayFilled(MavlinkFieldDefinition field, Number value) {
+  public static Map<String, Object> payloadWithArrayFilled(FieldDefinition field, Number value) {
     int arrayLength = field.getArrayLength();
     List<Number> list = java.util.stream.IntStream.range(0, arrayLength)
         .mapToObj(index -> value)
@@ -108,7 +108,7 @@ public static Map<String, Object> payloadWithArrayFilled(MavlinkFieldDefinition
     return Map.of(field.getName(), list);
   }
 
-  public static List<MavlinkCompiledField> fieldsSortedByOffset(MavlinkCompiledMessage message) {
+  public static List<CompiledField> fieldsSortedByOffset(CompiledMessage message) {
     return message.getCompiledFields().stream()
         .sorted(Comparator.comparingInt(MavlinkTestSupport::offset))
         .toList();
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
index c0b1d74..bbacea6 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
@@ -19,11 +19,11 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 
@@ -39,18 +39,18 @@ class TestMavlinkCharArrays {
   @Test
   void charArray_stringIsTruncatedAndNullPadded() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
         .orElseThrow(() -> new IllegalStateException("No message with array fields found"));
 
-    MavlinkCompiledField charArrayField = findFirstCharArrayField(message);
+    CompiledField charArrayField = findFirstCharArrayField(message);
     if (charArrayField == null) {
       return; // no char arrays in this dialect revision, skip
     }
 
     int messageId = message.getMessageId();
-    MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(charArrayField);
+    FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(charArrayField);
 
     String longText = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789";
     Map<String, Object> values = new HashMap<>();
@@ -85,18 +85,18 @@ void charArray_stringIsTruncatedAndNullPadded() throws Exception {
   @Test
   void charArray_byteArrayAccepted() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
         .orElseThrow(() -> new IllegalStateException("No message with array fields found"));
 
-    MavlinkCompiledField charArrayField = findFirstCharArrayField(message);
+    CompiledField charArrayField = findFirstCharArrayField(message);
     if (charArrayField == null) {
       return;
     }
 
     int messageId = message.getMessageId();
-    MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(charArrayField);
+    FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(charArrayField);
 
     byte[] input = "HELLO".getBytes(StandardCharsets.UTF_8);
 
@@ -111,11 +111,11 @@ void charArray_byteArrayAccepted() throws Exception {
     Assertions.assertNotNull(decoded.get(fieldDefinition.getName()));
   }
 
-  private MavlinkCompiledField findFirstCharArrayField(MavlinkCompiledMessage message) {
-    List<MavlinkCompiledField> fields = message.getCompiledFields();
-    for (MavlinkCompiledField compiledField : fields) {
-      MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
-      if (fieldDefinition.isArray() && fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
+  private CompiledField findFirstCharArrayField(CompiledMessage message) {
+    List<CompiledField> fields = message.getCompiledFields();
+    for (CompiledField compiledField : fields) {
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+      if (fieldDefinition.isArray() && fieldDefinition.getWireType() == WireType.CHAR) {
         return compiledField;
       }
     }
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
index 962d0ff..562a278 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
@@ -19,10 +19,10 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 
@@ -35,17 +35,17 @@ class TestMavlinkExtensions {
   @Test
   void extensionFields_omitted_doNotIncreasePayloadSize() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
         .orElseThrow(() -> new IllegalStateException("No message with extensions found in dialect"));
 
     int messageId = message.getMessageId();
-    List<MavlinkCompiledField> compiledFields = message.getCompiledFields();
+    List<CompiledField> compiledFields = message.getCompiledFields();
 
     int baseSize = 0;
-    for (MavlinkCompiledField compiledField : compiledFields) {
-      MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+    for (CompiledField compiledField : compiledFields) {
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
       if (fieldDefinition.isExtension()) {
         break;
       }
@@ -60,13 +60,13 @@ void extensionFields_omitted_doNotIncreasePayloadSize() throws Exception {
   @Test
   void extensionFields_present_extendPayloadToLastPresentExtension() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
         .orElseThrow(() -> new IllegalStateException("No message with extensions found in dialect"));
 
     int messageId = message.getMessageId();
-    List<MavlinkCompiledField> fields = message.getCompiledFields();
+    List<CompiledField> fields = message.getCompiledFields();
 
     int firstExtensionIndex = -1;
     int lastExtensionIndex = -1;
@@ -82,8 +82,8 @@ void extensionFields_present_extendPayloadToLastPresentExtension() throws Except
 
     Assertions.assertTrue(firstExtensionIndex >= 0, "Expected at least one extension field");
 
-    MavlinkCompiledField firstExtensionField = fields.get(firstExtensionIndex);
-    MavlinkFieldDefinition firstExtensionDefinition = MavlinkTestSupport.fieldDefinition(firstExtensionField);
+    CompiledField firstExtensionField = fields.get(firstExtensionIndex);
+    FieldDefinition firstExtensionDefinition = MavlinkTestSupport.fieldDefinition(firstExtensionField);
 
     Map<String, Object> values = new HashMap<>();
     values.put(firstExtensionDefinition.getName(), numericSampleValue(firstExtensionDefinition));
@@ -92,8 +92,8 @@ void extensionFields_present_extendPayloadToLastPresentExtension() throws Except
 
     int expectedSize = 0;
     for (int index = 0; index < fields.size(); index++) {
-      MavlinkCompiledField compiledField = fields.get(index);
-      MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+      CompiledField compiledField = fields.get(index);
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
 
       expectedSize += MavlinkTestSupport.size(compiledField);
 
@@ -106,8 +106,8 @@ void extensionFields_present_extendPayloadToLastPresentExtension() throws Except
         "Payload should extend exactly through the last included extension field for message " + messageId);
 
     if (lastExtensionIndex > firstExtensionIndex) {
-      MavlinkCompiledField lastExtensionField = fields.get(lastExtensionIndex);
-      MavlinkFieldDefinition lastExtensionDefinition = MavlinkTestSupport.fieldDefinition(lastExtensionField);
+      CompiledField lastExtensionField = fields.get(lastExtensionIndex);
+      FieldDefinition lastExtensionDefinition = MavlinkTestSupport.fieldDefinition(lastExtensionField);
 
       Map<String, Object> later = new HashMap<>();
       later.put(lastExtensionDefinition.getName(), numericSampleValue(lastExtensionDefinition));
@@ -127,13 +127,13 @@ void extensionFields_present_extendPayloadToLastPresentExtension() throws Except
   @Test
   void extensionFields_middleOmitted_zeroFilledIfLaterExtensionPresent() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithExtensions(registry)
         .orElseThrow(() -> new IllegalStateException("No message with extensions found in dialect"));
 
     int messageId = message.getMessageId();
-    List<MavlinkCompiledField> fields = message.getCompiledFields();
+    List<CompiledField> fields = message.getCompiledFields();
 
     List<Integer> extensionIndexes = new java.util.ArrayList<>();
     for (int index = 0; index < fields.size(); index++) {
@@ -149,7 +149,7 @@ void extensionFields_middleOmitted_zeroFilledIfLaterExtensionPresent() throws Ex
     int earlierIndex = extensionIndexes.get(0);
     int laterIndex = extensionIndexes.get(extensionIndexes.size() - 1);
 
-    MavlinkFieldDefinition later = MavlinkTestSupport.fieldDefinition(fields.get(laterIndex));
+    FieldDefinition later = MavlinkTestSupport.fieldDefinition(fields.get(laterIndex));
 
     Map<String, Object> values = new HashMap<>();
     values.put(later.getName(), numericSampleValue(later));
@@ -170,7 +170,7 @@ void extensionFields_middleOmitted_zeroFilledIfLaterExtensionPresent() throws Ex
     Assertions.assertNotNull(decoded);
   }
 
-  private Number numericSampleValue(MavlinkFieldDefinition fieldDefinition) {
+  private Number numericSampleValue(FieldDefinition fieldDefinition) {
     // We don't know the exact wire type here without importing codec internals,
     // but for most numeric fields a small positive int is safe.
     return 1;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
index 35f76bc..f63ab8b 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
@@ -20,12 +20,11 @@
 package io.mapsmessaging.mavlink;
 
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
-import io.mapsmessaging.mavlink.message.fields.MavlinkWireType;
-import org.junit.jupiter.api.Assertions;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+import io.mapsmessaging.mavlink.message.fields.WireType;
 import org.junit.jupiter.api.Test;
 
 import java.util.ArrayList;
@@ -40,18 +39,18 @@ class TestMavlinkNumericArrays {
   @Test
   void numericArray_listShorterThanLength_zeroPadsRemainder() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
         .orElseThrow(() -> new IllegalStateException("No message with array fields found"));
 
-    MavlinkCompiledField numericArray = findFirstNumericArrayField(message);
+    CompiledField numericArray = findFirstNumericArrayField(message);
     if (numericArray == null) {
       return;
     }
 
     int messageId = message.getMessageId();
-    MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(numericArray);
+    FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(numericArray);
 
     List<Number> shortList = List.of(1, 2);
 
@@ -71,18 +70,18 @@ void numericArray_listShorterThanLength_zeroPadsRemainder() throws Exception {
   @Test
   void numericArray_listLongerThanLength_isTruncated() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
 
-    MavlinkCompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
+    CompiledMessage message = MavlinkTestSupport.firstMessageWithArray(registry)
         .orElseThrow(() -> new IllegalStateException("No message with array fields found"));
 
-    MavlinkCompiledField numericArray = findFirstNumericArrayField(message);
+    CompiledField numericArray = findFirstNumericArrayField(message);
     if (numericArray == null) {
       return;
     }
 
     int messageId = message.getMessageId();
-    MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(numericArray);
+    FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(numericArray);
 
     int length = fieldDefinition.getArrayLength();
 
@@ -102,16 +101,16 @@ void numericArray_listLongerThanLength_isTruncated() throws Exception {
     assertNotNull(decoded.get(fieldDefinition.getName()));
   }
 
-  private MavlinkCompiledField findFirstNumericArrayField(MavlinkCompiledMessage message) {
-    for (MavlinkCompiledField compiledField : message.getCompiledFields()) {
-      MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+  private CompiledField findFirstNumericArrayField(CompiledMessage message) {
+    for (CompiledField compiledField : message.getCompiledFields()) {
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
       if (!fieldDefinition.isArray()) {
         continue;
       }
       if (fieldDefinition.getWireType() == null) {
         continue;
       }
-      if (fieldDefinition.getWireType() == MavlinkWireType.CHAR) {
+      if (fieldDefinition.getWireType() == WireType.CHAR) {
         continue;
       }
       return compiledField;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
index a7ce7a0..b9aba8f 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
@@ -19,10 +19,10 @@
 
 package io.mapsmessaging.mavlink;
 
-import io.mapsmessaging.mavlink.message.MavlinkCompiledField;
-import io.mapsmessaging.mavlink.message.MavlinkCompiledMessage;
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
-import io.mapsmessaging.mavlink.message.fields.MavlinkFieldDefinition;
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
@@ -34,11 +34,11 @@ class TestMavlinkRegistryInvariants {
   @Test
   void registryHasNoDuplicateMessageIdsAndLooksSane() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = MavlinkTestSupport.registry(codec);
+    MessageRegistry registry = MavlinkTestSupport.registry(codec);
 
     Assertions.assertEquals("common", codec.getName());
 
-    List<MavlinkCompiledMessage> messages = registry.getCompiledMessages();
+    List<CompiledMessage> messages = registry.getCompiledMessages();
     Assertions.assertNotNull(messages);
     Assertions.assertTrue(
         messages.size() >= 220 && messages.size() <= 260,
@@ -46,7 +46,7 @@ void registryHasNoDuplicateMessageIdsAndLooksSane() throws Exception {
     );
 
     Set<Integer> ids = new HashSet<>();
-    for (MavlinkCompiledMessage message : messages) {
+    for (CompiledMessage message : messages) {
       Assertions.assertTrue(ids.add(message.getMessageId()), "Duplicate messageId: " + message.getMessageId());
       Assertions.assertNotNull(message.getName());
       Assertions.assertTrue(message.getPayloadSizeBytes() >= 0);
@@ -63,14 +63,14 @@ void registryHasNoDuplicateMessageIdsAndLooksSane() throws Exception {
   @Test
   void compiledFieldLayoutIsMonotonicAndMatchesPayloadSize() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = MavlinkTestSupport.registry(codec);
+    MessageRegistry registry = MavlinkTestSupport.registry(codec);
 
-    for (MavlinkCompiledMessage message : registry.getCompiledMessages()) {
-      List<MavlinkCompiledField> fields = MavlinkTestSupport.fieldsSortedByOffset(message);
+    for (CompiledMessage message : registry.getCompiledMessages()) {
+      List<CompiledField> fields = MavlinkTestSupport.fieldsSortedByOffset(message);
 
       Set<String> names = new HashSet<>();
-      for (MavlinkCompiledField field : fields) {
-        MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(field);
+      for (CompiledField field : fields) {
+        FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(field);
 
         Assertions.assertTrue(
             names.add(fieldDefinition.getName()),
@@ -84,8 +84,8 @@ void compiledFieldLayoutIsMonotonicAndMatchesPayloadSize() throws Exception {
       }
 
       for (int i = 1; i < fields.size(); i++) {
-        MavlinkCompiledField previous = fields.get(i - 1);
-        MavlinkCompiledField current = fields.get(i);
+        CompiledField previous = fields.get(i - 1);
+        CompiledField current = fields.get(i);
 
         int previousEnd = MavlinkTestSupport.offset(previous) + MavlinkTestSupport.size(previous);
 
@@ -100,7 +100,7 @@ void compiledFieldLayoutIsMonotonicAndMatchesPayloadSize() throws Exception {
         );
       }
 
-      MavlinkCompiledField last = fields.get(fields.size() - 1);
+      CompiledField last = fields.get(fields.size() - 1);
       int computedPayloadSize = MavlinkTestSupport.offset(last) + MavlinkTestSupport.size(last);
 
       Assertions.assertEquals(
@@ -114,14 +114,14 @@ void compiledFieldLayoutIsMonotonicAndMatchesPayloadSize() throws Exception {
   @Test
   void extensionFieldsAreAllTrailingInPackedOrder() throws Exception {
     MavlinkCodec codec = MavlinkTestSupport.codec();
-    MavlinkMessageRegistry registry = MavlinkTestSupport.registry(codec);
+    MessageRegistry registry = MavlinkTestSupport.registry(codec);
 
-    for (MavlinkCompiledMessage message : registry.getCompiledMessages()) {
-      List<MavlinkCompiledField> fields = message.getCompiledFields(); // assumes already in packed order
+    for (CompiledMessage message : registry.getCompiledMessages()) {
+      List<CompiledField> fields = message.getCompiledFields(); // assumes already in packed order
       boolean sawExtension = false;
 
-      for (MavlinkCompiledField field : fields) {
-        MavlinkFieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(field);
+      for (CompiledField field : fields) {
+        FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(field);
 
         if (fieldDefinition.isExtension()) {
           sawExtension = true;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
index 86afe64..3032b15 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
@@ -20,7 +20,7 @@
 package io.mapsmessaging.mavlink;
 
 
-import io.mapsmessaging.mavlink.message.MavlinkMessageRegistry;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 
@@ -81,7 +81,7 @@ void commonDialectLoadsAndHasKnownMessageIds() throws Exception {
     Assertions.assertNotNull(codec);
     Assertions.assertEquals("common", codec.getName());
 
-    MavlinkMessageRegistry registry = codec.getRegistry();
+    MessageRegistry registry = codec.getRegistry();
     Assertions.assertNotNull(registry);
 
     assertTrue(registry.getCompiledMessagesById().containsKey(0), "HEARTBEAT");
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
index 90b3104..2ef0d97 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
@@ -34,11 +34,11 @@ void commonDialect_resolvesIncludes_andContainsKnownMessages() throws Exception
     try (InputStream stream = classLoader.getResourceAsStream("mavlink/common.xml")) {
       Assertions.assertNotNull(stream, "Missing resource mavlink/common.xml");
 
-      MavlinkXmlParser parser = new MavlinkXmlParser();
-      MavlinkDialectLoader loader = new MavlinkDialectLoader(parser);
+      XmlParser parser = new XmlParser();
+      DialectLoader loader = new DialectLoader(parser);
 
-      MavlinkIncludeResolver resolver = new ClasspathMavlinkIncludeResolver(classLoader, "mavlink");
-      MavlinkDialectDefinition dialect = loader.load("common", stream, resolver);
+      IncludeResolver resolver = new ClasspathIncludeResolver(classLoader, "mavlink");
+      DialectDefinition dialect = loader.load("common", stream, resolver);
 
       Assertions.assertNotNull(dialect);
       Assertions.assertEquals("common", dialect.getName());

From a5ccd3bc922c277f28aab60fac8c0cb0e95f02bc Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Fri, 16 Jan 2026 22:18:07 +1100
Subject: [PATCH 16/34] add system id context and simple frame based error
 detection

---
 .../mavlink/SystemContextManager.java         |  83 ++++++
 .../mavlink/context/Detection.java            |  13 +
 .../mavlink/context/DetectionSeverity.java    |   7 +
 .../mavlink/context/DetectionType.java        |  12 +
 .../mavlink/context/FrameFailureReason.java   |   9 +
 .../mavlink/context/FrameFingerprint.java     |  34 +++
 .../context/SequenceProcessingResult.java     |  17 ++
 .../mavlink/context/SequenceProcessor.java    | 264 ++++++++++++++++++
 .../context/SequenceProcessorConfig.java      |  21 ++
 .../context/SequenceRingBuffer256.java        |  22 ++
 .../mavlink/context/SequenceRingEntry.java    |  11 +
 .../mavlink/context/SequenceStats.java        |  15 +
 .../mavlink/context/SourceStats.java          |  19 ++
 .../mavlink/context/SweepConfig.java          |  15 +
 .../mavlink/context/SweepResult.java          |   9 +
 .../mavlink/context/SystemContext.java        | 117 ++++++++
 .../context/SystemContextSnapshot.java        |  13 +
 .../mavlink/SystemContextManagerTest.java     | 198 +++++++++++++
 18 files changed, 879 insertions(+)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/Detection.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java

diff --git a/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java b/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
new file mode 100644
index 0000000..40e39ca
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
@@ -0,0 +1,83 @@
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.context.*;
+import io.mapsmessaging.mavlink.message.Frame;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Data
+public class SystemContextManager {
+
+  private final Map<Integer, SystemContext> systemContexts;
+  private final SequenceProcessor sequenceProcessor;
+  private final SequenceProcessorConfig sequenceProcessorConfig;
+  private final SweepConfig sweepConfig;
+
+  public SystemContextManager() {
+    this(new SequenceProcessorConfig(), new SweepConfig());
+  }
+
+  public SystemContextManager(SequenceProcessorConfig sequenceProcessorConfig, SweepConfig sweepConfig) {
+    this.systemContexts = new ConcurrentHashMap<>();
+    this.sequenceProcessorConfig = sequenceProcessorConfig;
+    this.sequenceProcessor = new SequenceProcessor(sequenceProcessorConfig);
+    this.sweepConfig = sweepConfig;
+  }
+
+  public List<Detection> onValidatedFrame(Frame frame, String streamId, long receivedAtNanos) {
+    int systemId = frame.getSystemId();
+    SystemContext systemContext = systemContexts.computeIfAbsent(systemId, this::createContext);
+    return systemContext.onValidatedFrame(frame, streamId, receivedAtNanos, sequenceProcessor);
+  }
+
+  public List<Detection> onInvalidFrame(int systemId, String streamId, long receivedAtNanos, FrameFailureReason reason) {
+    SystemContext systemContext = systemContexts.get(systemId);
+    if (systemContext == null) {
+      return List.of();
+    }
+    return systemContext.onInvalidFrame(streamId, receivedAtNanos, reason);
+  }
+
+  public SweepResult sweep(long nowNanos) {
+    SweepResult result = new SweepResult();
+
+    int removedSources = 0;
+    int removedSystems = 0;
+
+    for (Map.Entry<Integer, SystemContext> entry : systemContexts.entrySet()) {
+      SystemContext systemContext = entry.getValue();
+
+      removedSources += systemContext.sweep(nowNanos, sweepConfig, sequenceProcessorConfig);
+
+      if (systemContext.isExpired(nowNanos, sweepConfig)) {
+        systemContexts.remove(entry.getKey());
+        removedSystems++;
+      }
+    }
+    result.setRemovedSystems(removedSystems);
+    result.setRemovedSources(removedSources);
+    return result;
+  }
+
+  private SystemContext createContext(int systemId) {
+    SystemContext systemContext = new SystemContext();
+    systemContext.setSystemId(systemId);
+    systemContext.setSequenceRingBuffer(new SequenceRingBuffer256());
+    systemContext.setSourceStats(new ConcurrentHashMap<>());
+    systemContext.setSequenceStats(new SequenceStats());
+    systemContext.setLastActivityAtNanos(0L);
+    return systemContext;
+  }
+
+  public List<SystemContextSnapshot> snapshotAll() {
+    List<SystemContextSnapshot> snapshots = new ArrayList<>();
+    for (SystemContext systemContext : systemContexts.values()) {
+      snapshots.add(systemContext.snapshot());
+    }
+    return snapshots;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/Detection.java b/src/main/java/io/mapsmessaging/mavlink/context/Detection.java
new file mode 100644
index 0000000..b2b4807
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/Detection.java
@@ -0,0 +1,13 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class Detection {
+  private int systemId;
+  private String streamId;
+  private long occurredAtNanos;
+  private DetectionType type;
+  private DetectionSeverity severity;
+  private String details;
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java b/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
new file mode 100644
index 0000000..394482c
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
@@ -0,0 +1,7 @@
+package io.mapsmessaging.mavlink.context;
+
+public enum DetectionSeverity {
+  INFO,
+  WARN,
+  ALERT
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java b/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
new file mode 100644
index 0000000..081b7d2
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
@@ -0,0 +1,12 @@
+package io.mapsmessaging.mavlink.context;
+
+public enum DetectionType {
+  SEQ_DUPLICATE,
+  SEQ_REORDER,
+  SEQ_GAP,
+  SEQ_RESET_SUSPECTED,
+  SEQ_SUSPICIOUS_BACKWARDS,
+  SEQ_SAME_SEQ_DIFFERENT_FINGERPRINT,
+  SYSTEM_MULTI_SOURCE_ACTIVE,
+  FRAME_INVALID
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
new file mode 100644
index 0000000..6532549
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
@@ -0,0 +1,9 @@
+package io.mapsmessaging.mavlink.context;
+
+public enum FrameFailureReason {
+  CRC_FAILED,
+  SIGNATURE_FAILED,
+  CRC_AND_SIGNATURE_FAILED,
+  MALFORMED,
+  UNKNOWN
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
new file mode 100644
index 0000000..2f1b345
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
@@ -0,0 +1,34 @@
+package io.mapsmessaging.mavlink.context;
+
+import io.mapsmessaging.mavlink.message.Frame;
+
+public class FrameFingerprint {
+
+  private FrameFingerprint() {
+  }
+
+  public static int computeFingerprint(Frame frame) {
+    int hash = 0x811C9DC5;
+
+    hash = fnv1a(hash, frame.getVersion() == null ? 0 : frame.getVersion().ordinal());
+    hash = fnv1a(hash, frame.getSystemId());
+    hash = fnv1a(hash, frame.getComponentId());
+    hash = fnv1a(hash, frame.getMessageId());
+    hash = fnv1a(hash, frame.getPayloadLength());
+
+    byte[] payload = frame.getPayload();
+    if (payload != null) {
+      int length = Math.min(payload.length, frame.getPayloadLength());
+      for (int index = 0; index < length; index++) {
+        hash = fnv1a(hash, payload[index]);
+      }
+    }
+
+    return hash;
+  }
+
+  private static int fnv1a(int hash, int value) {
+    int next = hash ^ value;
+    return next * 16777619;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
new file mode 100644
index 0000000..75c4a5d
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
@@ -0,0 +1,17 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+public class SequenceProcessingResult {
+  private boolean acceptedAsHead;
+  private int sequence;
+  private List<Detection> detections;
+
+  public SequenceProcessingResult() {
+    this.detections = new ArrayList<>();
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
new file mode 100644
index 0000000..8ddded9
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
@@ -0,0 +1,264 @@
+package io.mapsmessaging.mavlink.context;
+
+import io.mapsmessaging.mavlink.message.Frame;
+
+import java.util.Map;
+
+public record SequenceProcessor(SequenceProcessorConfig config) {
+
+  public SequenceProcessingResult process(SystemContext systemContext, Frame frame, String streamId, long receivedAtNanos) {
+    SequenceProcessingResult result = new SequenceProcessingResult();
+    int sequence = frame.getSequence() & 0xFF;
+    result.setSequence(sequence);
+
+    int fingerprint = FrameFingerprint.computeFingerprint(frame);
+
+    SequenceRingEntry previousEntryForSequence = systemContext.getSequenceRingBuffer().get(sequence);
+    if (previousEntryForSequence != null) {
+      long ageNanos = receivedAtNanos - previousEntryForSequence.getLastSeenAtNanos();
+      boolean withinDupWindow = ageNanos >= 0 && ageNanos <= config.getDuplicateTimeWindowNanos();
+
+      if (withinDupWindow) {
+        if (previousEntryForSequence.getFingerprint() == fingerprint) {
+          incrementDuplicate(systemContext, frame, streamId, receivedAtNanos, result);
+          updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+          detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+          return result;
+        }
+
+        Detection detection = new Detection();
+        detection.setSystemId(systemContext.getSystemId());
+        detection.setStreamId(streamId);
+        detection.setOccurredAtNanos(receivedAtNanos);
+        detection.setType(DetectionType.SEQ_SAME_SEQ_DIFFERENT_FINGERPRINT);
+        detection.setSeverity(DetectionSeverity.ALERT);
+        detection.setDetails("seq=" + sequence + " previousStream=" + previousEntryForSequence.getStreamId());
+
+        result.getDetections().add(detection);
+
+        updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+        detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+        return result;
+      }
+    }
+
+    if (!systemContext.isInitialized()) {
+      systemContext.setInitialized(true);
+      systemContext.setLastAcceptedSequence(sequence);
+      systemContext.setLastAcceptedAtNanos(receivedAtNanos);
+      setLastAcceptedSequenceForSource(systemContext, streamId, sequence);
+      updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+      detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+      result.setAcceptedAsHead(true);
+      return result;
+    }
+
+    int lastAcceptedSequence = systemContext.getLastAcceptedSequence() & 0xFF;
+    int delta = (sequence - lastAcceptedSequence) & 0xFF;
+
+    if (delta == 0) {
+      incrementDuplicate(systemContext, frame, streamId, receivedAtNanos, result);
+      updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+      detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+      return result;
+    }
+
+    if (delta <= 127) {
+      if (delta > 1) {
+        int lostPackets = delta - 1;
+        incrementGap(systemContext, streamId, receivedAtNanos, result, lostPackets);
+      }
+
+      systemContext.setLastAcceptedSequence(sequence);
+      systemContext.setLastAcceptedAtNanos(receivedAtNanos);
+      setLastAcceptedSequenceForSource(systemContext, streamId, sequence);
+      updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+      detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+      result.setAcceptedAsHead(true);
+      return result;
+    }
+
+    int backwardDistance = 256 - delta;
+
+    boolean withinReorderDistance = backwardDistance <= config.getReorderDistanceWindow();
+    long ageSinceHeadNanos = receivedAtNanos - systemContext.getLastAcceptedAtNanos();
+    boolean withinReorderTime = ageSinceHeadNanos >= 0 && ageSinceHeadNanos <= config.getReorderTimeWindowNanos();
+
+    if (withinReorderDistance && withinReorderTime) {
+      incrementReorder(systemContext, streamId, receivedAtNanos, result, backwardDistance);
+      updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+      detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+      return result;
+    }
+
+    incrementSuspiciousBackward(systemContext, streamId, receivedAtNanos, result, backwardDistance);
+
+    if (looksLikeReset(systemContext, sequence, receivedAtNanos)) {
+      incrementResetSuspected(systemContext, streamId, receivedAtNanos, result, lastAcceptedSequence, sequence);
+    }
+
+    updateRing(systemContext, sequence, fingerprint, streamId, receivedAtNanos);
+    detectMultiSourceActive(systemContext, streamId, receivedAtNanos, result);
+
+    return result;
+  }
+
+  private void updateRing(SystemContext systemContext, int sequence, int fingerprint, String streamId, long receivedAtNanos) {
+    SequenceRingEntry entry = new SequenceRingEntry();
+    entry.setSequence(sequence);
+    entry.setFingerprint(fingerprint);
+    entry.setStreamId(streamId);
+    entry.setLastSeenAtNanos(receivedAtNanos);
+    systemContext.getSequenceRingBuffer().put(sequence, entry);
+  }
+
+  private void setLastAcceptedSequenceForSource(SystemContext systemContext, String streamId, int sequence) {
+    SourceStats stats = systemContext.getSourceStats().get(streamId);
+    if (stats == null) {
+      return;
+    }
+    stats.setLastAcceptedSequenceFromSource(sequence);
+  }
+
+  private void incrementDuplicate(SystemContext systemContext, Frame frame, String streamId, long receivedAtNanos, SequenceProcessingResult result) {
+    systemContext.getSequenceStats().setDuplicates(systemContext.getSequenceStats().getDuplicates() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SEQ_DUPLICATE);
+    detection.setSeverity(DetectionSeverity.INFO);
+    detection.setDetails("seq=" + (frame.getSequence() & 0xFF));
+
+    result.getDetections().add(detection);
+  }
+
+  private void incrementGap(SystemContext systemContext, String streamId, long receivedAtNanos, SequenceProcessingResult result, int lostPackets) {
+    systemContext.getSequenceStats().setGaps(systemContext.getSequenceStats().getGaps() + 1);
+    systemContext.getSequenceStats().setLostPackets(systemContext.getSequenceStats().getLostPackets() + lostPackets);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SEQ_GAP);
+    detection.setSeverity(DetectionSeverity.WARN);
+    detection.setDetails("lost=" + lostPackets);
+
+    result.getDetections().add(detection);
+  }
+
+  private void incrementReorder(SystemContext systemContext, String streamId, long receivedAtNanos, SequenceProcessingResult result, int backwardDistance) {
+    systemContext.getSequenceStats().setReorders(systemContext.getSequenceStats().getReorders() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SEQ_REORDER);
+    detection.setSeverity(DetectionSeverity.INFO);
+    detection.setDetails("back=" + backwardDistance);
+
+    result.getDetections().add(detection);
+  }
+
+  private void incrementSuspiciousBackward(SystemContext systemContext, String streamId, long receivedAtNanos, SequenceProcessingResult result, int backwardDistance) {
+    systemContext.getSequenceStats().setSuspiciousBackwards(systemContext.getSequenceStats().getSuspiciousBackwards() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SEQ_SUSPICIOUS_BACKWARDS);
+
+    DetectionSeverity severity = backwardDistance >= config.getSuspiciousBackwardDistance()
+        ? DetectionSeverity.ALERT
+        : DetectionSeverity.WARN;
+
+    detection.setSeverity(severity);
+    detection.setDetails("back=" + backwardDistance);
+
+    result.getDetections().add(detection);
+  }
+
+  private void incrementResetSuspected(SystemContext systemContext, String streamId, long receivedAtNanos, SequenceProcessingResult result, int lastAcceptedSequence, int sequence) {
+    systemContext.getSequenceStats().setResetsSuspected(systemContext.getSequenceStats().getResetsSuspected() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SEQ_RESET_SUSPECTED);
+    detection.setSeverity(DetectionSeverity.WARN);
+    detection.setDetails("head=" + lastAcceptedSequence + " seq=" + sequence);
+
+    result.getDetections().add(detection);
+  }
+
+  private boolean looksLikeReset(SystemContext systemContext, int sequence, long receivedAtNanos) {
+    int lastAcceptedSequence = systemContext.getLastAcceptedSequence() & 0xFF;
+
+    boolean headWasMidRange = lastAcceptedSequence >= 50 && lastAcceptedSequence <= 200;
+    boolean newIsLow = sequence <= 10;
+
+    if (!headWasMidRange || !newIsLow) {
+      return false;
+    }
+
+    long silenceNanos = receivedAtNanos - systemContext.getLastAcceptedAtNanos();
+    return silenceNanos > config.getMultiSourceActiveWindowNanos();
+  }
+
+  private void detectMultiSourceActive(SystemContext systemContext, String streamId, long receivedAtNanos, SequenceProcessingResult result) {
+    String primaryStreamId = findPrimaryStreamId(systemContext, receivedAtNanos);
+    if (primaryStreamId == null) {
+      markPrimary(systemContext, streamId, receivedAtNanos);
+      return;
+    }
+
+    if (primaryStreamId.equals(streamId)) {
+      return;
+    }
+
+    systemContext.getSequenceStats().setMultiSourceActive(systemContext.getSequenceStats().getMultiSourceActive() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemContext.getSystemId());
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.SYSTEM_MULTI_SOURCE_ACTIVE);
+    detection.setSeverity(DetectionSeverity.WARN);
+    detection.setDetails("primary=" + primaryStreamId);
+
+    result.getDetections().add(detection);
+  }
+
+  private String findPrimaryStreamId(SystemContext systemContext, long receivedAtNanos) {
+    long activeWindowNanos = config.getMultiSourceActiveWindowNanos();
+
+    for (Map.Entry<String, SourceStats> entry : systemContext.getSourceStats().entrySet()) {
+      SourceStats stats = entry.getValue();
+      if (!stats.isPrimary()) {
+        continue;
+      }
+
+      long ageNanos = receivedAtNanos - stats.getLastSeenAtNanos();
+      if (ageNanos >= 0 && ageNanos <= activeWindowNanos) {
+        return stats.getStreamId();
+      }
+    }
+
+    return null;
+  }
+
+  private void markPrimary(SystemContext systemContext, String streamId, long receivedAtNanos) {
+    SourceStats stats = systemContext.getSourceStats().get(streamId);
+    if (stats == null) {
+      return;
+    }
+
+    stats.setPrimary(true);
+    stats.setPrimarySinceAtNanos(receivedAtNanos);
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
new file mode 100644
index 0000000..6aca599
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
@@ -0,0 +1,21 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SequenceProcessorConfig {
+
+  private int reorderDistanceWindow;
+  private long reorderTimeWindowNanos;
+  private long duplicateTimeWindowNanos;
+  private int suspiciousBackwardDistance;
+  private long multiSourceActiveWindowNanos;
+
+  public SequenceProcessorConfig() {
+    this.reorderDistanceWindow = 20;
+    this.reorderTimeWindowNanos = 500_000_000L;
+    this.duplicateTimeWindowNanos = 1_000_000_000L;
+    this.suspiciousBackwardDistance = 64;
+    this.multiSourceActiveWindowNanos = 2_000_000_000L;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
new file mode 100644
index 0000000..1ffdabd
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
@@ -0,0 +1,22 @@
+package io.mapsmessaging.mavlink.context;
+
+import java.util.concurrent.atomic.AtomicReferenceArray;
+
+public class SequenceRingBuffer256 {
+
+  private final AtomicReferenceArray<SequenceRingEntry> entries;
+
+  public SequenceRingBuffer256() {
+    this.entries = new AtomicReferenceArray<>(256);
+  }
+
+  public SequenceRingEntry get(int sequence) {
+    int index = sequence & 0xFF;
+    return entries.get(index);
+  }
+
+  public void put(int sequence, SequenceRingEntry entry) {
+    int index = sequence & 0xFF;
+    entries.set(index, entry);
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
new file mode 100644
index 0000000..a23d18d
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
@@ -0,0 +1,11 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SequenceRingEntry {
+  private int sequence;
+  private int fingerprint;
+  private String streamId;
+  private long lastSeenAtNanos;
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
new file mode 100644
index 0000000..c5ed6a9
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
@@ -0,0 +1,15 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SequenceStats {
+  private long duplicates;
+  private long reorders;
+  private long gaps;
+  private long lostPackets;
+  private long suspiciousBackwards;
+  private long resetsSuspected;
+  private long invalidFrames;
+  private long multiSourceActive;
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java b/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
new file mode 100644
index 0000000..77247ab
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
@@ -0,0 +1,19 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SourceStats {
+
+  private final String streamId;
+  private long lastSeenAtNanos;
+  private long packetCount;
+  private long invalidPacketCount;
+  private boolean primary;
+  private long primarySinceAtNanos;
+  private Integer lastAcceptedSequenceFromSource;
+
+  public SourceStats(String streamId) {
+    this.streamId = streamId;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java b/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
new file mode 100644
index 0000000..586111e
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
@@ -0,0 +1,15 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SweepConfig {
+
+  private long systemTtlNanos;
+  private long sourceTtlNanos;
+
+  public SweepConfig() {
+    this.systemTtlNanos = 10L * 60L * 1_000_000_000L;
+    this.sourceTtlNanos = 60L * 1_000_000_000L;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java b/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
new file mode 100644
index 0000000..01074ac
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
@@ -0,0 +1,9 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SweepResult {
+  private int removedSystems;
+  private int removedSources;
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java b/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
new file mode 100644
index 0000000..a137f6b
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
@@ -0,0 +1,117 @@
+package io.mapsmessaging.mavlink.context;
+
+import io.mapsmessaging.mavlink.message.Frame;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+
+@Data
+public class SystemContext {
+
+  private int systemId;
+  private boolean initialized;
+  private int lastAcceptedSequence;
+  private long lastAcceptedAtNanos;
+  private long lastActivityAtNanos;
+  private SequenceRingBuffer256 sequenceRingBuffer;
+  private Map<String, SourceStats> sourceStats;
+  private SequenceStats sequenceStats;
+
+  public List<Detection> onValidatedFrame(Frame frame, String streamId, long receivedAtNanos, SequenceProcessor sequenceProcessor) {
+    lastActivityAtNanos = receivedAtNanos;
+
+    List<Detection> detections = new ArrayList<>();
+
+    SourceStats statsForSource = sourceStats.computeIfAbsent(streamId, key -> new SourceStats(streamId));
+    statsForSource.setLastSeenAtNanos(receivedAtNanos);
+    statsForSource.setPacketCount(statsForSource.getPacketCount() + 1);
+
+    SequenceProcessingResult result = sequenceProcessor.process(this, frame, streamId, receivedAtNanos);
+    detections.addAll(result.getDetections());
+
+    return detections;
+  }
+
+  public List<Detection> onInvalidFrame(String streamId, long receivedAtNanos, FrameFailureReason reason) {
+    lastActivityAtNanos = receivedAtNanos;
+
+    List<Detection> detections = new ArrayList<>();
+
+    SourceStats statsForSource = sourceStats.computeIfAbsent(streamId, key -> new SourceStats(streamId));
+    statsForSource.setLastSeenAtNanos(receivedAtNanos);
+    statsForSource.setInvalidPacketCount(statsForSource.getInvalidPacketCount() + 1);
+
+    sequenceStats.setInvalidFrames(sequenceStats.getInvalidFrames() + 1);
+
+    Detection detection = new Detection();
+    detection.setSystemId(systemId);
+    detection.setStreamId(streamId);
+    detection.setOccurredAtNanos(receivedAtNanos);
+    detection.setType(DetectionType.FRAME_INVALID);
+    detection.setSeverity(DetectionSeverity.WARN);
+    detection.setDetails(reason.name());
+
+    detections.add(detection);
+
+    return detections;
+  }
+
+  public int sweep(long nowNanos, SweepConfig sweepConfig, SequenceProcessorConfig sequenceProcessorConfig) {
+    int removedSources = 0;
+
+    long sourceTtlNanos = sweepConfig.getSourceTtlNanos();
+    long activeWindowNanos = sequenceProcessorConfig.getMultiSourceActiveWindowNanos();
+
+    String currentPrimary = null;
+
+    Iterator<Map.Entry<String, SourceStats>> iterator = sourceStats.entrySet().iterator();
+    while (iterator.hasNext()) {
+      Map.Entry<String, SourceStats> entry = iterator.next();
+      SourceStats stats = entry.getValue();
+
+      long ageNanos = nowNanos - stats.getLastSeenAtNanos();
+      if (ageNanos > sourceTtlNanos) {
+        iterator.remove();
+        removedSources++;
+        continue;
+      }
+
+      if (stats.isPrimary()) {
+        long primaryAgeNanos = nowNanos - stats.getLastSeenAtNanos();
+        if (primaryAgeNanos <= activeWindowNanos) {
+          currentPrimary = stats.getStreamId();
+        }
+      }
+    }
+
+    if (currentPrimary == null) {
+      for (SourceStats stats : sourceStats.values()) {
+        if (stats.isPrimary()) {
+          stats.setPrimary(false);
+          stats.setPrimarySinceAtNanos(0L);
+        }
+      }
+    }
+
+    return removedSources;
+  }
+
+  public boolean isExpired(long nowNanos, SweepConfig sweepConfig) {
+    long ageNanos = nowNanos - lastActivityAtNanos;
+    return ageNanos > sweepConfig.getSystemTtlNanos();
+  }
+
+  public SystemContextSnapshot snapshot() {
+    SystemContextSnapshot snapshot = new SystemContextSnapshot();
+    snapshot.setSystemId(systemId);
+    snapshot.setInitialized(initialized);
+    snapshot.setLastAcceptedSequence(lastAcceptedSequence);
+    snapshot.setLastAcceptedAtNanos(lastAcceptedAtNanos);
+    snapshot.setSequenceStats(sequenceStats);
+    snapshot.setSourceCount(sourceStats.size());
+    return snapshot;
+  }
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java b/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
new file mode 100644
index 0000000..2e0ea2a
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
@@ -0,0 +1,13 @@
+package io.mapsmessaging.mavlink.context;
+
+import lombok.Data;
+
+@Data
+public class SystemContextSnapshot {
+  private int systemId;
+  private boolean initialized;
+  private int lastAcceptedSequence;
+  private long lastAcceptedAtNanos;
+  private SequenceStats sequenceStats;
+  private int sourceCount;
+}
diff --git a/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
new file mode 100644
index 0000000..4140c36
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
@@ -0,0 +1,198 @@
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.context.*;
+import io.mapsmessaging.mavlink.message.Frame;
+import org.junit.jupiter.api.Test;
+
+import java.util.List;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class SystemContextManagerTest {
+
+  @Test
+  void validatedFrameCreatesContextAndNoDetectionsOnFirstFrame() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    Frame frame = frame(1, 1, 10, 33, payloadOf(1, 2, 3));
+    List<Detection> detections = manager.onValidatedFrame(frame, "udp:10.0.0.1:14550", 1_000L);
+
+    assertNotNull(detections);
+    assertTrue(detections.isEmpty());
+
+    assertEquals(1, manager.getSystemContexts().size());
+    assertNotNull(manager.getSystemContexts().get(1));
+  }
+
+  @Test
+  void invalidFrameDoesNotCreateContextWhenMissing() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    List<Detection> detections = manager.onInvalidFrame(42, "udp:10.0.0.1:14550", 1_000L, FrameFailureReason.CRC_FAILED);
+
+    assertNotNull(detections);
+    assertTrue(detections.isEmpty());
+    assertTrue(manager.getSystemContexts().isEmpty());
+  }
+
+  @Test
+  void duplicateIsDetectedWithinDuplicateWindow() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    sequenceProcessorConfig.setDuplicateTimeWindowNanos(1_000L);
+
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    String streamId = "udp:10.0.0.1:14550";
+
+    Frame first = frame(1, 1, 10, 33, payloadOf(1, 2, 3));
+    assertTrue(manager.onValidatedFrame(first, streamId, 10_000L).isEmpty());
+
+    Frame duplicate = frame(1, 1, 10, 33, payloadOf(1, 2, 3));
+    List<Detection> detections = manager.onValidatedFrame(duplicate, streamId, 10_500L);
+
+    assertEquals(1, detections.size());
+    assertEquals(DetectionType.SEQ_DUPLICATE, detections.get(0).getType());
+  }
+
+  @Test
+  void sameSequenceDifferentFingerprintIsAlert() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    sequenceProcessorConfig.setDuplicateTimeWindowNanos(10_000L);
+
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    String streamId = "udp:10.0.0.1:14550";
+
+    Frame first = frame(1, 1, 10, 33, payloadOf(1, 2, 3));
+    assertTrue(manager.onValidatedFrame(first, streamId, 10_000L).isEmpty());
+
+    Frame conflicting = frame(1, 1, 10, 33, payloadOf(9, 9, 9));
+    List<Detection> detections = manager.onValidatedFrame(conflicting, streamId, 12_000L);
+
+    assertEquals(1, detections.size());
+    assertEquals(DetectionType.SEQ_SAME_SEQ_DIFFERENT_FINGERPRINT, detections.get(0).getType());
+    assertEquals(DetectionSeverity.ALERT, detections.get(0).getSeverity());
+  }
+
+  @Test
+  void gapIsDetectedWhenSequenceJumpsForward() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    String streamId = "udp:10.0.0.1:14550";
+
+    Frame first = frame(1, 1, 10, 33, payloadOf(1));
+    assertTrue(manager.onValidatedFrame(first, streamId, 10_000L).isEmpty());
+
+    Frame jump = frame(1, 1, 13, 33, payloadOf(2));
+    List<Detection> detections = manager.onValidatedFrame(jump, streamId, 11_000L);
+
+    assertEquals(1, detections.size());
+    assertEquals(DetectionType.SEQ_GAP, detections.get(0).getType());
+    assertTrue(detections.get(0).getDetails().contains("lost=2"));
+  }
+
+  @Test
+  void reorderIsDetectedWhenBackwardsWithinWindow() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+    sequenceProcessorConfig.setReorderDistanceWindow(5);
+    sequenceProcessorConfig.setReorderTimeWindowNanos(10_000L);
+
+    SweepConfig sweepConfig = new SweepConfig();
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    String streamId = "udp:10.0.0.1:14550";
+
+    Frame head = frame(1, 1, 20, 33, payloadOf(1));
+    assertTrue(manager.onValidatedFrame(head, streamId, 10_000L).isEmpty());
+
+    Frame forward = frame(1, 1, 21, 33, payloadOf(2));
+    assertTrue(manager.onValidatedFrame(forward, streamId, 11_000L).isEmpty());
+
+    Frame reorder = frame(1, 1, 19, 33, payloadOf(3));
+    List<Detection> detections = manager.onValidatedFrame(reorder, streamId, 12_000L);
+
+    assertEquals(1, detections.size());
+    assertEquals(DetectionType.SEQ_REORDER, detections.get(0).getType());
+    assertTrue(detections.get(0).getDetails().contains("back="));
+  }
+
+  @Test
+  void sweepRemovesExpiredSystemContexts() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+
+    SweepConfig sweepConfig = new SweepConfig();
+    sweepConfig.setSystemTtlNanos(1_000L);
+    sweepConfig.setSourceTtlNanos(10_000L);
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    Frame frame = frame(1, 1, 10, 33, payloadOf(1, 2, 3));
+    manager.onValidatedFrame(frame, "udp:10.0.0.1:14550", 1_000L);
+
+    SweepResult result = manager.sweep(5_000L);
+
+    assertEquals(1, result.getRemovedSystems());
+    assertTrue(manager.getSystemContexts().isEmpty());
+  }
+
+  @Test
+  void sweepRemovesExpiredSourcesButKeepsSystemIfActive() {
+    SequenceProcessorConfig sequenceProcessorConfig = new SequenceProcessorConfig();
+
+    SweepConfig sweepConfig = new SweepConfig();
+    sweepConfig.setSystemTtlNanos(100_000L);
+    sweepConfig.setSourceTtlNanos(1_000L);
+
+    SystemContextManager manager = new SystemContextManager(sequenceProcessorConfig, sweepConfig);
+
+    Frame frame = frame(1, 1, 10, 33, payloadOf(1));
+
+    manager.onValidatedFrame(frame, "udp:10.0.0.1:14550", 1_000L);
+    manager.onValidatedFrame(frame, "udp:10.0.0.2:14550", 1_100L);
+
+    // Keep the system active (touch lastActivity) but age out sources.
+    manager.onValidatedFrame(frame, "udp:10.0.0.1:14550", 10_000L);
+
+    SweepResult result = manager.sweep(20_000L);
+
+    assertEquals(0, result.getRemovedSystems());
+    assertTrue(result.getRemovedSources() >= 1);
+    assertEquals(1, manager.getSystemContexts().size());
+  }
+
+  private Frame frame(int systemId, int componentId, int sequence, int messageId, byte[] payload) {
+    Frame frame = new Frame();
+    frame.setSystemId(systemId);
+    frame.setComponentId(componentId);
+    frame.setSequence(sequence);
+    frame.setMessageId(messageId);
+    frame.setPayload(payload);
+    frame.setPayloadLength(payload == null ? 0 : payload.length);
+    frame.setChecksum(0);
+    frame.setSigned(false);
+    frame.setValidated(true);
+    return frame;
+  }
+
+  private byte[] payloadOf(int... bytes) {
+    byte[] payload = new byte[bytes.length];
+    for (int index = 0; index < bytes.length; index++) {
+      payload[index] = (byte) bytes[index];
+    }
+    return payload;
+  }
+}
\ No newline at end of file

From 282deeae262f1c0a565ca8871d8cc5adbb83ec88 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sat, 17 Jan 2026 12:39:59 +1100
Subject: [PATCH 17/34] Add initial context and spoofing detection for the
 stream

---
 .../mavlink/MavlinkEventFactory.java          | 60 +++++++++++++++++++
 .../mapsmessaging/mavlink/ProcessedFrame.java | 16 +++++
 .../mavlink/codec/PayloadParser.java          |  3 +-
 .../mavlink/context/FrameFailureReason.java   |  1 +
 .../mavlink/framing/V1FrameHandler.java       |  5 +-
 .../mavlink/framing/V2FrameHandler.java       | 30 +++++-----
 .../mapsmessaging/mavlink/message/Frame.java  |  7 ++-
 7 files changed, 100 insertions(+), 22 deletions(-)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java

diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
new file mode 100644
index 0000000..30f702d
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
@@ -0,0 +1,60 @@
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.context.Detection;
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
+import io.mapsmessaging.mavlink.message.Frame;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+public class MavlinkEventFactory {
+
+  private MavlinkFrameCodec frameCodec;
+  private SystemContextManager systemContextManager;
+
+  public MavlinkEventFactory() throws IOException {
+    Optional<MavlinkCodec> codec = MavlinkMessageFormatLoader.getInstance().getDialect("common");
+    if (codec.isPresent()) {
+      MavlinkCodec codecInstance = codec.get();
+      frameCodec = new MavlinkFrameCodec(codecInstance);
+      systemContextManager = new SystemContextManager();
+    }
+    else{
+      throw new IOException("Mavlink default common codec not found");
+    }
+  }
+
+  public MavlinkEventFactory(MavlinkFrameCodec frameCodec, SystemContextManager systemContextManager){
+    this.frameCodec = frameCodec;
+    this.systemContextManager = systemContextManager;
+  }
+
+  public Optional<ProcessedFrame> unpack(String streamName, ByteBuffer payload) throws IOException {
+    long timestamp = System.nanoTime();
+
+    Optional<Frame> frameOptional = frameCodec.tryUnpackFrame(payload);
+    if (frameOptional.isEmpty()) {
+      return Optional.empty();
+    }
+    Frame frame = frameOptional.get();
+    FrameFailureReason failureReason = frame.getValidated();
+    if (failureReason == FrameFailureReason.OK) {
+      List<Detection> detectionList = systemContextManager.onValidatedFrame(frame, streamName, timestamp);
+      Map<String, Object> fields = frameCodec.parsePayload(frame);
+      return Optional.of(new ProcessedFrame(frame, fields, true, detectionList));
+    }
+    List<Detection> detectionList = systemContextManager.onInvalidFrame(
+        frame.getSystemId(),
+        streamName,
+        timestamp,
+        failureReason
+    );
+    return Optional.of(new ProcessedFrame(frame, Map.of(), false, detectionList));
+  }
+
+
+
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
new file mode 100644
index 0000000..3f6f40d
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
@@ -0,0 +1,16 @@
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.context.Detection;
+import io.mapsmessaging.mavlink.message.Frame;
+import lombok.Value;
+
+import java.util.List;
+import java.util.Map;
+
+@Value
+public class ProcessedFrame {
+  Frame frame;
+  Map<String, Object> fields;
+  boolean valid;
+  List<Detection> detections;
+}
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
index 48457ce..fad7b85 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
@@ -45,8 +45,7 @@ public PayloadParser(MessageRegistry messageRegistry) {
   }
 
   public Map<String, Object> parsePayload(int messageId, byte[] payload) throws IOException {
-    CompiledMessage compiledMessage =
-        messageRegistry.getCompiledMessagesById().get(messageId);
+    CompiledMessage compiledMessage = messageRegistry.getCompiledMessagesById().get(messageId);
     if (compiledMessage == null) {
       throw new IllegalArgumentException("Unknown MAVLink message id: " + messageId);
     }
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
index 6532549..06c0262 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
@@ -1,6 +1,7 @@
 package io.mapsmessaging.mavlink.context;
 
 public enum FrameFailureReason {
+  OK,
   CRC_FAILED,
   SIGNATURE_FAILED,
   CRC_AND_SIGNATURE_FAILED,
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
index d2436bc..71b9e00 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
@@ -19,6 +19,7 @@
 
 package io.mapsmessaging.mavlink.framing;
 
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.Frame;
 import io.mapsmessaging.mavlink.message.Version;
 import io.mapsmessaging.mavlink.message.X25Crc;
@@ -81,8 +82,9 @@ public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
 
     int crcExtra = dialectRegistry.crcExtra(Version.V1, messageId);
     int computedChecksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex + 1, (HEADER_LENGTH) + payloadLength-1, crcExtra);
+    FrameFailureReason v = FrameFailureReason.OK;
     if (computedChecksum != receivedChecksum) {
-      return Optional.empty();
+      v = FrameFailureReason.CRC_FAILED;
     }
 
     byte[] payload = ByteBufferUtils.copyBytes(candidateFrame, payloadStartIndex, payloadLength);
@@ -100,6 +102,7 @@ public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
     frame.setIncompatibilityFlags((byte) 0);
     frame.setCompatibilityFlags((byte) 0);
     frame.setSignature(null);
+    frame.setValidated(v);
 
     return Optional.of(frame);
   }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
index 920ea74..f84d98e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
@@ -19,6 +19,7 @@
 
 package io.mapsmessaging.mavlink.framing;
 
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.Frame;
 import io.mapsmessaging.mavlink.message.Version;
 
@@ -66,6 +67,8 @@ public int computeTotalFrameLength(ByteBuffer buffer, int frameStartIndex, int p
 
   @Override
   public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
+    FrameFailureReason validated = FrameFailureReason.OK;
+
     int frameStartIndex = candidateFrame.position();
 
     int stx = candidateFrame.get(frameStartIndex) & 0xFF;
@@ -98,26 +101,22 @@ public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
     int crcExtra = dialectRegistry.crcExtra(Version.V2, messageId);
     int checksum = CrcHelper.computeChecksumFromWritten(candidateFrame, frameStartIndex+1, (HEADER_LENGTH-1) + payloadLength, crcExtra);
 
+    byte[] payload = new byte[0];
+    byte[] signature = null;
     if (checksum != receivedChecksum) {
-      return Optional.empty();
+      validated = FrameFailureReason.CRC_FAILED;
     }
-
-    byte[] payload = ByteBufferUtils.copyBytes(candidateFrame, payloadStartIndex, payloadLength);
-
-    byte[] signature = null;
-    boolean validated = false;
-    if (signed) {
-      int signatureStartIndex = crcStartIndex + CRC_LENGTH;
-      signature = ByteBufferUtils.copyBytes(candidateFrame, signatureStartIndex, SIGNATURE_LENGTH);
-      if (signingKeyProvider.canValidate()) {
-        if (!validateSignature(candidateFrame, frameStartIndex, crcStartIndex, systemId, componentId, signature)) {
-          return Optional.empty();
-        } else {
-          validated = true;
+    else {
+      payload = ByteBufferUtils.copyBytes(candidateFrame, payloadStartIndex, payloadLength);
+      if (signed) {
+        int signatureStartIndex = crcStartIndex + CRC_LENGTH;
+        signature = ByteBufferUtils.copyBytes(candidateFrame, signatureStartIndex, SIGNATURE_LENGTH);
+        if (signingKeyProvider.canValidate() &&
+            !validateSignature(candidateFrame, frameStartIndex, crcStartIndex, systemId, componentId, signature)) {
+          validated = FrameFailureReason.SIGNATURE_FAILED;
         }
       }
     }
-
     Frame frame = new Frame();
     frame.setVersion(Version.V2);
     frame.setSequence(sequence);
@@ -132,7 +131,6 @@ public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
     frame.setCompatibilityFlags(compatibilityFlags);
     frame.setSignature(signature);
     frame.setValidated(validated);
-
     return Optional.of(frame);
   }
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/Frame.java b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
index 5ca5947..f821fda 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
@@ -19,6 +19,7 @@
 
 package io.mapsmessaging.mavlink.message;
 
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -129,9 +130,9 @@ public class Frame {
 
   @Schema(
       description = "True if CRC and (if present) signature validation succeeded",
-      example = "true",
+      example = "OK",
       requiredMode = Schema.RequiredMode.REQUIRED,
-      defaultValue = "false"
+      defaultValue = "OK"
   )
-  private boolean validated = false;
+  private FrameFailureReason validated = FrameFailureReason.OK;
 }
\ No newline at end of file

From b9bb3e295ffcc769427409a2efdb441d5f917534 Mon Sep 17 00:00:00 2001
From: matthew <matthew.buckton@mapsmessaging.io>
Date: Sat, 17 Jan 2026 14:58:26 +1100
Subject: [PATCH 18/34] fix tests

---
 .../io/mapsmessaging/mavlink/context/FrameFailureReason.java | 1 +
 .../java/io/mapsmessaging/mavlink/framing/FramePacker.java   | 3 ++-
 .../io/mapsmessaging/mavlink/framing/V2FrameHandler.java     | 3 +++
 .../mavlink/MavlinkFrameRoundTripAllMessagesTest.java        | 5 +++--
 .../io/mapsmessaging/mavlink/SystemContextManagerTest.java   | 2 +-
 5 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
index 06c0262..5bf3ff0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
@@ -6,5 +6,6 @@ public enum FrameFailureReason {
   SIGNATURE_FAILED,
   CRC_AND_SIGNATURE_FAILED,
   MALFORMED,
+  UNSIGNED,
   UNKNOWN
 }
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
index 3dcb0de..3bf661b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
@@ -19,6 +19,7 @@
 
 package io.mapsmessaging.mavlink.framing;
 
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.Frame;
 import io.mapsmessaging.mavlink.message.Version;
 
@@ -190,7 +191,7 @@ private void packV2(ByteBuffer out, Frame frame) {
     frame.setChecksum(checksum);
     frame.setIncompatibilityFlags(incompatibilityFlags);
     frame.setSignature(signature);
-    frame.setValidated(signed);
+    frame.setValidated(FrameFailureReason.OK);
   }
   private static void requireRemaining(ByteBuffer out, int required) {
     if (out.remaining() < required) {
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
index f84d98e..303630b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
@@ -116,6 +116,9 @@ public Optional<Frame> tryDecode(ByteBuffer candidateFrame) {
           validated = FrameFailureReason.SIGNATURE_FAILED;
         }
       }
+      else{
+        validated = FrameFailureReason.UNSIGNED;
+      }
     }
     Frame frame = new Frame();
     frame.setVersion(Version.V2);
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index f2739b0..8ffa3b0 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -19,6 +19,7 @@
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
@@ -120,12 +121,12 @@ private static void frameRoundTripForMessageV2(
 
     if (signFrame) {
       assertTrue(decoded.isSigned(), "Expected signed frame");
-      assertTrue(decoded.isValidated(), "Expected signature validation to succeed");
+      assertEquals(FrameFailureReason.OK, decoded.getValidated(),  "Expected signature validation to succeed");
       assertNotNull(decoded.getSignature(), "Expected signature bytes");
       assertEquals(13, decoded.getSignature().length, "Expected 13-byte MAVLink v2 signature block");
     } else {
       assertFalse(decoded.isSigned(), "Expected unsigned frame");
-      assertFalse(decoded.isValidated(), "Expected validated=false for unsigned frame");
+      assertNotEquals(FrameFailureReason.OK, decoded.getValidated(),  "Expected validated=false for unsigned frame");
       assertNull(decoded.getSignature(), "Expected signature to be null for unsigned frame");
     }
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
index 4140c36..ac244d0 100644
--- a/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
@@ -184,7 +184,7 @@ private Frame frame(int systemId, int componentId, int sequence, int messageId,
     frame.setPayloadLength(payload == null ? 0 : payload.length);
     frame.setChecksum(0);
     frame.setSigned(false);
-    frame.setValidated(true);
+    frame.setValidated(FrameFailureReason.OK);
     return frame;
   }
 

From 0cb46d066105c95c75c0d6226353ac7ac7385113 Mon Sep 17 00:00:00 2001
From: matthew <matthew.buckton@mapsmessaging.io>
Date: Sat, 17 Jan 2026 15:09:11 +1100
Subject: [PATCH 19/34] add message name

---
 .../mapsmessaging/mavlink/MavlinkEventFactory.java   | 12 +++++++++---
 .../io/mapsmessaging/mavlink/ProcessedFrame.java     |  1 +
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
index 30f702d..e9a8822 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
@@ -2,6 +2,7 @@
 
 import io.mapsmessaging.mavlink.context.Detection;
 import io.mapsmessaging.mavlink.context.FrameFailureReason;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
 
 import java.io.IOException;
@@ -41,10 +42,15 @@ public Optional<ProcessedFrame> unpack(String streamName, ByteBuffer payload) th
     }
     Frame frame = frameOptional.get();
     FrameFailureReason failureReason = frame.getValidated();
+    Map<String, Object> fields = frameCodec.parsePayload(frame);
+    String name = "";
+    CompiledMessage message = frameCodec.getRegistry().getCompiledMessagesById().get(frame.getMessageId());
+    if(message != null){
+      name = message.getName();
+    }
     if (failureReason == FrameFailureReason.OK) {
       List<Detection> detectionList = systemContextManager.onValidatedFrame(frame, streamName, timestamp);
-      Map<String, Object> fields = frameCodec.parsePayload(frame);
-      return Optional.of(new ProcessedFrame(frame, fields, true, detectionList));
+      return Optional.of(new ProcessedFrame(name, frame, fields, true, detectionList));
     }
     List<Detection> detectionList = systemContextManager.onInvalidFrame(
         frame.getSystemId(),
@@ -52,7 +58,7 @@ public Optional<ProcessedFrame> unpack(String streamName, ByteBuffer payload) th
         timestamp,
         failureReason
     );
-    return Optional.of(new ProcessedFrame(frame, Map.of(), false, detectionList));
+    return Optional.of(new ProcessedFrame(name, frame, Map.of(), false, detectionList));
   }
 
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
index 3f6f40d..f6ee815 100644
--- a/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
+++ b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
@@ -9,6 +9,7 @@
 
 @Value
 public class ProcessedFrame {
+  String messageName;
   Frame frame;
   Map<String, Object> fields;
   boolean valid;

From 20a928b09a886b581b230c3a1d920fdbc6362249 Mon Sep 17 00:00:00 2001
From: matthew <matthew.buckton@mapsmessaging.io>
Date: Sat, 17 Jan 2026 16:10:15 +1100
Subject: [PATCH 20/34] add message name

---
 src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
index e9a8822..8320fa7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
@@ -48,7 +48,7 @@ public Optional<ProcessedFrame> unpack(String streamName, ByteBuffer payload) th
     if(message != null){
       name = message.getName();
     }
-    if (failureReason == FrameFailureReason.OK) {
+    if (failureReason == FrameFailureReason.OK || failureReason == FrameFailureReason.UNSIGNED) {
       List<Detection> detectionList = systemContextManager.onValidatedFrame(frame, streamName, timestamp);
       return Optional.of(new ProcessedFrame(name, frame, fields, true, detectionList));
     }

From d24f64b43f365f56e2f2952d981435a099e29b3c Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sat, 17 Jan 2026 19:28:40 +1100
Subject: [PATCH 21/34] cleanup and update copytight

---
 pom.xml                                       | 16 ++++++++++++--
 .../mavlink/MavlinkEventFactory.java          | 22 +++++++++++++++++++
 .../mavlink/MavlinkFrameEnvelope.java         | 13 ++++++-----
 .../mavlink/MavlinkMessageFormatLoader.java   | 14 +++++++-----
 .../mapsmessaging/mavlink/ProcessedFrame.java | 20 +++++++++++++++++
 .../mavlink/SystemContextManager.java         | 20 +++++++++++++++++
 .../mavlink/codec/FrameEncoder.java           | 13 ++++++-----
 .../mavlink/codec/FrameFactory.java           | 13 ++++++-----
 .../mavlink/codec/JsonCodec.java              | 13 ++++++-----
 .../mavlink/codec/JsonValuesExtractor.java    | 13 ++++++-----
 .../mavlink/codec/MapConverter.java           | 13 ++++++-----
 .../mavlink/{ => codec}/MavlinkCodec.java     | 17 +++++++-------
 .../{ => codec}/MavlinkFrameCodec.java        | 16 ++++++++------
 .../mavlink/codec/PayloadPacker.java          | 13 ++++++-----
 .../mavlink/codec/PayloadParser.java          | 13 ++++++-----
 .../mavlink/context/Detection.java            | 20 +++++++++++++++++
 .../mavlink/context/DetectionSeverity.java    | 20 +++++++++++++++++
 .../mavlink/context/DetectionType.java        | 20 +++++++++++++++++
 .../mavlink/context/FrameFailureReason.java   | 20 +++++++++++++++++
 .../mavlink/context/FrameFingerprint.java     | 20 +++++++++++++++++
 .../context/SequenceProcessingResult.java     | 20 +++++++++++++++++
 .../mavlink/context/SequenceProcessor.java    | 20 +++++++++++++++++
 .../context/SequenceProcessorConfig.java      | 20 +++++++++++++++++
 .../context/SequenceRingBuffer256.java        | 20 +++++++++++++++++
 .../mavlink/context/SequenceRingEntry.java    | 20 +++++++++++++++++
 .../mavlink/context/SequenceStats.java        | 20 +++++++++++++++++
 .../mavlink/context/SourceStats.java          | 20 +++++++++++++++++
 .../mavlink/context/SweepConfig.java          | 20 +++++++++++++++++
 .../mavlink/context/SweepResult.java          | 20 +++++++++++++++++
 .../mavlink/context/SystemContext.java        | 20 +++++++++++++++++
 .../context/SystemContextSnapshot.java        | 20 +++++++++++++++++
 .../mavlink/framing/ByteBufferUtils.java      | 13 ++++++-----
 .../mavlink/framing/CrcHelper.java            | 13 ++++++-----
 .../mavlink/framing/DialectRegistry.java      | 13 ++++++-----
 .../mavlink/framing/FrameDecoder.java         | 13 ++++++-----
 .../mavlink/framing/FrameFramer.java          | 13 ++++++-----
 .../mavlink/framing/FrameHandler.java         | 13 ++++++-----
 .../mavlink/framing/FramePacker.java          | 13 ++++++-----
 .../mavlink/framing/SigningKeyProvider.java   | 13 ++++++-----
 .../mavlink/framing/V1FrameHandler.java       | 13 ++++++-----
 .../mavlink/framing/V2FrameHandler.java       | 13 ++++++-----
 .../mavlink/framing/V2FrameSigning.java       | 13 ++++++-----
 .../mavlink/framing/V2SignatureGenerator.java | 13 ++++++-----
 .../mavlink/message/CompiledField.java        | 13 ++++++-----
 .../mavlink/message/CompiledMessage.java      | 13 ++++++-----
 .../mavlink/message/EnumResolver.java         | 13 ++++++-----
 .../mapsmessaging/mavlink/message/Frame.java  | 13 ++++++-----
 .../mavlink/message/FrameParser.java          | 13 ++++++-----
 .../mavlink/message/MessageDefinition.java    | 13 ++++++-----
 .../mavlink/message/MessageRegistry.java      | 13 ++++++-----
 .../mavlink/message/Version.java              | 13 ++++++-----
 .../mapsmessaging/mavlink/message/X25Crc.java | 13 ++++++-----
 .../fields/AbstractMavlinkFieldCodec.java     | 13 ++++++-----
 .../message/fields/ArrayFieldCodec.java       | 13 ++++++-----
 .../message/fields/CharFieldCodec.java        | 13 ++++++-----
 .../message/fields/DoubleFieldCodec.java      | 13 ++++++-----
 .../message/fields/EnumDefinition.java        | 13 ++++++-----
 .../mavlink/message/fields/EnumEntry.java     | 13 ++++++-----
 .../message/fields/FieldCodecFactory.java     | 13 ++++++-----
 .../message/fields/FieldDefinition.java       | 13 ++++++-----
 .../message/fields/FloatFieldCodec.java       | 13 ++++++-----
 .../message/fields/Int16FieldCodec.java       | 13 ++++++-----
 .../message/fields/Int32FieldCodec.java       | 13 ++++++-----
 .../message/fields/Int64FieldCodec.java       | 13 ++++++-----
 .../message/fields/Int8FieldCodec.java        | 13 ++++++-----
 .../message/fields/UInt16FieldCodec.java      | 13 ++++++-----
 .../message/fields/UInt32FieldCodec.java      | 13 ++++++-----
 .../message/fields/UInt64FieldCodec.java      | 13 ++++++-----
 .../message/fields/UInt8FieldCodec.java       | 13 ++++++-----
 .../mavlink/message/fields/WireType.java      | 13 ++++++-----
 .../parser/ClasspathIncludeResolver.java      | 13 ++++++-----
 .../mavlink/parser/DialectDefinition.java     | 13 ++++++-----
 .../mavlink/parser/DialectLoader.java         | 13 ++++++-----
 .../mavlink/parser/ExtraCrcCalculator.java    | 13 ++++++-----
 .../mavlink/parser/IncludeResolver.java       | 13 ++++++-----
 .../mavlink/parser/XmlParser.java             | 13 ++++++-----
 .../mavlink/schema/JsonSchemaBuilder.java     | 13 ++++++-----
 .../signing/MapSigningKeyProvider.java        | 13 ++++++-----
 .../mavlink/signing/NoSigningKeyProvider.java | 13 ++++++-----
 .../signing/StaticSigningKeyProvider.java     | 13 ++++++-----
 .../mavlink/BaseRoudTripTest.java             | 13 ++++++-----
 .../mapsmessaging/mavlink/HeartbeatTest.java  | 15 ++++++++-----
 .../MavlinkFrameRoundTripAllMessagesTest.java | 15 ++++++++-----
 ...avlinkPayloadJsonSchemaValidationTest.java | 14 +++++++-----
 .../MavlinkRoundTripAllMessagesTest.java      | 14 +++++++-----
 .../mavlink/MavlinkTestSupport.java           | 14 +++++++-----
 .../mavlink/SystemContextManagerTest.java     | 20 +++++++++++++++++
 .../mavlink/TestMavlinkCharArrays.java        | 14 +++++++-----
 .../mavlink/TestMavlinkConcurrency.java       | 14 +++++++-----
 .../mavlink/TestMavlinkExtensions.java        | 14 +++++++-----
 .../mavlink/TestMavlinkNumericArrays.java     | 14 +++++++-----
 .../TestMavlinkRegistryInvariants.java        | 14 +++++++-----
 .../mavlink/TestMavlinkRobustness.java        | 14 +++++++-----
 .../mavlink/TestMavlinkXmlParserIncludes.java | 13 ++++++-----
 .../io/mapsmessaging/mavlink/X25CrcTest.java  | 13 ++++++-----
 95 files changed, 951 insertions(+), 450 deletions(-)
 rename src/main/java/io/mapsmessaging/mavlink/{ => codec}/MavlinkCodec.java (88%)
 rename src/main/java/io/mapsmessaging/mavlink/{ => codec}/MavlinkFrameCodec.java (95%)

diff --git a/pom.xml b/pom.xml
index e80b7eb..be34c46 100644
--- a/pom.xml
+++ b/pom.xml
@@ -392,8 +392,20 @@
             <version>1.5.1</version>
             <scope>test</scope>
         </dependency>
-
-
+        <!-- Source: https://mvnrepository.com/artifact/org.mockito/mockito-junit-jupiter -->
+        <dependency>
+            <groupId>org.mockito</groupId>
+            <artifactId>mockito-junit-jupiter</artifactId>
+            <version>5.21.0</version>
+            <scope>test</scope>
+        </dependency>
+        <!-- Source: https://mvnrepository.com/artifact/org.mockito/mockito-core -->
+        <dependency>
+            <groupId>org.mockito</groupId>
+            <artifactId>mockito-core</artifactId>
+            <version>5.21.0</version>
+            <scope>test</scope>
+        </dependency>
     </dependencies>
 
 </project>
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
index 8320fa7..55351d5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
@@ -1,5 +1,27 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
+import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
 import io.mapsmessaging.mavlink.context.Detection;
 import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
index ce27c3f..ecd4207 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameEnvelope.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
index ca6a8ae..95a1802 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.codec.PayloadPacker;
 import io.mapsmessaging.mavlink.codec.PayloadParser;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
index f6ee815..5193b70 100644
--- a/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
+++ b/src/main/java/io/mapsmessaging/mavlink/ProcessedFrame.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.context.Detection;
diff --git a/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java b/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
index 40e39ca..7e607d1 100644
--- a/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
+++ b/src/main/java/io/mapsmessaging/mavlink/SystemContextManager.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.context.*;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java b/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
index 174dab7..7f265f2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/FrameEncoder.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java b/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
index 7db07fa..ee551d5 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/FrameFactory.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java b/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
index cc4ad33..b484f95 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/JsonCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java b/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
index 2944da9..dbde5be 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/JsonValuesExtractor.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java b/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
index 5dd6b52..47c3014 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MapConverter.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkCodec.java
similarity index 88%
rename from src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/MavlinkCodec.java
index 0b03d6a..d4bc237 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,17 +9,17 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
-package io.mapsmessaging.mavlink;
+package io.mapsmessaging.mavlink.codec;
 
-import io.mapsmessaging.mavlink.codec.PayloadPacker;
-import io.mapsmessaging.mavlink.codec.PayloadParser;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
 import lombok.Getter;
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameCodec.java
similarity index 95%
rename from src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
rename to src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameCodec.java
index f511695..fcbcc47 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkFrameCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/MavlinkFrameCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
-package io.mapsmessaging.mavlink;
+package io.mapsmessaging.mavlink.codec;
 
+import io.mapsmessaging.mavlink.MavlinkFrameEnvelope;
 import io.mapsmessaging.mavlink.framing.*;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
index 5106de4..30b64bc 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadPacker.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
index fad7b85..72e36a9 100644
--- a/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/codec/PayloadParser.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.codec;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/Detection.java b/src/main/java/io/mapsmessaging/mavlink/context/Detection.java
index b2b4807..0726727 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/Detection.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/Detection.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java b/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
index 394482c..26d19be 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/DetectionSeverity.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 public enum DetectionSeverity {
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java b/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
index 081b7d2..839a072 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/DetectionType.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 public enum DetectionType {
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
index 5bf3ff0..b98c989 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFailureReason.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 public enum FrameFailureReason {
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java b/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
index 2f1b345..17fc96d 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/FrameFingerprint.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import io.mapsmessaging.mavlink.message.Frame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
index 75c4a5d..b5544c0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessingResult.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
index 8ddded9..914305c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessor.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import io.mapsmessaging.mavlink.message.Frame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
index 6aca599..dee39ff 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceProcessorConfig.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
index 1ffdabd..96e92ff 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingBuffer256.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import java.util.concurrent.atomic.AtomicReferenceArray;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
index a23d18d..b24f06c 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceRingEntry.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java b/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
index c5ed6a9..9a79cf0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SequenceStats.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java b/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
index 77247ab..f30d340 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SourceStats.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java b/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
index 586111e..213eb15 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SweepConfig.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java b/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
index 01074ac..275f97a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SweepResult.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java b/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
index a137f6b..a7c99fa 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SystemContext.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import io.mapsmessaging.mavlink.message.Frame;
diff --git a/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java b/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
index 2e0ea2a..c5f159f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
+++ b/src/main/java/io/mapsmessaging/mavlink/context/SystemContextSnapshot.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink.context;
 
 import lombok.Data;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java b/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
index b9ea22f..11ac5c6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/ByteBufferUtils.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java b/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
index d3b3e36..e370050 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/CrcHelper.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java b/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
index 199e5a7..4e9adc9 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/DialectRegistry.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
index 29ff010..df202cb 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameDecoder.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
index baf80bf..d9a18a6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameFramer.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
index 9e8a8f3..534b2cf 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FrameHandler.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
index 3bf661b..0a24320 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/FramePacker.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
index 3accbd3..71b151a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/SigningKeyProvider.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
index 71b9e00..7ac0d97 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V1FrameHandler.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
index 303630b..534e214 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameHandler.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
index bfcbae5..8828ecd 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2FrameSigning.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.framing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java b/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
index dc4aa84..1d23c0b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
+++ b/src/main/java/io/mapsmessaging/mavlink/framing/V2SignatureGenerator.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 package io.mapsmessaging.mavlink.framing;
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java b/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
index bbb8300..81f95d6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/CompiledField.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java b/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
index 433f20e..222ab9a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/CompiledMessage.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java b/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
index fb50ca2..695485e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/EnumResolver.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/Frame.java b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
index f821fda..b140a35 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/Frame.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java b/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
index 971032a..6b08a6a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/FrameParser.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
index b6c5735..1287f11 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MessageDefinition.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java b/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
index c8e0280..8c85603 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/MessageRegistry.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/Version.java b/src/main/java/io/mapsmessaging/mavlink/message/Version.java
index 8736469..2b5aa1a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/Version.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/Version.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
index a92b2af..52871d6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/X25Crc.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
index 085aaf0..086d7e2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/AbstractMavlinkFieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
index 9c9bfcb..bcf6821 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/ArrayFieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
index fe0e385..cbd12c2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
index 4534e4e..984913d 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/DoubleFieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
index 18cc395..788f66b 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumDefinition.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
index 2391172..a92f477 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/EnumEntry.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
index 66c453b..994cad0 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldCodecFactory.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
index 5fc864f..3f585d6 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FieldDefinition.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
index 2f2c7eb..d418bd7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/FloatFieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
index cf54f7f..1fceda7 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int16FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
index 1e3a844..e8bed0e 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int32FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
index 137cc8f..8da71c4 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int64FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
index 9df3b3c..e9c2df2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/Int8FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
index 045198c..7d541ba 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt16FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
index b148487..156e628 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt32FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
index 23ff4e1..87b0592 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt64FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
index ccd9975..1c39e68 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/UInt8FieldCodec.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
index 5922320..b7778bd 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/WireType.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.message.fields;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
index 8e6389c..483be98 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ClasspathIncludeResolver.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java b/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
index 93fb5a0..01dc50a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/DialectDefinition.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java b/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
index abb114a..27627cc 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/DialectLoader.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java b/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
index 7502df0..5630ef8 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/ExtraCrcCalculator.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
index 1b525e8..e586d0a 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/IncludeResolver.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
index 0fa517f..ee3d3bf 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.parser;
diff --git a/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java b/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
index 6ddbc91..4218d55 100644
--- a/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
+++ b/src/main/java/io/mapsmessaging/mavlink/schema/JsonSchemaBuilder.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.schema;
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
index 7c7f851..04ed55f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/MapSigningKeyProvider.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.signing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
index 47199ef..c52b391 100644
--- a/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/NoSigningKeyProvider.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.signing;
diff --git a/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java b/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java
index 4d275c9..f35ed83 100644
--- a/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java
+++ b/src/main/java/io/mapsmessaging/mavlink/signing/StaticSigningKeyProvider.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink.signing;
diff --git a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
index f558f3f..e920310 100644
--- a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
index dd446fe..f444f40 100644
--- a/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/HeartbeatTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,19 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
+import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
 import io.mapsmessaging.mavlink.message.Frame;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index 8ffa3b0..d035a6f 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,19 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
+import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
 import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
index 73018ec..527c6bc 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkPayloadJsonSchemaValidationTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
@@ -28,6 +29,7 @@
 import com.networknt.schema.JsonSchemaFactory;
 import com.networknt.schema.SpecVersion;
 import com.networknt.schema.ValidationMessage;
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
 import io.mapsmessaging.mavlink.schema.JsonSchemaBuilder;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
index 3bc0c09..a31a05e 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
index a6e3566..14e069d 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
index ac244d0..77874c9 100644
--- a/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/SystemContextManagerTest.java
@@ -1,3 +1,23 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
 package io.mapsmessaging.mavlink;
 
 import io.mapsmessaging.mavlink.context.*;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
index bbacea6..22e368d 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkCharArrays.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
index 9eb2f99..96a1854 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkConcurrency.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import org.junit.jupiter.api.Test;
 
 import java.util.Map;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
index 562a278..762ee46 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkExtensions.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
index f63ab8b..327b39b 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkNumericArrays.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,16 +9,19 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
index b9aba8f..1f3c19f 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRegistryInvariants.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,15 +9,18 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.CompiledField;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
index 3032b15..52f5b1a 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkRobustness.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,16 +9,19 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
 
 
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
diff --git a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
index 2ef0d97..43e6d36 100644
--- a/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
+++ b/src/test/java/io/mapsmessaging/mavlink/TestMavlinkXmlParserIncludes.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;
diff --git a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
index 317fa73..3e93265 100644
--- a/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/X25CrcTest.java
@@ -1,5 +1,4 @@
 /*
- *
  *  Copyright [ 2020 - 2024 ] Matthew Buckton
  *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
  *
@@ -10,11 +9,13 @@
  *      http://www.apache.org/licenses/LICENSE-2.0
  *      https://commonsclause.com/
  *
- *  Unless required by applicable law or agreed to in writing, software
- *  distributed under the License is distributed on an "AS IS" BASIS,
- *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- *  See the License for the specific language governing permissions and
- *  limitations under the License.
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
  */
 
 package io.mapsmessaging.mavlink;

From 6d5890ae32a90997ece68aa428dc8395de8b2a75 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 18 Jan 2026 16:55:28 +1100
Subject: [PATCH 22/34] additional tests

---
 .../mavlink/MavlinkEventFactoryTest.java      | 152 ++++++++++++++++++
 1 file changed, 152 insertions(+)
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/MavlinkEventFactoryTest.java

diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkEventFactoryTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkEventFactoryTest.java
new file mode 100644
index 0000000..590a619
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkEventFactoryTest.java
@@ -0,0 +1,152 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
+import io.mapsmessaging.mavlink.context.Detection;
+import io.mapsmessaging.mavlink.context.FrameFailureReason;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.Frame;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.extension.ExtendWith;
+import org.mockito.junit.jupiter.MockitoExtension;
+
+import java.nio.ByteBuffer;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+import static org.junit.jupiter.api.Assertions.*;
+import static org.mockito.Mockito.*;
+
+@ExtendWith(MockitoExtension.class)
+class MavlinkEventFactoryTest {
+
+  @Test
+  void unpack_returnsEmpty_whenNoFrameDecoded() throws Exception {
+    MavlinkFrameCodec frameCodec = mock(MavlinkFrameCodec.class);
+    SystemContextManager systemContextManager = mock(SystemContextManager.class);
+
+    ByteBuffer payload = ByteBuffer.allocate(0);
+
+    when(frameCodec.tryUnpackFrame(payload)).thenReturn(Optional.empty());
+
+    MavlinkEventFactory factory = new MavlinkEventFactory(frameCodec, systemContextManager);
+
+    Optional<ProcessedFrame> result = factory.unpack("streamA", payload);
+    assertTrue(result.isEmpty());
+
+    verify(frameCodec, times(1)).tryUnpackFrame(payload);
+    verifyNoMoreInteractions(frameCodec);
+    verifyNoInteractions(systemContextManager);
+  }
+
+  @Test
+  void unpack_returnsProcessedFrame_valid_whenValidatedOk_orUnsigned_andResolvesName() throws Exception {
+    MavlinkFrameCodec frameCodec = mock(MavlinkFrameCodec.class);
+    SystemContextManager systemContextManager = mock(SystemContextManager.class);
+    MessageRegistry registry = mock(MessageRegistry.class);
+
+    Frame frame = mock(Frame.class);
+    ByteBuffer payload = ByteBuffer.allocate(16);
+
+    int messageId = 123;
+
+    when(frameCodec.tryUnpackFrame(payload)).thenReturn(Optional.of(frame));
+    when(frameCodec.parsePayload(frame)).thenReturn(Map.of("a", 1, "b", "x"));
+    when(frameCodec.getRegistry()).thenReturn(registry);
+
+    when(frame.getMessageId()).thenReturn(messageId);
+
+    CompiledMessage compiledMessage = mock(CompiledMessage.class);
+    when(compiledMessage.getName()).thenReturn("HEARTBEAT");
+    when(registry.getCompiledMessagesById()).thenReturn(Map.of(messageId, compiledMessage));
+
+    List<Detection> detections = List.of(mock(Detection.class));
+    when(frame.getValidated()).thenReturn(FrameFailureReason.OK);
+    when(systemContextManager.onValidatedFrame(eq(frame), eq("streamA"), anyLong())).thenReturn(detections);
+
+    MavlinkEventFactory factory = new MavlinkEventFactory(frameCodec, systemContextManager);
+
+    Optional<ProcessedFrame> resultOpt = factory.unpack("streamA", payload);
+    assertTrue(resultOpt.isPresent());
+
+    ProcessedFrame result = resultOpt.get();
+
+    // Adjust getter names if your ProcessedFrame uses different ones.
+    assertEquals("HEARTBEAT", result.getMessageName());
+    assertSame(frame, result.getFrame());
+    assertEquals(Map.of("a", 1, "b", "x"), result.getFields());
+    assertTrue(result.isValid());
+    assertEquals(detections, result.getDetections());
+
+    verify(systemContextManager, times(1)).onValidatedFrame(eq(frame), eq("streamA"), anyLong());
+    verify(systemContextManager, never()).onInvalidFrame(anyInt(), anyString(), anyLong(), any());
+  }
+
+  @Test
+  void unpack_returnsProcessedFrame_invalid_whenValidatedFailure_andDropsFields_andNameMayBeBlank() throws Exception {
+    MavlinkFrameCodec frameCodec = mock(MavlinkFrameCodec.class);
+    SystemContextManager systemContextManager = mock(SystemContextManager.class);
+    MessageRegistry registry = mock(MessageRegistry.class);
+
+    Frame frame = mock(Frame.class);
+    ByteBuffer payload = ByteBuffer.allocate(32);
+
+    int messageId = 777;
+    int systemId = 9;
+
+    when(frameCodec.tryUnpackFrame(payload)).thenReturn(Optional.of(frame));
+    when(frameCodec.parsePayload(frame)).thenReturn(Map.of("shouldNot", "matter"));
+    when(frameCodec.getRegistry()).thenReturn(registry);
+
+    when(frame.getMessageId()).thenReturn(messageId);
+    when(frame.getSystemId()).thenReturn(systemId);
+
+    // No compiled message found -> name should stay ""
+    when(registry.getCompiledMessagesById()).thenReturn(Map.of());
+
+    when(frame.getValidated()).thenReturn(FrameFailureReason.CRC_FAILED);
+
+    List<Detection> detections = List.of(mock(Detection.class), mock(Detection.class));
+    when(systemContextManager.onInvalidFrame(eq(systemId), eq("streamA"), anyLong(), eq(FrameFailureReason.CRC_FAILED)))
+        .thenReturn(detections);
+
+    MavlinkEventFactory factory = new MavlinkEventFactory(frameCodec, systemContextManager);
+
+    Optional<ProcessedFrame> resultOpt = factory.unpack("streamA", payload);
+    assertTrue(resultOpt.isPresent());
+
+    ProcessedFrame result = resultOpt.get();
+
+    // Adjust getter names if needed.
+    assertEquals("", result.getMessageName());
+    assertSame(frame, result.getFrame());
+    assertEquals(Map.of(), result.getFields());
+    assertFalse(result.isValid());
+    assertEquals(detections, result.getDetections());
+
+    verify(systemContextManager, times(1))
+        .onInvalidFrame(eq(systemId), eq("streamA"), anyLong(), eq(FrameFailureReason.CRC_FAILED));
+    verify(systemContextManager, never()).onValidatedFrame(any(), anyString(), anyLong());
+  }
+}

From 8dd4944fd751ed443d95fd4ef917ecc1fefd739c Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 18 Jan 2026 17:18:48 +1100
Subject: [PATCH 23/34] additional tests

---
 .../mavlink/BaseRoudTripTest.java             | 204 ---------------
 .../MavlinkRoundTripAllMessagesTest.java      |   4 +-
 .../mavlink/RandomValueFactory.java           | 239 ++++++++++++++++++
 3 files changed, 241 insertions(+), 206 deletions(-)
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java

diff --git a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
index e920310..a196815 100644
--- a/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/BaseRoudTripTest.java
@@ -45,210 +45,6 @@ void bootTest() {
     // Intentionally empty. Maven demands tribute.
   }
 
-  static final class RandomValueFactory {
-
-    protected RandomValueFactory() {}
-
-    static Map<String, Object> buildValues(
-        MessageRegistry registry,
-        CompiledMessage msg,
-        MavlinkRoundTripAllMessagesTest.ExtensionMode extensionMode,
-        long baseSeed
-    ) throws IOException {
-
-      Map<String, Object> values = new LinkedHashMap<>();
-      List<CompiledField> fields = msg.getCompiledFields();
-
-      for (int i = 0; i < fields.size(); i++) {
-        CompiledField cf = fields.get(i);
-        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
-
-        if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.OMIT_ALL) {
-          continue;
-        }
-
-        if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT) {
-          // include some extensions deterministically (not all)
-          long seed = perFieldSeed(baseSeed, msg.getMessageId(), i);
-          Random random = new Random(seed);
-          if (random.nextInt(100) < 60) {
-            continue; // omit ~60% of extension fields
-          }
-        }
-
-        Object value = generateValueForField(registry, msg.getMessageId(), fd, i, baseSeed);
-        values.put(fd.getName(), value);
-      }
-
-      return values;
-    }
-
-    static FieldDefinition fieldByName(CompiledMessage msg, String fieldName) {
-      for (CompiledField cf : msg.getCompiledFields()) {
-        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
-        if (fieldName.equals(fd.getName())) {
-          return fd;
-        }
-      }
-      throw new IllegalStateException("Unknown field '" + fieldName + "' in message " + msg.getMessageId());
-    }
-
-    protected static Object generateValueForField(
-        MessageRegistry registry,
-        int messageId,
-        FieldDefinition fd,
-        int fieldIndex,
-        long baseSeed
-    ) throws IOException {
-
-      long seed = perFieldSeed(baseSeed, messageId, fieldIndex);
-      Random random = new Random(seed);
-
-      if (fd.isArray()) {
-        if (isCharType(fd)) {
-          return randomAsciiString(fd.getArrayLength(), messageId, fd.getName(), random);
-        }
-        Object[] arr = new Object[fd.getArrayLength()];
-        for (int i = 0; i < arr.length; i++) {
-          arr[i] = generateScalar(registry, fd, random);
-        }
-        return arr;
-      }
-
-      return generateScalar(registry, fd, random);
-    }
-
-    protected static Object generateScalar(MessageRegistry registry, FieldDefinition fd, Random random) throws IOException {
-      String enumName = fd.getEnumName();
-      if (enumName != null && !enumName.isEmpty()) {
-        EnumDefinition def = registry.getEnumsByName().get(enumName);
-        if (def != null && def.getEntries() != null && !def.getEntries().isEmpty()) {
-          if (def.isBitmask()) {
-            return pickBitmask(def, random);
-          }
-          return pickEnumValue(def, random);
-        }
-        // If enum metadata missing, fall back to numeric in-range.
-      }
-
-      String type = normalizeType(fd.getType());
-
-      return switch (type) {
-        case "uint8_t" -> Integer.valueOf(random.nextInt(256));
-        case "int8_t" -> Integer.valueOf(random.nextInt(256) - 128);
-
-        case "uint16_t" -> Integer.valueOf(random.nextInt(65536));
-        case "int16_t" -> Integer.valueOf(random.nextInt(65536) - 32768);
-
-        case "uint32_t" -> Long.valueOf(nextLongBounded(random, 0L, 0xFFFF_FFFFL));
-        case "int32_t" -> Integer.valueOf(random.nextInt());
-
-        case "uint64_t" -> Long.valueOf(nextLongBounded(random, 0L, Long.MAX_VALUE));
-        case "int64_t" -> Long.valueOf(random.nextLong());
-
-        case "float" -> Float.valueOf(nextFloatBounded(random, -10_000f, 10_000f));
-        case "double" -> Double.valueOf(nextDoubleBounded(random, -10_000d, 10_000d));
-
-        // Some dialects use "char" for scalar, though rare.
-        case "char" -> Integer.valueOf(random.nextInt(128));
-
-        default -> throw new IOException("Unsupported MAVLink field type: " + fd.getType() + " (normalized=" + type + ")");
-      };
-    }
-
-    protected static long pickEnumValue(EnumDefinition def, Random random) {
-      List<EnumEntry> entries = def.getEntries();
-      EnumEntry entry = entries.get(random.nextInt(entries.size()));
-      return entry.getValue();
-    }
-
-    protected static long pickBitmask(EnumDefinition def, Random random) {
-      List<EnumEntry> entries = def.getEntries();
-      int count = Math.min(entries.size(), 1 + random.nextInt(3));
-      long mask = 0L;
-
-      for (int i = 0; i < count; i++) {
-        EnumEntry entry = entries.get(random.nextInt(entries.size()));
-        mask |= entry.getValue();
-      }
-      return mask;
-    }
-
-    protected static boolean isCharType(FieldDefinition fd) {
-      String type = normalizeType(fd.getType());
-      return "char".equals(type);
-    }
-
-    protected static String randomAsciiString(int maxLen, int messageId, String fieldName, Random random) {
-      // Stable-ish prefix helps debugging.
-      String prefix = "M" + messageId + "_" + fieldName + "_";
-      byte[] bytes = new byte[Math.max(1, maxLen)];
-      byte[] prefixBytes = prefix.getBytes(StandardCharsets.US_ASCII);
-
-      int pos = 0;
-      for (int i = 0; i < prefixBytes.length && pos < bytes.length; i++) {
-        bytes[pos++] = prefixBytes[i];
-      }
-      while (pos < bytes.length) {
-        int c = 32 + random.nextInt(95); // printable ASCII 32..126
-        bytes[pos++] = (byte) c;
-      }
-
-      // Return String to match your packer expectation for char arrays.
-      // If you prefer byte[], swap this line.
-      return new String(bytes, StandardCharsets.US_ASCII);
-    }
-
-    protected static String normalizeType(String type) {
-      if (type == null) {
-        return "";
-      }
-      // Your pipeline already normalizes decorated types; keep this defensive.
-      String t = type.trim();
-      if (t.endsWith("_t")) {
-        return t;
-      }
-      if (t.contains("uint8_t")) return "uint8_t";
-      if (t.contains("int8_t")) return "int8_t";
-      if (t.contains("uint16_t")) return "uint16_t";
-      if (t.contains("int16_t")) return "int16_t";
-      if (t.contains("uint32_t")) return "uint32_t";
-      if (t.contains("int32_t")) return "int32_t";
-      if (t.contains("uint64_t")) return "uint64_t";
-      if (t.contains("int64_t")) return "int64_t";
-      if (t.equals("float")) return "float";
-      if (t.equals("double")) return "double";
-      if (t.equals("char")) return "char";
-      return t;
-    }
-
-    protected static long perFieldSeed(long baseSeed, int messageId, int fieldIndex) {
-      long s = baseSeed;
-      s ^= (long) messageId * 0x9E37_79B9_7F4A_7C15L;
-      s ^= (long) fieldIndex * 0xC2B2_AE3D_27D4_EB4FL;
-      return s;
-    }
-
-    protected static long nextLongBounded(Random random, long minInclusive, long maxInclusive) {
-      if (minInclusive > maxInclusive) {
-        throw new IllegalArgumentException("min > max");
-      }
-      long bound = maxInclusive - minInclusive + 1;
-      long r = random.nextLong();
-      long v = Math.floorMod(r, bound);
-      return minInclusive + v;
-    }
-
-
-    protected static float nextFloatBounded(Random random, float min, float max) {
-      return min + random.nextFloat() * (max - min);
-    }
-
-    protected static double nextDoubleBounded(Random random, double min, double max) {
-      return min + random.nextDouble() * (max - min);
-    }
-  }
-
   static final class ValueAssertions {
 
     protected ValueAssertions() {}
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
index a31a05e..275284c 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
@@ -34,7 +34,7 @@
 
 import static org.junit.jupiter.api.Assertions.*;
 
-class MavlinkRoundTripAllMessagesTest extends BaseRoudTripTest {
+public class MavlinkRoundTripAllMessagesTest extends BaseRoudTripTest {
 
 
   @TestFactory
@@ -188,7 +188,7 @@ private static void extensionSizingForMessage(
     }
   }
 
-  enum ExtensionMode {
+  public enum ExtensionMode {
     OMIT_ALL,
     SOME_PRESENT
   }
diff --git a/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java b/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java
new file mode 100644
index 0000000..32ec66b
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java
@@ -0,0 +1,239 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.message.CompiledField;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import io.mapsmessaging.mavlink.message.fields.EnumDefinition;
+import io.mapsmessaging.mavlink.message.fields.EnumEntry;
+import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
+
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Random;
+
+public class RandomValueFactory {
+
+  protected RandomValueFactory() {}
+
+  public static Map<String, Object> buildValues(
+      MessageRegistry registry,
+      CompiledMessage msg,
+      MavlinkRoundTripAllMessagesTest.ExtensionMode extensionMode,
+      long baseSeed
+  ) throws IOException {
+
+    Map<String, Object> values = new LinkedHashMap<>();
+    List<CompiledField> fields = msg.getCompiledFields();
+
+    for (int i = 0; i < fields.size(); i++) {
+      CompiledField cf = fields.get(i);
+      FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+
+      if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.OMIT_ALL) {
+        continue;
+      }
+
+      if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT) {
+        // include some extensions deterministically (not all)
+        long seed = perFieldSeed(baseSeed, msg.getMessageId(), i);
+        Random random = new Random(seed);
+        if (random.nextInt(100) < 60) {
+          continue; // omit ~60% of extension fields
+        }
+      }
+
+      Object value = generateValueForField(registry, msg.getMessageId(), fd, i, baseSeed);
+      values.put(fd.getName(), value);
+    }
+
+    return values;
+  }
+
+  static FieldDefinition fieldByName(CompiledMessage msg, String fieldName) {
+    for (CompiledField cf : msg.getCompiledFields()) {
+      FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+      if (fieldName.equals(fd.getName())) {
+        return fd;
+      }
+    }
+    throw new IllegalStateException("Unknown field '" + fieldName + "' in message " + msg.getMessageId());
+  }
+
+  protected static Object generateValueForField(
+      MessageRegistry registry,
+      int messageId,
+      FieldDefinition fd,
+      int fieldIndex,
+      long baseSeed
+  ) throws IOException {
+
+    long seed = perFieldSeed(baseSeed, messageId, fieldIndex);
+    Random random = new Random(seed);
+
+    if (fd.isArray()) {
+      if (isCharType(fd)) {
+        return randomAsciiString(fd.getArrayLength(), messageId, fd.getName(), random);
+      }
+      Object[] arr = new Object[fd.getArrayLength()];
+      for (int i = 0; i < arr.length; i++) {
+        arr[i] = generateScalar(registry, fd, random);
+      }
+      return arr;
+    }
+
+    return generateScalar(registry, fd, random);
+  }
+
+  protected static Object generateScalar(MessageRegistry registry, FieldDefinition fd, Random random) throws IOException {
+    String enumName = fd.getEnumName();
+    if (enumName != null && !enumName.isEmpty()) {
+      EnumDefinition def = registry.getEnumsByName().get(enumName);
+      if (def != null && def.getEntries() != null && !def.getEntries().isEmpty()) {
+        if (def.isBitmask()) {
+          return pickBitmask(def, random);
+        }
+        return pickEnumValue(def, random);
+      }
+      // If enum metadata missing, fall back to numeric in-range.
+    }
+
+    String type = normalizeType(fd.getType());
+
+    return switch (type) {
+      case "uint8_t" -> Integer.valueOf(random.nextInt(256));
+      case "int8_t" -> Integer.valueOf(random.nextInt(256) - 128);
+
+      case "uint16_t" -> Integer.valueOf(random.nextInt(65536));
+      case "int16_t" -> Integer.valueOf(random.nextInt(65536) - 32768);
+
+      case "uint32_t" -> Long.valueOf(nextLongBounded(random, 0L, 0xFFFF_FFFFL));
+      case "int32_t" -> Integer.valueOf(random.nextInt());
+
+      case "uint64_t" -> Long.valueOf(nextLongBounded(random, 0L, Long.MAX_VALUE));
+      case "int64_t" -> Long.valueOf(random.nextLong());
+
+      case "float" -> Float.valueOf(nextFloatBounded(random, -10_000f, 10_000f));
+      case "double" -> Double.valueOf(nextDoubleBounded(random, -10_000d, 10_000d));
+
+      // Some dialects use "char" for scalar, though rare.
+      case "char" -> Integer.valueOf(random.nextInt(128));
+
+      default -> throw new IOException("Unsupported MAVLink field type: " + fd.getType() + " (normalized=" + type + ")");
+    };
+  }
+
+  protected static long pickEnumValue(EnumDefinition def, Random random) {
+    List<EnumEntry> entries = def.getEntries();
+    EnumEntry entry = entries.get(random.nextInt(entries.size()));
+    return entry.getValue();
+  }
+
+  protected static long pickBitmask(EnumDefinition def, Random random) {
+    List<EnumEntry> entries = def.getEntries();
+    int count = Math.min(entries.size(), 1 + random.nextInt(3));
+    long mask = 0L;
+
+    for (int i = 0; i < count; i++) {
+      EnumEntry entry = entries.get(random.nextInt(entries.size()));
+      mask |= entry.getValue();
+    }
+    return mask;
+  }
+
+  protected static boolean isCharType(FieldDefinition fd) {
+    String type = normalizeType(fd.getType());
+    return "char".equals(type);
+  }
+
+  protected static String randomAsciiString(int maxLen, int messageId, String fieldName, Random random) {
+    // Stable-ish prefix helps debugging.
+    String prefix = "M" + messageId + "_" + fieldName + "_";
+    byte[] bytes = new byte[Math.max(1, maxLen)];
+    byte[] prefixBytes = prefix.getBytes(StandardCharsets.US_ASCII);
+
+    int pos = 0;
+    for (int i = 0; i < prefixBytes.length && pos < bytes.length; i++) {
+      bytes[pos++] = prefixBytes[i];
+    }
+    while (pos < bytes.length) {
+      int c = 32 + random.nextInt(95); // printable ASCII 32..126
+      bytes[pos++] = (byte) c;
+    }
+
+    // Return String to match your packer expectation for char arrays.
+    // If you prefer byte[], swap this line.
+    return new String(bytes, StandardCharsets.US_ASCII);
+  }
+
+  protected static String normalizeType(String type) {
+    if (type == null) {
+      return "";
+    }
+    // Your pipeline already normalizes decorated types; keep this defensive.
+    String t = type.trim();
+    if (t.endsWith("_t")) {
+      return t;
+    }
+    if (t.contains("uint8_t")) return "uint8_t";
+    if (t.contains("int8_t")) return "int8_t";
+    if (t.contains("uint16_t")) return "uint16_t";
+    if (t.contains("int16_t")) return "int16_t";
+    if (t.contains("uint32_t")) return "uint32_t";
+    if (t.contains("int32_t")) return "int32_t";
+    if (t.contains("uint64_t")) return "uint64_t";
+    if (t.contains("int64_t")) return "int64_t";
+    if (t.equals("float")) return "float";
+    if (t.equals("double")) return "double";
+    if (t.equals("char")) return "char";
+    return t;
+  }
+
+  protected static long perFieldSeed(long baseSeed, int messageId, int fieldIndex) {
+    long s = baseSeed;
+    s ^= (long) messageId * 0x9E37_79B9_7F4A_7C15L;
+    s ^= (long) fieldIndex * 0xC2B2_AE3D_27D4_EB4FL;
+    return s;
+  }
+
+  protected static long nextLongBounded(Random random, long minInclusive, long maxInclusive) {
+    if (minInclusive > maxInclusive) {
+      throw new IllegalArgumentException("min > max");
+    }
+    long bound = maxInclusive - minInclusive + 1;
+    long r = random.nextLong();
+    long v = Math.floorMod(r, bound);
+    return minInclusive + v;
+  }
+
+
+  protected static float nextFloatBounded(Random random, float min, float max) {
+    return min + random.nextFloat() * (max - min);
+  }
+
+  protected static double nextDoubleBounded(Random random, double min, double max) {
+    return min + random.nextDouble() * (max - min);
+  }
+}
\ No newline at end of file

From 585ac2db57615e6d577f16d812ee45b5114d7d95 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sat, 31 Jan 2026 19:26:37 +1100
Subject: [PATCH 24/34] additional tests

---
 .../MavlinkFrameRoundTripAllMessagesTest.java | 92 ++++++++++++++++---
 1 file changed, 78 insertions(+), 14 deletions(-)

diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
index d035a6f..12c13b2 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
@@ -23,19 +23,20 @@
 import io.mapsmessaging.mavlink.codec.MavlinkCodec;
 import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
 import io.mapsmessaging.mavlink.context.FrameFailureReason;
+import io.mapsmessaging.mavlink.framing.SigningKeyProvider;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
 import io.mapsmessaging.mavlink.message.MessageRegistry;
 import io.mapsmessaging.mavlink.message.Version;
 import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 import io.mapsmessaging.mavlink.signing.MapSigningKeyProvider;
+import io.mapsmessaging.mavlink.signing.NoSigningKeyProvider;
+import io.mapsmessaging.mavlink.signing.StaticSigningKeyProvider;
 import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.TestFactory;
 
 import java.nio.ByteBuffer;
-import java.util.Map;
-import java.util.Optional;
-import java.util.Random;
+import java.util.*;
 import java.util.stream.Stream;
 
 import static org.junit.jupiter.api.Assertions.*;
@@ -57,27 +58,90 @@ Stream<DynamicTest> allMessages_frame_roundTrip_v2_unsigned_fullPayload() throws
   }
 
   @TestFactory
-  Stream<DynamicTest> allMessages_frame_roundTrip_v2_signed_fullPayload() throws Exception {
+  Stream<DynamicTest> allMessages_frame_roundTrip_v2_unsigned_fullPayload_allSigningProviders() throws Exception {
+    return buildRoundTripTests(false);
+  }
+
+  @TestFactory
+  Stream<DynamicTest> allMessages_frame_roundTrip_v2_signed_fullPayload_allSigningProviders() throws Exception {
     return buildRoundTripTests(true);
   }
 
   private Stream<DynamicTest> buildRoundTripTests(boolean signFrames) throws Exception {
     MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
+    MessageRegistry registry = payloadCodec.getRegistry();
+
+    List<SigningProviderCase> signingProviderCases = buildSigningProviderCases(signFrames);
+
+    String signingSuffix = signFrames ? "signed" : "unsigned";
+
+    return signingProviderCases.stream()
+        .flatMap(signingProviderCase -> registry.getCompiledMessages().stream()
+            .map(message -> DynamicTest.dynamicTest(
+                message.getMessageId()
+                    + " "
+                    + message.getName()
+                    + " ("
+                    + signingSuffix
+                    + ", "
+                    + signingProviderCase.displayName
+                    + ")",
+                () -> runRoundTripCase(payloadCodec, registry, message, signFrames, signingProviderCase)
+            )));
+  }
 
+  private void runRoundTripCase(
+      MavlinkCodec payloadCodec,
+      MessageRegistry registry,
+      CompiledMessage message,
+      boolean signFrames,
+      SigningProviderCase signingProviderCase
+  ) throws Exception {
 
-    MapSigningKeyProvider signingKeyProvider = new MapSigningKeyProvider();
-    signingKeyProvider.register (1, 1, 0, TEST_SIGNING_KEY);
-    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec, signingKeyProvider);
+    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec, signingProviderCase.signingKeyProvider);
 
-    MessageRegistry registry = payloadCodec.getRegistry();
+    if (signingProviderCase.expectSuccess) {
+      frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, message, signFrames);
+      return;
+    }
 
-    String suffix = signFrames ? "signed" : "unsigned";
+    assertThrows(
+        Exception.class,
+        () -> frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, message, signFrames),
+        "Expected failure for " + signingProviderCase.displayName + " when signFrames=" + signFrames
+    );
+  }
+
+  private List<SigningProviderCase> buildSigningProviderCases(boolean signFrames) {
+    List<SigningProviderCase> signingProviderCases = new ArrayList<>();
+
+    MapSigningKeyProvider mapSigningKeyProvider = new MapSigningKeyProvider();
+    mapSigningKeyProvider.register(1, 1, 0, TEST_SIGNING_KEY);
+
+    SigningKeyProvider staticSigningKeyProvider = new StaticSigningKeyProvider(TEST_SIGNING_KEY);
+
+    SigningKeyProvider noSigningKeyProvider = new NoSigningKeyProvider();
+
+    signingProviderCases.add(new SigningProviderCase("MapSigningKeyProvider", mapSigningKeyProvider, true));
+    signingProviderCases.add(new SigningProviderCase("StaticSigningKeyProvider", staticSigningKeyProvider, true));
 
-    return registry.getCompiledMessages().stream()
-        .map(msg -> DynamicTest.dynamicTest(
-            msg.getMessageId() + " " + msg.getName() + " (" + suffix + ")",
-            () -> frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, msg, signFrames)
-        ));
+    boolean noSigningKeyProviderShouldSucceed = !signFrames;
+    signingProviderCases.add(new SigningProviderCase("NoSigningKeyProvider", noSigningKeyProvider, noSigningKeyProviderShouldSucceed));
+
+    return signingProviderCases;
+  }
+
+  private static final class SigningProviderCase {
+
+    private final String displayName;
+    private final SigningKeyProvider signingKeyProvider;
+    private final boolean expectSuccess;
+
+    private SigningProviderCase(String displayName, SigningKeyProvider signingKeyProvider, boolean expectSuccess) {
+      this.displayName = displayName;
+      this.signingKeyProvider = signingKeyProvider;
+      this.expectSuccess = expectSuccess;
+    }
   }
 
   private static void frameRoundTripForMessageV2(

From a38d3be5c5909b9a01972d1aacb2e6a961b6f4e8 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Tue, 3 Feb 2026 11:31:36 +1100
Subject: [PATCH 25/34] feat(parsing): add support for loading dialects from
 file paths

Introduce a new `loadDialect(Path dialectName)` method in `MavlinkMessageFormatLoader` to enable loading dialects directly from file paths, including custom include resolution with `FilePathIncludeResolver`. Updated `MavlinkEventFactory` to support dialects by path and added unit tests to verify functionality.
---
 README.md                                     |  6 +--
 .../mavlink/MavlinkEventFactory.java          | 18 ++++++-
 .../mavlink/MavlinkMessageFormatLoader.java   | 21 +++++---
 .../parser/FilePathIncludeResolver.java       | 54 +++++++++++++++++++
 .../MavlinkMessageFormatLoaderPathTest.java   | 45 ++++++++++++++++
 5 files changed, 131 insertions(+), 13 deletions(-)
 create mode 100644 src/main/java/io/mapsmessaging/mavlink/parser/FilePathIncludeResolver.java
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoaderPathTest.java

diff --git a/README.md b/README.md
index 952de07..ba16041 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,7 @@ It **does**:
 - Compile message definitions into an immutable registry
 - Encode Java field maps into MAVLink payload bytes
 - Decode MAVLink payload bytes into typed field maps
+- Provides ability to sign and validate V2 messages
 - Correctly handle MAVLink field ordering, arrays, enums, and extensions
 - Creates JsonSchemas to match the fields that it parses to and from
 
@@ -30,11 +31,6 @@ It **does not**:
 - Manage system IDs, component IDs, or sequence numbers
 - Implement any transport (UART, UDP, TCP, etc.)
 
-Frame parsing, CRC handling, and framing are provided by the framework layer
-built on top of this codec.
-
-This library is designed to sit **under** a framing and transport layer.
-
 ---
 
 ## Features
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
index 55351d5..85be3ba 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkEventFactory.java
@@ -26,9 +26,12 @@
 import io.mapsmessaging.mavlink.context.FrameFailureReason;
 import io.mapsmessaging.mavlink.message.CompiledMessage;
 import io.mapsmessaging.mavlink.message.Frame;
+import org.xml.sax.SAXException;
 
+import javax.xml.parsers.ParserConfigurationException;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.nio.file.Path;
 import java.util.List;
 import java.util.Map;
 import java.util.Optional;
@@ -39,17 +42,28 @@ public class MavlinkEventFactory {
   private SystemContextManager systemContextManager;
 
   public MavlinkEventFactory() throws IOException {
-    Optional<MavlinkCodec> codec = MavlinkMessageFormatLoader.getInstance().getDialect("common");
+    this("common");
+  }
+
+  public MavlinkEventFactory(String dialectName) throws IOException {
+    Optional<MavlinkCodec> codec = MavlinkMessageFormatLoader.getInstance().getDialect(dialectName);
     if (codec.isPresent()) {
       MavlinkCodec codecInstance = codec.get();
       frameCodec = new MavlinkFrameCodec(codecInstance);
       systemContextManager = new SystemContextManager();
     }
     else{
-      throw new IOException("Mavlink default common codec not found");
+      throw new IOException("Mavlink "+dialectName+" codec not found");
     }
   }
 
+
+  public MavlinkEventFactory(Path dialectPath) throws IOException, ParserConfigurationException, SAXException {
+    MavlinkCodec codec = MavlinkMessageFormatLoader.getInstance().loadDialect(dialectPath);
+    frameCodec = new MavlinkFrameCodec(codec);
+    systemContextManager = new SystemContextManager();
+  }
+
   public MavlinkEventFactory(MavlinkFrameCodec frameCodec, SystemContextManager systemContextManager){
     this.frameCodec = frameCodec;
     this.systemContextManager = systemContextManager;
diff --git a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
index 95a1802..18ac776 100644
--- a/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
+++ b/src/main/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoader.java
@@ -30,6 +30,7 @@
 import javax.xml.parsers.ParserConfigurationException;
 import java.io.IOException;
 import java.io.InputStream;
+import java.nio.file.Path;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
@@ -128,7 +129,7 @@ public MavlinkCodec getDialectOrThrow(String dialectName) throws IOException {
    * @throws ParserConfigurationException if the XML parser cannot be configured
    * @throws SAXException if the dialect XML is invalid
    */
-  protected MavlinkCodec loadDialectFromClasspath(String dialectName, String classpathXml)
+  private MavlinkCodec loadDialectFromClasspath(String dialectName, String classpathXml)
       throws IOException, ParserConfigurationException, SAXException {
 
     String normalizedDialectName = normalizeDialectName(dialectName);
@@ -142,8 +143,7 @@ protected MavlinkCodec loadDialectFromClasspath(String dialectName, String class
       XmlParser mavlinkXmlParser = new XmlParser();
       DialectLoader dialectLoader = new DialectLoader(mavlinkXmlParser);
 
-      IncludeResolver includeResolver =
-          new ClasspathIncludeResolver(classLoader, "mavlink");
+      IncludeResolver includeResolver = new ClasspathIncludeResolver(classLoader, "mavlink");
 
       DialectDefinition dialectDefinition =
           dialectLoader.load(normalizedDialectName, inputStream, includeResolver);
@@ -152,6 +152,17 @@ protected MavlinkCodec loadDialectFromClasspath(String dialectName, String class
     }
   }
 
+  public MavlinkCodec loadDialect(Path dialectName) throws IOException, ParserConfigurationException, SAXException {
+    Path base = java.nio.file.Files.isRegularFile(dialectName) ? dialectName.getParent() : dialectName;
+    FilePathIncludeResolver resolver = new FilePathIncludeResolver(base);
+    try(InputStream inputStream = java.nio.file.Files.newInputStream(dialectName)){
+      String fileName = dialectName.getFileName().toString();
+      int dot = fileName.lastIndexOf('.');
+      String dialect = (dot > 0) ? fileName.substring(0, dot) : fileName;
+      return loadDialect(dialect, inputStream, resolver);
+    }
+  }
+
   /**
    * Loads a dialect from an arbitrary stream and caches the resulting codec under the dialect name.
    *
@@ -176,9 +187,7 @@ public MavlinkCodec loadDialect(String dialectName, InputStream inputStream, Inc
     XmlParser mavlinkXmlParser = new XmlParser();
     DialectLoader dialectLoader = new DialectLoader(mavlinkXmlParser);
 
-    DialectDefinition dialectDefinition =
-        dialectLoader.load(normalizedDialectName, inputStream, includeResolver);
-
+    DialectDefinition dialectDefinition = dialectLoader.load(normalizedDialectName, inputStream, includeResolver);
     MavlinkCodec codec = buildCodec(normalizedDialectName, dialectDefinition);
     dialects.put(normalizedDialectName, codec);
 
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/FilePathIncludeResolver.java b/src/main/java/io/mapsmessaging/mavlink/parser/FilePathIncludeResolver.java
new file mode 100644
index 0000000..4c0fabe
--- /dev/null
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/FilePathIncludeResolver.java
@@ -0,0 +1,54 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink.parser;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.file.Path;
+
+public class FilePathIncludeResolver implements IncludeResolver {
+
+
+  private final Path root;
+
+  public FilePathIncludeResolver(Path root) {
+    this.root = root;
+  }
+
+  @Override
+  public InputStream open(String includeName) throws IOException {
+    String fileName = includeName.endsWith(".xml") ? includeName : (includeName + ".xml");
+
+    Path direct = root.resolve(fileName);
+    if (java.nio.file.Files.isRegularFile(direct)) {
+      return java.nio.file.Files.newInputStream(direct);
+    }
+
+    try (java.util.stream.Stream<Path> stream = java.nio.file.Files.walk(root)) {
+      Path match = stream
+          .filter(java.nio.file.Files::isRegularFile)
+          .filter(path -> path.getFileName().toString().equals(fileName))
+          .findFirst()
+          .orElse(null);
+
+      return match == null ? null : java.nio.file.Files.newInputStream(match);
+    }
+  }
+}
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoaderPathTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoaderPathTest.java
new file mode 100644
index 0000000..6571105
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkMessageFormatLoaderPathTest.java
@@ -0,0 +1,45 @@
+/*
+ *
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
+import org.junit.jupiter.api.Test;
+
+import java.nio.file.Path;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class MavlinkMessageFormatLoaderPathTest {
+
+  @Test
+  void loadDialectByPathUsesFileNameWithoutExtensionAndResolvesIncludes() throws Exception {
+    Path commonXml = Path.of("src/main/resources/mavlink/common.xml");
+
+    MavlinkMessageFormatLoader loader = MavlinkMessageFormatLoader.getInstance();
+    MavlinkCodec codec = loader.loadDialect(commonXml);
+
+    assertEquals("common", codec.getName());
+    assertNotNull(codec.getRegistry());
+    assertTrue(codec.getRegistry().getCompiledMessages().size() > 0,
+        "Registry should contain messages if includes were resolved.");
+  }
+}

From 503f0d8406b8bde2a455683030ef8a96b4cfc7e8 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sat, 25 Apr 2026 23:22:31 +1000
Subject: [PATCH 26/34] fix(codec): improve value handling in `CharFieldCodec`
 and enhance XML parsing logic

Refactored `CharFieldCodec` to handle `Number` types and ensure consistent value encoding. Updated `XmlParser` to properly decode hex values in the "value" attribute when present.
---
 .../message/fields/CharFieldCodec.java        | 39 ++++++-------------
 .../mavlink/parser/XmlParser.java             |  7 +++-
 2 files changed, 18 insertions(+), 28 deletions(-)

diff --git a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
index cbd12c2..f7436f2 100644
--- a/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
+++ b/src/main/java/io/mapsmessaging/mavlink/message/fields/CharFieldCodec.java
@@ -1,23 +1,3 @@
-/*
- *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
- *
- *  Licensed under the Apache License, Version 2.0 with the Commons Clause
- *  (the "License"); you may not use this file except in compliance with the License.
- *  You may obtain a copy of the License at:
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *      https://commonsclause.com/
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *
- */
-
 package io.mapsmessaging.mavlink.message.fields;
 
 import java.nio.ByteBuffer;
@@ -32,19 +12,24 @@ public CharFieldCodec() {
   @Override
   public Object decode(ByteBuffer buffer) {
     buffer.order(ByteOrder.LITTLE_ENDIAN);
-    return (char) (buffer.get() & 0xFF);
+    return buffer.get() & 0xFF;
   }
 
   @Override
   public void encode(ByteBuffer buffer, Object value) {
     buffer.order(ByteOrder.LITTLE_ENDIAN);
-    char character;
-    if (value instanceof Character) {
-      character = (Character) value;
+
+    int characterValue;
+
+    if (value instanceof Number number) {
+      characterValue = number.intValue();
+    } else if (value instanceof Character character) {
+      characterValue = character;
     } else {
       String text = value == null ? "" : value.toString();
-      character = text.isEmpty() ? 0 : text.charAt(0);
+      characterValue = text.isEmpty() ? 0 : text.charAt(0);
     }
-    buffer.put((byte) character);
+
+    buffer.put((byte) (characterValue & 0xFF));
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
index ee3d3bf..fb8fd2f 100644
--- a/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
+++ b/src/main/java/io/mapsmessaging/mavlink/parser/XmlParser.java
@@ -166,7 +166,12 @@ private EnumEntry parseEnumEntry(Element entryElement) {
 
     String valueAttribute = entryElement.getAttribute("value");
     if (valueAttribute != null && !valueAttribute.isEmpty()) {
-      entry.setValue(Long.parseLong(valueAttribute));
+      if(valueAttribute.toLowerCase().contains("x")){
+        entry.setValue(Long.decode(valueAttribute));
+      }
+      else{
+        entry.setValue(Long.parseLong(valueAttribute));
+      }
     }
 
     entry.setName(entryElement.getAttribute("name"));

From 9bd41650ed99bcc4aba81e3ea207c299c15fdc71 Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 26 Apr 2026 13:53:52 +1000
Subject: [PATCH 27/34] test(mavlink): add unit tests for dialect loading and
 validation

Added `MavlinkDialectLoadTest` to verify dialect loading from paths, message registry initialization, include chain resolution, and message validation.
---
 .../mavlink/MavlinkDialectLoadTest.java       | 124 ++++++++++++++++++
 1 file changed, 124 insertions(+)
 create mode 100644 src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java

diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java
new file mode 100644
index 0000000..83b213a
--- /dev/null
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java
@@ -0,0 +1,124 @@
+/*
+ *  Copyright [ 2020 - 2024 ] Matthew Buckton
+ *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
+ *
+ *  Licensed under the Apache License, Version 2.0 with the Commons Clause
+ *  (the "License"); you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at:
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *      https://commonsclause.com/
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ */
+
+package io.mapsmessaging.mavlink;
+
+import io.mapsmessaging.mavlink.codec.MavlinkCodec;
+import io.mapsmessaging.mavlink.message.CompiledMessage;
+import io.mapsmessaging.mavlink.message.MessageRegistry;
+import org.junit.jupiter.api.Test;
+
+import java.net.URISyntaxException;
+import java.net.URL;
+import java.nio.file.Path;
+import java.util.Map;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class MavlinkDialectLoadTest {
+
+  @Test
+  void testLoadStandardCommonDialectFromPath() throws Exception {
+    Path commonPath = resourcePath("mavlink/common.xml");
+
+    MavlinkCodec codec = MavlinkMessageFormatLoader.getInstance().loadDialect(commonPath);
+
+    assertNotNull(codec);
+
+    MessageRegistry registry = codec.getRegistry();
+
+    assertNotNull(registry);
+    assertMessageExists(registry, 0, "HEARTBEAT");
+    assertTrue(
+        registry.getCompiledMessagesById().containsKey(411), "mavlink dialect should resolve ardupilot/common.xml."
+    );
+  }
+
+  @Test
+  void testLoadArduPilotAllDialectFromPath() throws Exception {
+    Path ardupilotAllPath = resourcePath("mavlink/ardupilot/all.xml");
+
+    MavlinkCodec codec = MavlinkMessageFormatLoader.getInstance().loadDialect(ardupilotAllPath);
+
+    assertNotNull(codec);
+
+    MessageRegistry registry = codec.getRegistry();
+
+    assertNotNull(registry);
+    assertMessageExists(registry, 0, "HEARTBEAT");
+    assertMessageExists(registry, 1, "SYS_STATUS");
+    assertFalse(
+        registry.getCompiledMessagesById().containsKey(411), "ArduPilot dialect should resolve ardupilot/common.xml. Message 411 CURRENT_EVENT_SEQUENCE must not be present when loading ardupilot/all.xml"
+    );
+  }
+
+  @Test
+  void testArduPilotDialectLoadsFullIncludeChain() throws Exception {
+    Path ardupilotAllPath = resourcePath("mavlink/ardupilot/all.xml");
+
+    MavlinkCodec codec = MavlinkMessageFormatLoader.getInstance().loadDialect(ardupilotAllPath);
+    MessageRegistry registry = codec.getRegistry();
+
+    assertNotNull(registry);
+    assertNotNull(registry.getCompiledMessages());
+    assertNotNull(registry.getCompiledMessagesById());
+
+    assertTrue(
+        registry.getCompiledMessages().size() > 100,
+        "ArduPilot dialect should load the full include chain"
+    );
+
+    assertTrue(
+        registry.getCompiledMessagesById().size() > 100,
+        "ArduPilot dialect should index the full include chain"
+    );
+  }
+
+  private static Path resourcePath(String resourceName) throws URISyntaxException {
+    ClassLoader classLoader = Thread.currentThread().getContextClassLoader();
+    URL resource = classLoader.getResource(resourceName);
+
+    assertNotNull(resource, "Missing test resource: " + resourceName);
+
+    return Path.of(resource.toURI());
+  }
+
+  private static void assertMessageExists(
+      MessageRegistry registry,
+      int messageId,
+      String expectedMessageName
+  ) {
+
+    Map<Integer, CompiledMessage> compiledMessagesById = registry.getCompiledMessagesById();
+
+    assertTrue(
+        compiledMessagesById.containsKey(messageId),
+        "Missing MAVLink message id " + messageId + " (" + expectedMessageName + ")"
+    );
+
+    CompiledMessage compiledMessage = compiledMessagesById.get(messageId);
+
+    assertTrue(
+        expectedMessageName.equals(compiledMessage.getName()),
+        "Expected message id " + messageId + " to be " + expectedMessageName
+            + " but was " + compiledMessage.getName()
+    );
+  }
+}
\ No newline at end of file

From f0e352424810365accab21f831b94035864dc55b Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 26 Apr 2026 13:54:22 +1000
Subject: [PATCH 28/34] feat(mavlink): add minimal ArduPilot dialect XML for
 MAVLink integration

---
 .../resources/mavlink/ardupilot/ASLUAV.xml    |  294 +
 .../resources/mavlink/ardupilot/AVSSUAS.xml   |  198 +
 src/main/resources/mavlink/ardupilot/all.xml  |   52 +
 .../mavlink/ardupilot/ardupilotmega.xml       | 2101 +++++
 .../resources/mavlink/ardupilot/common.xml    | 7539 +++++++++++++++++
 .../resources/mavlink/ardupilot/csAirLink.xml |   29 +
 .../resources/mavlink/ardupilot/cubepilot.xml |   48 +
 .../mavlink/ardupilot/development.xml         |  256 +
 .../resources/mavlink/ardupilot/icarous.xml   |   48 +
 .../mavlink/ardupilot/loweheiser.xml          |   55 +
 .../mavlink/ardupilot/matrixpilot.xml         |  349 +
 .../resources/mavlink/ardupilot/minimal.xml   |  733 ++
 .../resources/mavlink/ardupilot/paparazzi.xml |   38 +
 .../mavlink/ardupilot/python_array_test.xml   |   67 +
 .../resources/mavlink/ardupilot/standard.xml  |  146 +
 .../resources/mavlink/ardupilot/storm32.xml   |  467 +
 src/main/resources/mavlink/ardupilot/test.xml |   31 +
 .../resources/mavlink/ardupilot/uAvionix.xml  |  208 +
 .../resources/mavlink/ardupilot/ualberta.xml  |   76 +
 19 files changed, 12735 insertions(+)
 create mode 100644 src/main/resources/mavlink/ardupilot/ASLUAV.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/AVSSUAS.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/all.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/ardupilotmega.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/common.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/csAirLink.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/cubepilot.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/development.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/icarous.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/loweheiser.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/matrixpilot.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/minimal.xml
 create mode 100755 src/main/resources/mavlink/ardupilot/paparazzi.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/python_array_test.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/standard.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/storm32.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/test.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/uAvionix.xml
 create mode 100644 src/main/resources/mavlink/ardupilot/ualberta.xml

diff --git a/src/main/resources/mavlink/ardupilot/ASLUAV.xml b/src/main/resources/mavlink/ardupilot/ASLUAV.xml
new file mode 100644
index 0000000..4e80a5a
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/ASLUAV.xml
@@ -0,0 +1,294 @@
+<?xml version="1.0"?>
+<!-- ASLUAV Mavlink Message Definition File -->
+<!-- Used for the ASLUAV fixed-wing autopilot (www.asl.ethz.ch), which implements extensions to the Pixhawk (https://docs.px4.io/en/flight_controller/pixhawk.html) autopilot -->
+<mavlink>
+  <include>common.xml</include>
+  <enums>
+    <enum name="MAV_CMD">
+      <!-- ASLUAV specific MAV_CMD_* commands -->
+      <entry name="MAV_CMD_RESET_MPPT" value="40001">
+        <description>Mission command to reset Maximum Power Point Tracker (MPPT)</description>
+        <param index="1">MPPT number</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry name="MAV_CMD_PAYLOAD_CONTROL" value="40002">
+        <description>Mission command to perform a power cycle on payload</description>
+        <param index="1">Complete power cycle</param>
+        <param index="2">VISensor power cycle</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+    </enum>
+    <enum name="GSM_LINK_TYPE">
+      <entry value="0" name="GSM_LINK_TYPE_NONE">
+        <description>no service</description>
+      </entry>
+      <entry value="1" name="GSM_LINK_TYPE_UNKNOWN">
+        <description>link type unknown</description>
+      </entry>
+      <entry value="2" name="GSM_LINK_TYPE_2G">
+        <description>2G (GSM/GRPS/EDGE) link</description>
+      </entry>
+      <entry value="3" name="GSM_LINK_TYPE_3G">
+        <description>3G link (WCDMA/HSDPA/HSPA) </description>
+      </entry>
+      <entry value="4" name="GSM_LINK_TYPE_4G">
+        <description>4G link (LTE)</description>
+      </entry>
+    </enum>
+    <enum name="GSM_MODEM_TYPE">
+      <entry value="0" name="GSM_MODEM_TYPE_UNKNOWN">
+        <description>not specified</description>
+      </entry>
+      <entry value="1" name="GSM_MODEM_TYPE_HUAWEI_E3372">
+        <description>HUAWEI LTE USB Stick E3372</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="223" name="COMMAND_INT_STAMPED">
+      <description>Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.</description>
+      <field type="uint32_t" name="utc_time">UTC time, seconds elapsed since 01.01.1970</field>
+      <field type="uint64_t" name="vehicle_timestamp">Microseconds elapsed since vehicle boot</field>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the COMMAND, as defined by MAV_FRAME enum</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the mission item, as defined by MAV_CMD enum</field>
+      <field type="uint8_t" name="current">false:0, true:1</field>
+      <field type="uint8_t" name="autocontinue">autocontinue to next wp</field>
+      <field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
+      <field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
+      <field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
+      <field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
+      <field type="int32_t" name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
+      <field type="int32_t" name="y">PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7</field>
+      <field type="float" name="z">PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).</field>
+    </message>
+    <message id="224" name="COMMAND_LONG_STAMPED">
+      <description>Send a command with up to seven parameters to the MAV and additional metadata</description>
+      <field type="uint32_t" name="utc_time">UTC time, seconds elapsed since 01.01.1970</field>
+      <field type="uint64_t" name="vehicle_timestamp">Microseconds elapsed since vehicle boot</field>
+      <field type="uint8_t" name="target_system">System which should execute the command</field>
+      <field type="uint8_t" name="target_component">Component which should execute the command, 0 for all components</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">Command ID, as defined by MAV_CMD enum.</field>
+      <field type="uint8_t" name="confirmation">0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</field>
+      <field type="float" name="param1">Parameter 1, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param2">Parameter 2, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param3">Parameter 3, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param4">Parameter 4, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param5">Parameter 5, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param6">Parameter 6, as defined by MAV_CMD enum.</field>
+      <field type="float" name="param7">Parameter 7, as defined by MAV_CMD enum.</field>
+    </message>
+    <message id="8002" name="SENS_POWER">
+      <description>Voltage and current sensor data</description>
+      <field type="float" name="adc121_vspb_volt" units="V"> Power board voltage sensor reading</field>
+      <field type="float" name="adc121_cspb_amp" units="A"> Power board current sensor reading</field>
+      <field type="float" name="adc121_cs1_amp" units="A"> Board current sensor 1 reading</field>
+      <field type="float" name="adc121_cs2_amp" units="A"> Board current sensor 2 reading</field>
+    </message>
+    <message id="8003" name="SENS_MPPT">
+      <description>Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking</description>
+      <field type="uint64_t" name="mppt_timestamp" units="us"> MPPT last timestamp </field>
+      <field type="float" name="mppt1_volt" units="V"> MPPT1 voltage </field>
+      <field type="float" name="mppt1_amp" units="A"> MPPT1 current </field>
+      <field type="uint16_t" name="mppt1_pwm" units="us"> MPPT1 pwm </field>
+      <field type="uint8_t" name="mppt1_status"> MPPT1 status </field>
+      <field type="float" name="mppt2_volt" units="V"> MPPT2 voltage </field>
+      <field type="float" name="mppt2_amp" units="A"> MPPT2 current </field>
+      <field type="uint16_t" name="mppt2_pwm" units="us"> MPPT2 pwm </field>
+      <field type="uint8_t" name="mppt2_status"> MPPT2 status </field>
+      <field type="float" name="mppt3_volt" units="V">MPPT3 voltage </field>
+      <field type="float" name="mppt3_amp" units="A"> MPPT3 current </field>
+      <field type="uint16_t" name="mppt3_pwm" units="us"> MPPT3 pwm </field>
+      <field type="uint8_t" name="mppt3_status"> MPPT3 status </field>
+    </message>
+    <message id="8004" name="ASLCTRL_DATA">
+      <description>ASL-fixed-wing controller data</description>
+      <field type="uint64_t" name="timestamp" units="us"> Timestamp</field>
+      <field type="uint8_t" name="aslctrl_mode"> ASLCTRL control-mode (manual, stabilized, auto, etc...)</field>
+      <field type="float" name="h"> See sourcecode for a description of these values... </field>
+      <field type="float" name="hRef"> </field>
+      <field type="float" name="hRef_t"> </field>
+      <field type="float" name="PitchAngle" units="deg">Pitch angle</field>
+      <field type="float" name="PitchAngleRef" units="deg">Pitch angle reference</field>
+      <field type="float" name="q"> </field>
+      <field type="float" name="qRef"> </field>
+      <field type="float" name="uElev"> </field>
+      <field type="float" name="uThrot"> </field>
+      <field type="float" name="uThrot2"> </field>
+      <field type="float" name="nZ"> </field>
+      <field type="float" name="AirspeedRef" units="m/s">Airspeed reference</field>
+      <field type="uint8_t" name="SpoilersEngaged"> </field>
+      <field type="float" name="YawAngle" units="deg">Yaw angle</field>
+      <field type="float" name="YawAngleRef" units="deg">Yaw angle reference</field>
+      <field type="float" name="RollAngle" units="deg">Roll angle</field>
+      <field type="float" name="RollAngleRef" units="deg">Roll angle reference</field>
+      <field type="float" name="p"> </field>
+      <field type="float" name="pRef"> </field>
+      <field type="float" name="r"> </field>
+      <field type="float" name="rRef"> </field>
+      <field type="float" name="uAil"> </field>
+      <field type="float" name="uRud"> </field>
+    </message>
+    <message id="8005" name="ASLCTRL_DEBUG">
+      <description>ASL-fixed-wing controller debug data</description>
+      <field type="uint32_t" name="i32_1"> Debug data</field>
+      <field type="uint8_t" name="i8_1"> Debug data</field>
+      <field type="uint8_t" name="i8_2"> Debug data</field>
+      <field type="float" name="f_1"> Debug data </field>
+      <field type="float" name="f_2"> Debug data</field>
+      <field type="float" name="f_3"> Debug data</field>
+      <field type="float" name="f_4"> Debug data</field>
+      <field type="float" name="f_5"> Debug data</field>
+      <field type="float" name="f_6"> Debug data</field>
+      <field type="float" name="f_7"> Debug data</field>
+      <field type="float" name="f_8"> Debug data</field>
+    </message>
+    <message id="8006" name="ASLUAV_STATUS">
+      <description>Extended state information for ASLUAVs</description>
+      <field type="uint8_t" name="LED_status"> Status of the position-indicator LEDs</field>
+      <field type="uint8_t" name="SATCOM_status"> Status of the IRIDIUM satellite communication system</field>
+      <field type="uint8_t[8]" name="Servo_status"> Status vector for up to 8 servos</field>
+      <field type="float" name="Motor_rpm"> Motor RPM </field>
+      <!-- to be extended-->
+    </message>
+    <message id="8007" name="EKF_EXT">
+      <description>Extended EKF state estimates for ASLUAVs</description>
+      <field type="uint64_t" name="timestamp" units="us"> Time since system start</field>
+      <field type="float" name="Windspeed" units="m/s"> Magnitude of wind velocity (in lateral inertial plane)</field>
+      <field type="float" name="WindDir" units="rad"> Wind heading angle from North</field>
+      <field type="float" name="WindZ" units="m/s"> Z (Down) component of inertial wind velocity</field>
+      <field type="float" name="Airspeed" units="m/s"> Magnitude of air velocity</field>
+      <field type="float" name="beta" units="rad"> Sideslip angle</field>
+      <field type="float" name="alpha" units="rad"> Angle of attack</field>
+    </message>
+    <message id="8008" name="ASL_OBCTRL">
+      <description>Off-board controls/commands for ASLUAVs</description>
+      <field type="uint64_t" name="timestamp" units="us"> Time since system start</field>
+      <field type="float" name="uElev"> Elevator command [~]</field>
+      <field type="float" name="uThrot"> Throttle command [~]</field>
+      <field type="float" name="uThrot2"> Throttle 2 command [~]</field>
+      <field type="float" name="uAilL"> Left aileron command [~]</field>
+      <field type="float" name="uAilR"> Right aileron command [~]</field>
+      <field type="float" name="uRud"> Rudder command [~]</field>
+      <field type="uint8_t" name="obctrl_status"> Off-board computer status</field>
+    </message>
+    <message id="8009" name="SENS_ATMOS">
+      <description>Atmospheric sensors (temperature, humidity, ...) </description>
+      <field type="uint64_t" name="timestamp" units="us">Time since system boot</field>
+      <field type="float" name="TempAmbient" units="degC"> Ambient temperature</field>
+      <field type="float" name="Humidity" units="%"> Relative humidity</field>
+    </message>
+    <message id="8010" name="SENS_BATMON">
+      <description>Battery pack monitoring data for Li-Ion batteries</description>
+      <field type="uint64_t" name="batmon_timestamp" units="us">Time since system start</field>
+      <field type="float" name="temperature" units="degC">Battery pack temperature</field>
+      <field type="uint16_t" name="voltage" units="mV">Battery pack voltage</field>
+      <field type="int16_t" name="current" units="mA">Battery pack current</field>
+      <field type="uint8_t" name="SoC">Battery pack state-of-charge</field>
+      <field type="uint16_t" name="batterystatus">Battery monitor status report bits in Hex</field>
+      <field type="uint16_t" name="serialnumber">Battery monitor serial number in Hex</field>
+      <field type="uint32_t" name="safetystatus">Battery monitor safetystatus report bits in Hex</field>
+      <field type="uint32_t" name="operationstatus">Battery monitor operation status report bits in Hex</field>
+      <field type="uint16_t" name="cellvoltage1" units="mV">Battery pack cell 1 voltage</field>
+      <field type="uint16_t" name="cellvoltage2" units="mV">Battery pack cell 2 voltage</field>
+      <field type="uint16_t" name="cellvoltage3" units="mV">Battery pack cell 3 voltage</field>
+      <field type="uint16_t" name="cellvoltage4" units="mV">Battery pack cell 4 voltage</field>
+      <field type="uint16_t" name="cellvoltage5" units="mV">Battery pack cell 5 voltage</field>
+      <field type="uint16_t" name="cellvoltage6" units="mV">Battery pack cell 6 voltage</field>
+    </message>
+    <message id="8011" name="FW_SOARING_DATA">
+      <description>Fixed-wing soaring (i.e. thermal seeking) data</description>
+      <field type="uint64_t" name="timestamp" units="ms">Timestamp</field>
+      <field type="uint64_t" name="timestampModeChanged" units="ms">Timestamp since last mode change</field>
+      <field type="float" name="xW" units="m/s">Thermal core updraft strength</field>
+      <field type="float" name="xR" units="m">Thermal radius</field>
+      <field type="float" name="xLat" units="deg">Thermal center latitude</field>
+      <field type="float" name="xLon" units="deg">Thermal center longitude</field>
+      <field type="float" name="VarW">Variance W</field>
+      <field type="float" name="VarR">Variance R</field>
+      <field type="float" name="VarLat">Variance Lat</field>
+      <field type="float" name="VarLon">Variance Lon </field>
+      <field type="float" name="LoiterRadius" units="m">Suggested loiter radius</field>
+      <field type="float" name="LoiterDirection">Suggested loiter direction</field>
+      <field type="float" name="DistToSoarPoint" units="m">Distance to soar point</field>
+      <field type="float" name="vSinkExp" units="m/s">Expected sink rate at current airspeed, roll and throttle</field>
+      <field type="float" name="z1_LocalUpdraftSpeed" units="m/s">Measurement / updraft speed at current/local airplane position</field>
+      <field type="float" name="z2_DeltaRoll" units="deg">Measurement / roll angle tracking error</field>
+      <field type="float" name="z1_exp">Expected measurement 1</field>
+      <field type="float" name="z2_exp">Expected measurement 2</field>
+      <field type="float" name="ThermalGSNorth" units="m/s">Thermal drift (from estimator prediction step only)</field>
+      <field type="float" name="ThermalGSEast" units="m/s">Thermal drift (from estimator prediction step only)</field>
+      <field type="float" name="TSE_dot" units="m/s"> Total specific energy change (filtered)</field>
+      <field type="float" name="DebugVar1"> Debug variable 1</field>
+      <field type="float" name="DebugVar2"> Debug variable 2</field>
+      <field type="uint8_t" name="ControlMode">Control Mode [-]</field>
+      <field type="uint8_t" name="valid">Data valid [-]</field>
+    </message>
+    <message id="8012" name="SENSORPOD_STATUS">
+      <description>Monitoring of sensorpod status</description>
+      <field type="uint64_t" name="timestamp" units="ms">Timestamp in linuxtime (since 1.1.1970)</field>
+      <field type="uint8_t" name="visensor_rate_1">Rate of ROS topic 1</field>
+      <field type="uint8_t" name="visensor_rate_2">Rate of ROS topic 2</field>
+      <field type="uint8_t" name="visensor_rate_3">Rate of ROS topic 3</field>
+      <field type="uint8_t" name="visensor_rate_4">Rate of ROS topic 4</field>
+      <field type="uint8_t" name="recording_nodes_count">Number of recording nodes</field>
+      <field type="uint8_t" name="cpu_temp" units="degC">Temperature of sensorpod CPU in</field>
+      <field type="uint16_t" name="free_space">Free space available in recordings directory in [Gb] * 1e2</field>
+    </message>
+    <message id="8013" name="SENS_POWER_BOARD">
+      <description>Monitoring of power board status</description>
+      <field type="uint64_t" name="timestamp" units="us">Timestamp</field>
+      <field type="uint8_t" name="pwr_brd_status">Power board status register</field>
+      <field type="uint8_t" name="pwr_brd_led_status">Power board leds status</field>
+      <field type="float" name="pwr_brd_system_volt" units="V">Power board system voltage</field>
+      <field type="float" name="pwr_brd_servo_volt" units="V">Power board servo voltage</field>
+      <field type="float" name="pwr_brd_digital_volt" units="V">Power board digital voltage</field>
+      <field type="float" name="pwr_brd_mot_l_amp" units="A">Power board left motor current sensor</field>
+      <field type="float" name="pwr_brd_mot_r_amp" units="A">Power board right motor current sensor</field>
+      <field type="float" name="pwr_brd_analog_amp" units="A">Power board analog current sensor</field>
+      <field type="float" name="pwr_brd_digital_amp" units="A">Power board digital current sensor</field>
+      <field type="float" name="pwr_brd_ext_amp" units="A">Power board extension current sensor</field>
+      <field type="float" name="pwr_brd_aux_amp" units="A">Power board aux current sensor</field>
+    </message>
+    <message id="8014" name="GSM_LINK_STATUS">
+      <description>Status of GSM modem (connected to onboard computer)</description>
+      <field type="uint64_t" name="timestamp" units="us">Timestamp (of OBC)</field>
+      <field type="uint8_t" name="gsm_modem_type" enum="GSM_MODEM_TYPE">GSM modem used</field>
+      <field type="uint8_t" name="gsm_link_type" enum="GSM_LINK_TYPE">GSM link type</field>
+      <field type="uint8_t" name="rssi">RSSI as reported by modem (unconverted)</field>
+      <field type="uint8_t" name="rsrp_rscp">RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)</field>
+      <field type="uint8_t" name="sinr_ecio">SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)</field>
+      <field type="uint8_t" name="rsrq">RSRQ (LTE only) as reported by modem (unconverted)</field>
+    </message>
+    <!-- Using mavlink 1 msg ID from the arudpilot reserved space, in order to save header size -->
+    <message id="8015" name="SATCOM_LINK_STATUS">
+      <description>Status of the SatCom link</description>
+      <field type="uint64_t" name="timestamp" units="us">Timestamp</field>
+      <field type="uint64_t" name="last_heartbeat" units="us">Timestamp of the last successful sbd session</field>
+      <field type="uint16_t" name="failed_sessions">Number of failed sessions</field>
+      <field type="uint16_t" name="successful_sessions">Number of successful sessions</field>
+      <field type="uint8_t" name="signal_quality">Signal quality</field>
+      <field type="uint8_t" name="ring_pending">Ring call pending</field>
+      <field type="uint8_t" name="tx_session_pending">Transmission session pending</field>
+      <field type="uint8_t" name="rx_session_pending">Receiving session pending</field>
+    </message>
+    <message id="8016" name="SENSOR_AIRFLOW_ANGLES">
+      <description>Calibrated airflow angle measurements</description>
+      <field type="uint64_t" name="timestamp" units="us">Timestamp</field>
+      <field type="float" name="angleofattack" units="deg">Angle of attack</field>
+      <field type="uint8_t" name="angleofattack_valid">Angle of attack measurement valid</field>
+      <field type="float" name="sideslip" units="deg">Sideslip angle</field>
+      <field type="uint8_t" name="sideslip_valid">Sideslip angle measurement valid</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/AVSSUAS.xml b/src/main/resources/mavlink/ardupilot/AVSSUAS.xml
new file mode 100644
index 0000000..7138758
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/AVSSUAS.xml
@@ -0,0 +1,198 @@
+<?xml version="1.0"?>
+<!-- AVSS is a Canadian aerospace company commercializing safety technologies for Urban Air Mobility. -->
+<!-- AVSS is first commercially available products are parachute recovery systems for commercial drones. -->
+<!-- AVSS contact info: -->
+<!-- company URL: https://www.avss.co -->
+<!-- email contact: josh.boudreau@avss.co thomas.li@avss.co llxxgg@gmail.com-->
+<!-- mavlink messenger ID range: 60050 - 60099,  mavlink command ID range: 60050 - 60099-->
+<mavlink>
+  <include>common.xml</include>
+  <version>2</version>
+  <dialect>1</dialect>
+  <enums>
+    <enum name="MAV_CMD">
+      <!-- AVSS specific MAV_CMD_PRS* commands -->
+      <entry name="MAV_CMD_PRS_SET_ARM" value="60050" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Set PRS arm statuses.</description>
+        <param index="1" label="ARM status">PRS arm statuses</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ARM" value="60051" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Gets PRS arm statuses</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_BATTERY" value="60052" isDestination="false" hasLocation="false">
+        <description>AVSS defined command.  Get the PRS battery voltage in millivolts</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ERR" value="60053" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Get the PRS error statuses.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_SET_ARM_ALTI" value="60070" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Set the ATS arming altitude in meters.</description>
+        <param index="1" label="Altitude" units="m">ATS arming altitude</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ARM_ALTI" value="60071" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Get the ATS arming altitude in meters.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_SHUTDOWN" value="60072" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Shuts down the PRS system.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+    </enum>
+    <enum name="MAV_AVSS_COMMAND_FAILURE_REASON">
+      <entry name="PRS_NOT_STEADY" value="1">
+        <description>AVSS defined command failure reason. PRS not steady.</description>
+      </entry>
+      <entry name="PRS_DTM_NOT_ARMED" value="2">
+        <description>AVSS defined command failure reason. PRS DTM not armed.</description>
+      </entry>
+      <entry name="PRS_OTM_NOT_ARMED" value="3">
+        <description>AVSS defined command failure reason. PRS OTM not armed.</description>
+      </entry>
+    </enum>
+    <enum name="AVSS_M300_OPERATION_MODE">
+      <entry name="MODE_M300_MANUAL_CTRL" value="0">
+        <description>In manual control mode</description>
+      </entry>
+      <entry name="MODE_M300_ATTITUDE" value="1">
+        <description>In attitude mode </description>
+      </entry>
+      <entry name="MODE_M300_P_GPS" value="6">
+        <description>In GPS mode</description>
+      </entry>
+      <entry name="MODE_M300_HOTPOINT_MODE" value="9">
+        <description>In hotpoint mode </description>
+      </entry>
+      <entry name="MODE_M300_ASSISTED_TAKEOFF" value="10">
+        <description>In assisted takeoff mode</description>
+      </entry>
+      <entry name="MODE_M300_AUTO_TAKEOFF" value="11">
+        <description>In auto takeoff mode</description>
+      </entry>
+      <entry name="MODE_M300_AUTO_LANDING" value="12">
+        <description>In auto landing mode</description>
+      </entry>
+      <entry name="MODE_M300_NAVI_GO_HOME" value="15">
+        <description>In go home mode</description>
+      </entry>
+      <entry name="MODE_M300_NAVI_SDK_CTRL" value="17">
+        <description>In sdk control mode</description>
+      </entry>
+      <entry name="MODE_M300_S_SPORT" value="31">
+        <description>In sport mode</description>
+      </entry>
+      <entry name="MODE_M300_FORCE_AUTO_LANDING" value="33">
+        <description>In force auto landing mode</description>
+      </entry>
+      <entry name="MODE_M300_T_TRIPOD" value="38">
+        <description>In tripod mode</description>
+      </entry>
+      <entry name="MODE_M300_SEARCH_MODE" value="40">
+        <description>In search mode</description>
+      </entry>
+      <entry name="MODE_M300_ENGINE_START" value="41">
+        <description>In engine mode</description>
+      </entry>
+    </enum>
+    <enum name="AVSS_HORSEFLY_OPERATION_MODE">
+      <entry name="MODE_HORSEFLY_MANUAL_CTRL" value="0">
+        <description>In manual control mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_AUTO_TAKEOFF" value="1">
+        <description>In auto takeoff mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_AUTO_LANDING" value="2">
+        <description>In auto landing mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_NAVI_GO_HOME" value="3">
+        <description>In go home mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_DROP" value="4">
+        <description>In drop mode</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message name="AVSS_PRS_SYS_STATUS" id="60050">
+      <description> AVSS PRS system status.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since PRS boot).</field>
+      <field name="error_status" type="uint32_t">PRS error statuses</field>
+      <field name="battery_status" type="uint32_t">Estimated battery run-time without a remote connection and PRS battery voltage</field>
+      <field name="arm_status" type="uint8_t">PRS arm statuses</field>
+      <field name="charge_status" type="uint8_t">PRS battery charge statuses</field>
+    </message>
+    <message name="AVSS_DRONE_POSITION" id="60051">
+      <description> Drone position.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="lat" units="degE7" type="int32_t">Latitude, expressed</field>
+      <field name="lon" units="degE7" type="int32_t">Longitude, expressed</field>
+      <field name="alt" units="mm" type="int32_t">Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</field>
+      <field name="ground_alt" units="m" type="float">Altitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar</field>
+      <field name="barometer_alt" units="m" type="float">This altitude is measured by a barometer</field>
+    </message>
+    <message name="AVSS_DRONE_IMU" id="60052">
+      <description> Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="q1" type="float">Quaternion component 1, w (1 in null-rotation)</field>
+      <field name="q2" type="float">Quaternion component 2, x (0 in null-rotation)</field>
+      <field name="q3" type="float">Quaternion component 3, y (0 in null-rotation)</field>
+      <field name="q4" type="float">Quaternion component 4, z (0 in null-rotation)</field>
+      <field name="xacc" units="m/s/s" type="float">X acceleration</field>
+      <field name="yacc" units="m/s/s" type="float">Y acceleration</field>
+      <field name="zacc" units="m/s/s" type="float">Z acceleration</field>
+      <field name="xgyro" units="rad/s" type="float">Angular speed around X axis</field>
+      <field name="ygyro" units="rad/s" type="float">Angular speed around Y axis</field>
+      <field name="zgyro" units="rad/s" type="float">Angular speed around Z axis</field>
+    </message>
+    <message name="AVSS_DRONE_OPERATION_MODE" id="60053">
+      <description> Drone operation mode.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="M300_operation_mode" type="uint8_t">DJI M300 operation mode</field>
+      <field name="horsefly_operation_mode" type="uint8_t">horsefly operation mode</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/all.xml b/src/main/resources/mavlink/ardupilot/all.xml
new file mode 100644
index 0000000..1c57252
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/all.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>ardupilotmega.xml</include>
+  <!-- ASLUAV.xml range of IDs:
+    messages: 8000 - 8999
+    commands: 40001 - 41999
+  -->
+  <include>ASLUAV.xml</include>
+  <include>common.xml</include>
+  <include>development.xml</include>
+  <include>icarous.xml</include>
+  <!-- matrixpilot.xml: ERROR: Duplicate message id 150 for FLEXIFUNCTION_SET (matrixpilot.xml:50) also used by SENSOR_OFFSETS (ardupilotmega.xml:1101) -->
+  <!-- <include>matrixpilot.xml</include> -->
+  <include>minimal.xml</include>
+  <!-- paparazzi.xml: : ERROR: Duplicate message id 180 for SCRIPT_ITEM (paparazzi.xml:9) also used by CAMERA_FEEDBACK (ardupilotmega.xml:1370) -->
+  <!-- <include>paparazzi.xml</include> -->
+  <include>python_array_test.xml</include>
+  <include>standard.xml</include>
+  <include>test.xml</include>
+  <include>ualberta.xml</include>
+  <include>uAvionix.xml</include>
+  <!-- loweheiser.xml range of IDs:
+       messages: 10150 - 10199
+       commands: 10150 - 10199
+  -->
+  <include>loweheiser.xml</include>
+  <!-- storm32.xml range of IDs:
+    messages: 60000 - 60049
+    commands: 60000 - 60049
+  -->
+  <include>storm32.xml</include>
+  <!-- AVSSUAS.xml range of IDs:
+    messages: 60050 - 60099 
+    commands: 60050 - 60099
+  -->
+  <include>AVSSUAS.xml</include>
+  <!-- Herelink.xml range of IDs:
+    messages: 50000 - 50099
+    commands: 50000 - 50099
+  -->
+  <include>cubepilot.xml</include>
+  <include>csAirLink.xml</include>
+  <!-- csAirLink.xml range of IDs:
+    messages: 52000 - 52099
+    commands: 52000 - 52099
+  -->
+  <!--Next range to allocate range of IDs:
+    messages: 52100 - ? < 60000
+    commands: 52100 - ? < 60000
+  -->
+  <messages/>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/ardupilotmega.xml b/src/main/resources/mavlink/ardupilot/ardupilotmega.xml
new file mode 100644
index 0000000..524e42b
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/ardupilotmega.xml
@@ -0,0 +1,2101 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>common.xml</include>
+  <!-- Vendors -->
+  <include>uAvionix.xml</include>
+  <include>icarous.xml</include>
+  <include>loweheiser.xml</include>
+  <include>cubepilot.xml</include>
+  <include>csAirLink.xml</include>
+  <dialect>2</dialect>
+  <!-- Note that ArduPilot-specific messages should use the command id range from 150 to 250, to leave plenty of room for growth of common.xml If you prototype a message here, then you should consider if it is general enough to move into common.xml later -->
+  <enums>
+    <enum name="ACCELCAL_VEHICLE_POS">
+      <entry value="1" name="ACCELCAL_VEHICLE_POS_LEVEL"/>
+      <entry value="2" name="ACCELCAL_VEHICLE_POS_LEFT"/>
+      <entry value="3" name="ACCELCAL_VEHICLE_POS_RIGHT"/>
+      <entry value="4" name="ACCELCAL_VEHICLE_POS_NOSEDOWN"/>
+      <entry value="5" name="ACCELCAL_VEHICLE_POS_NOSEUP"/>
+      <entry value="6" name="ACCELCAL_VEHICLE_POS_BACK"/>
+      <entry value="16777215" name="ACCELCAL_VEHICLE_POS_SUCCESS"/>
+      <entry value="16777216" name="ACCELCAL_VEHICLE_POS_FAILED"/>
+    </enum>
+    <enum name="HEADING_TYPE">
+      <entry value="0" name="HEADING_TYPE_COURSE_OVER_GROUND"/>
+      <entry value="1" name="HEADING_TYPE_HEADING"/>
+      <entry value="2" name="HEADING_TYPE_DEFAULT"/>
+    </enum>
+    <!-- ardupilot specific MAV_CMD_* commands -->
+    <enum name="MAV_CMD">
+      <!-- 200 to 214 used by common.xml -->
+      <entry value="215" name="MAV_CMD_DO_SET_RESUME_REPEAT_DIST" hasLocation="false" isDestination="false">
+        <description>Set the distance to be repeated on mission resume</description>
+        <param index="1" label="Distance" units="m">Distance.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="216" name="MAV_CMD_DO_SPRAYER" hasLocation="false" isDestination="false">
+        <description>Control attached liquid sprayer</description>
+        <param index="1" label="Sprayer Enable" minValue="0" maxValue="1" increment="1">0: disable sprayer. 1: enable sprayer.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="217" name="MAV_CMD_DO_SEND_SCRIPT_MESSAGE" hasLocation="false" isDestination="false">
+        <description>Pass instructions onto scripting, a script should be checking for a new command</description>
+        <param index="1" label="ID" minValue="0" maxValue="65535" increment="1">uint16 ID value to be passed to scripting</param>
+        <param index="2" label="param 1">float value to be passed to scripting</param>
+        <param index="3" label="param 2">float value to be passed to scripting</param>
+        <param index="4" label="param 3">float value to be passed to scripting</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="218" name="MAV_CMD_DO_AUX_FUNCTION">
+        <description>Execute auxiliary function</description>
+        <param index="1" label="AuxiliaryFunction">Auxiliary Function.</param>
+        <param index="2" label="SwitchPosition" enum="MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL">Switch Level.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="83" name="MAV_CMD_NAV_ALTITUDE_WAIT" hasLocation="false" isDestination="false">
+        <description>Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.</description>
+        <param index="1" label="Altitude" units="m">Altitude.</param>
+        <param index="2" label="Descent Speed" units="m/s">Descent speed.</param>
+        <param index="3" label="Wiggle Time" units="s">How long to wiggle the control surfaces to prevent them seizing up.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42000" name="MAV_CMD_POWER_OFF_INITIATED" hasLocation="false" isDestination="false">
+        <description>A system wide power-off event has been initiated.</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <!-- MAV_CMD_SOLO_BTN_* are here to provide vendor-specific support for 3DR Solo until a better solution is found to atomically make multiple commands with control flow -->
+      <entry value="42001" name="MAV_CMD_SOLO_BTN_FLY_CLICK" hasLocation="false" isDestination="false">
+        <description>FLY button has been clicked.</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42002" name="MAV_CMD_SOLO_BTN_FLY_HOLD" hasLocation="false" isDestination="false">
+        <description>FLY button has been held for 1.5 seconds.</description>
+        <param index="1" label="Takeoff Altitude" units="m">Takeoff altitude.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42003" name="MAV_CMD_SOLO_BTN_PAUSE_CLICK" hasLocation="false" isDestination="false">
+        <description>PAUSE button has been clicked.</description>
+        <param index="1" label="Shot Mode" minValue="0" maxValue="1" increment="1">1 if Solo is in a shot mode, 0 otherwise.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42004" name="MAV_CMD_FIXED_MAG_CAL" hasLocation="false" isDestination="false">
+        <description>Magnetometer calibration based on fixed position
+        in earth field given by inclination, declination and intensity.</description>
+        <param index="1" label="Declination" units="deg">Magnetic declination.</param>
+        <param index="2" label="Inclination" units="deg">Magnetic inclination.</param>
+        <param index="3" label="Intensity" units="mgauss">Magnetic intensity.</param>
+        <param index="4" label="Yaw" units="deg">Yaw.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42005" name="MAV_CMD_FIXED_MAG_CAL_FIELD" hasLocation="false" isDestination="false">
+        <description>Magnetometer calibration based on fixed expected field values.</description>
+        <param index="1" label="Field X" units="mgauss">Field strength X.</param>
+        <param index="2" label="Field Y" units="mgauss">Field strength Y.</param>
+        <param index="3" label="Field Z" units="mgauss">Field strength Z.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <!-- 42006 MAV_CMD_FIXED_MAG_CAL_YAW moved to common.xml -->
+      <entry value="42007" name="MAV_CMD_SET_EKF_SOURCE_SET" hasLocation="false" isDestination="false">
+        <description>Set EKF sensor source set.</description>
+        <param index="1" label="SourceSetId" minValue="1" maxValue="3" increment="1">Source Set Id.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42424" name="MAV_CMD_DO_START_MAG_CAL" hasLocation="false" isDestination="false">
+        <description>Initiate a magnetometer calibration.</description>
+        <param index="1" label="Magnetometers Bitmask" minValue="0" maxValue="255" increment="1">Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.</param>
+        <param index="2" label="Retry on Failure" minValue="0" maxValue="1" increment="1">Automatically retry on failure (0=no retry, 1=retry).</param>
+        <param index="3" label="Autosave" minValue="0" maxValue="1" increment="1">Save without user input (0=require input, 1=autosave).</param>
+        <param index="4" label="Delay" units="s">Delay.</param>
+        <param index="5" label="Autoreboot" minValue="0" maxValue="1" increment="1">Autoreboot (0=user reboot, 1=autoreboot).</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42425" name="MAV_CMD_DO_ACCEPT_MAG_CAL" hasLocation="false" isDestination="false">
+        <description>Accept a magnetometer calibration.</description>
+        <param index="1" label="Magnetometers Bitmask" minValue="0" maxValue="255" increment="1">Bitmask of magnetometers that calibration is accepted (0 means all).</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42426" name="MAV_CMD_DO_CANCEL_MAG_CAL" hasLocation="false" isDestination="false">
+        <description>Cancel a running magnetometer calibration.</description>
+        <param index="1" label="Magnetometers Bitmask" minValue="0" maxValue="255" increment="1">Bitmask of magnetometers to cancel a running calibration (0 means all).</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42429" name="MAV_CMD_ACCELCAL_VEHICLE_POS" hasLocation="false" isDestination="false">
+        <description>Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.</description>
+        <param index="1" label="Position" enum="ACCELCAL_VEHICLE_POS">Position.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42428" name="MAV_CMD_DO_SEND_BANNER" hasLocation="false" isDestination="false">
+        <description>Reply with the version banner.</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42427" name="MAV_CMD_SET_FACTORY_TEST_MODE" hasLocation="false" isDestination="false">
+        <description>Command autopilot to get into factory test/diagnostic mode.</description>
+        <param index="1" label="Test Mode" minValue="0" maxValue="1" increment="1">0: activate test mode, 1: exit test mode.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42501" name="MAV_CMD_GIMBAL_RESET" hasLocation="false" isDestination="false">
+        <description>Causes the gimbal to reset and boot as if it was just powered on.</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42502" name="MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS" hasLocation="false" isDestination="false">
+        <description>Reports progress and success or failure of gimbal axis calibration procedure.</description>
+        <param index="1" label="Axis" enum="GIMBAL_AXIS">Gimbal axis we're reporting calibration progress for.</param>
+        <param index="2" label="Progress" units="%" minValue="0" maxValue="100">Current calibration progress for this axis.</param>
+        <param index="3" label="Status" enum="GIMBAL_AXIS_CALIBRATION_STATUS">Status of the calibration.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42503" name="MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION" hasLocation="false" isDestination="false">
+        <description>Starts commutation calibration on the gimbal.</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42505" name="MAV_CMD_GIMBAL_FULL_RESET" hasLocation="false" isDestination="false">
+        <description>Erases gimbal application and parameters.</description>
+        <param index="1">Magic number.</param>
+        <param index="2">Magic number.</param>
+        <param index="3">Magic number.</param>
+        <param index="4">Magic number.</param>
+        <param index="5">Magic number.</param>
+        <param index="6">Magic number.</param>
+        <param index="7">Magic number.</param>
+      </entry>
+      <!-- 42600 used by common.xml -->
+      <entry value="42650" name="MAV_CMD_FLASH_BOOTLOADER" hasLocation="false" isDestination="false">
+        <description>Update the bootloader</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Magic Number" increment="1">Magic number - set to 290876 to actually flash</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="42651" name="MAV_CMD_BATTERY_RESET" hasLocation="false" isDestination="false">
+        <description>Reset battery capacity for batteries that accumulate consumed battery via integration.</description>
+        <param index="1" label="battery mask">Bitmask of batteries to reset. Least significant bit is for the first battery.</param>
+        <param index="2" label="percentage" minValue="0" maxValue="100" increment="1">Battery percentage remaining to set.</param>
+      </entry>
+      <entry value="42700" name="MAV_CMD_DEBUG_TRAP" hasLocation="false" isDestination="false">
+        <description>Issue a trap signal to the autopilot process, presumably to enter the debugger.</description>
+        <param index="1">Magic number - set to 32451 to actually trap.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42701" name="MAV_CMD_SCRIPTING" hasLocation="false" isDestination="false">
+        <description>Control onboard scripting.</description>
+        <param index="1" enum="SCRIPTING_CMD">Scripting command to execute</param>
+      </entry>
+      <entry value="42702" name="MAV_CMD_NAV_SCRIPT_TIME" hasLocation="false" isDestination="false">
+        <description>Scripting command as NAV command with wait for completion.</description>
+        <param index="1" label="command">integer command number (0 to 255)</param>
+        <param index="2" label="timeout" units="s">timeout for operation in seconds. Zero means no timeout (0 to 255)</param>
+        <param index="3" label="arg1">argument1.</param>
+        <param index="4" label="arg2">argument2.</param>
+        <param index="5" label="arg3">argument3.</param>
+        <param index="6" label="arg4">argument4.</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="42703" name="MAV_CMD_NAV_ATTITUDE_TIME" hasLocation="false" isDestination="false">
+        <description>Maintain an attitude for a specified time.</description>
+        <param index="1" label="time" units="s">Time to maintain specified attitude and climb rate</param>
+        <param index="2" label="roll" units="deg">Roll angle in degrees (positive is lean right, negative is lean left)</param>
+        <param index="3" label="pitch" units="deg">Pitch angle in degrees (positive is lean back, negative is lean forward)</param>
+        <param index="4" label="yaw" units="deg">Yaw angle</param>
+        <param index="5" label="climb_rate" units="m/s">Climb rate</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="43000" name="MAV_CMD_GUIDED_CHANGE_SPEED" hasLocation="false" isDestination="false">
+        <description>Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
+        <param index="1" label="speed type" enum="SPEED_TYPE">Airspeed or groundspeed.</param>
+        <param index="2" label="speed target" units="m/s">Target Speed</param>
+        <param index="3" label="speed rate-of-change" units="m/s/s">Acceleration rate, 0 to take effect instantly</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="43001" name="MAV_CMD_GUIDED_CHANGE_ALTITUDE" hasLocation="false" isDestination="false">
+        <description>Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3" label="alt rate-of-change" units="m/s" minValue="0">Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7" label="target alt" units="m">Target Altitude</param>
+      </entry>
+      <entry value="43002" name="MAV_CMD_GUIDED_CHANGE_HEADING" hasLocation="false" isDestination="false">
+        <description>Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
+        <param index="1" label="heading type" enum="HEADING_TYPE">course-over-ground or raw vehicle heading.</param>
+        <param index="2" label="heading target" units="deg" minValue="0" maxValue="359.99">Target heading.</param>
+        <param index="3" label="heading rate-of-change" units="m/s/s">Maximum centripetal accelearation, ie rate of change,  toward new heading.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="43005" name="MAV_CMD_SET_HAGL" hasLocation="false" isDestination="false">
+        <description>Provide a value for height above ground level. This can be used for things like fixed wing and VTOL landing.</description>
+        <param index="1" label="hagl" units="m">Height above ground level.</param>
+        <param index="2" label="accuracy" units="m">estimated one standard deviation accuracy of the measurement. Set to NaN if not known.</param>
+        <param index="3" label="timeout" units="s">Timeout for this data. The flight controller should only consider this data valid within the timeout window.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <!-- 43003 MAV_CMD_EXTERNAL_POSITION_ESTIMATE moved to common.xml -->
+    </enum>
+    <enum name="SCRIPTING_CMD">
+      <entry value="0" name="SCRIPTING_CMD_REPL_START">
+        <description>Start a REPL session.</description>
+      </entry>
+      <entry value="1" name="SCRIPTING_CMD_REPL_STOP">
+        <description>End a REPL session.</description>
+      </entry>
+      <entry value="2" name="SCRIPTING_CMD_STOP">
+        <description>Stop execution of scripts.</description>
+      </entry>
+      <entry value="3" name="SCRIPTING_CMD_STOP_AND_RESTART">
+        <description>Stop execution of scripts and restart.</description>
+      </entry>
+    </enum>
+    <enum name="SECURE_COMMAND_OP">
+      <entry value="0" name="SECURE_COMMAND_GET_SESSION_KEY">
+        <description>Get an 8 byte session key which is used for remote secure updates which operate on flight controller data such as bootloader public keys. Return data will be 8 bytes on success. The session key remains valid until either the flight controller reboots or another SECURE_COMMAND_GET_SESSION_KEY is run.</description>
+      </entry>
+      <entry value="1" name="SECURE_COMMAND_GET_REMOTEID_SESSION_KEY">
+        <description>Get an 8 byte session key which is used for remote secure updates which operate on RemoteID module data. Return data will be 8 bytes on success. The session key remains valid until either the remote ID module reboots or another SECURE_COMMAND_GET_REMOTEID_SESSION_KEY is run.</description>
+      </entry>
+      <entry value="2" name="SECURE_COMMAND_REMOVE_PUBLIC_KEYS">
+        <description>Remove range of public keys from the bootloader. Command data consists of two bytes, first byte if index of first public key to remove. Second byte is the number of keys to remove. If all keys are removed then secure boot is disabled and insecure firmware can be loaded.</description>
+      </entry>
+      <entry value="3" name="SECURE_COMMAND_GET_PUBLIC_KEYS">
+        <description>Get current public keys from the bootloader. Command data consists of two bytes, first byte is index of first public key to fetch, 2nd byte is number of keys to fetch. Total data needs to fit in data portion of reply (max 6 keys for 32 byte keys). Reply data has the index of the first key in the first byte, followed by the keys. Returned keys may be less than the number of keys requested if there are less keys installed than requested.</description>
+      </entry>
+      <entry value="4" name="SECURE_COMMAND_SET_PUBLIC_KEYS">
+        <description>Set current public keys in the bootloader. Data consists of a one byte public key index followed by the public keys. With 32 byte keys this allows for up to 6 keys to be set in one request. Keys outside of the range that is being set will remain unchanged.</description>
+      </entry>
+      <entry value="5" name="SECURE_COMMAND_GET_REMOTEID_CONFIG">
+        <description>Get config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.</description>
+      </entry>
+      <entry value="6" name="SECURE_COMMAND_SET_REMOTEID_CONFIG">
+        <description>Set config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.</description>
+      </entry>
+      <entry value="7" name="SECURE_COMMAND_FLASH_BOOTLOADER">
+        <description>Flash bootloader from local storage. Data is the filename to use for the bootloader. This is intended to be used with MAVFtp to upload a new bootloader to a microSD before flashing.</description>
+      </entry>
+    </enum>
+    <!-- AP_Limits Enums -->
+    <enum name="LIMITS_STATE">
+      <entry value="0" name="LIMITS_INIT">
+        <description>Pre-initialization.</description>
+      </entry>
+      <entry value="1" name="LIMITS_DISABLED">
+        <description>Disabled.</description>
+      </entry>
+      <entry value="2" name="LIMITS_ENABLED">
+        <description>Checking limits.</description>
+      </entry>
+      <entry value="3" name="LIMITS_TRIGGERED">
+        <description>A limit has been breached.</description>
+      </entry>
+      <entry value="4" name="LIMITS_RECOVERING">
+        <description>Taking action e.g. Return/RTL.</description>
+      </entry>
+      <entry value="5" name="LIMITS_RECOVERED">
+        <description>We're no longer in breach of a limit.</description>
+      </entry>
+    </enum>
+    <!-- AP_Limits Modules - power of 2 (1,2,4,8,16,32 etc) so we can send as bitfield -->
+    <enum name="LIMIT_MODULE" bitmask="true">
+      <entry value="1" name="LIMIT_GPSLOCK">
+        <description>Pre-initialization.</description>
+      </entry>
+      <entry value="2" name="LIMIT_GEOFENCE">
+        <description>Disabled.</description>
+      </entry>
+      <entry value="4" name="LIMIT_ALTITUDE">
+        <description>Checking limits.</description>
+      </entry>
+    </enum>
+    <!-- RALLY flags - power of 2 (1,2,4,8,16,32,64,128) so we can send as a bitfield -->
+    <enum name="RALLY_FLAGS">
+      <description>Flags in RALLY_POINT message.</description>
+      <entry value="1" name="FAVORABLE_WIND">
+        <description>Flag set when requiring favorable winds for landing.</description>
+      </entry>
+      <entry value="2" name="LAND_IMMEDIATELY">
+        <description>Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.</description>
+      </entry>
+      <entry value="4" name="ALT_FRAME_VALID">
+        <description>True if the following altitude frame value is valid.</description>
+      </entry>
+      <entry value="24" name="ALT_FRAME">
+        <description>2 bit value representing altitude frame. 0: absolute, 1: relative home, 2: relative origin, 3: relative terrain</description>
+      </entry>
+    </enum>
+    <!-- Camera event types -->
+    <enum name="CAMERA_STATUS_TYPES">
+      <entry value="0" name="CAMERA_STATUS_TYPE_HEARTBEAT">
+        <description>Camera heartbeat, announce camera component ID at 1Hz.</description>
+      </entry>
+      <entry value="1" name="CAMERA_STATUS_TYPE_TRIGGER">
+        <description>Camera image triggered.</description>
+      </entry>
+      <entry value="2" name="CAMERA_STATUS_TYPE_DISCONNECT">
+        <description>Camera connection lost.</description>
+      </entry>
+      <entry value="3" name="CAMERA_STATUS_TYPE_ERROR">
+        <description>Camera unknown error.</description>
+      </entry>
+      <entry value="4" name="CAMERA_STATUS_TYPE_LOWBATT">
+        <description>Camera battery low. Parameter p1 shows reported voltage.</description>
+      </entry>
+      <entry value="5" name="CAMERA_STATUS_TYPE_LOWSTORE">
+        <description>Camera storage low. Parameter p1 shows reported shots remaining.</description>
+      </entry>
+      <entry value="6" name="CAMERA_STATUS_TYPE_LOWSTOREV">
+        <description>Camera storage low. Parameter p1 shows reported video minutes remaining.</description>
+      </entry>
+    </enum>
+    <!-- camera feedback flags, a little bit of future-proofing -->
+    <enum name="CAMERA_FEEDBACK_FLAGS">
+      <entry value="0" name="CAMERA_FEEDBACK_PHOTO">
+        <description>Shooting photos, not video.</description>
+      </entry>
+      <entry value="1" name="CAMERA_FEEDBACK_VIDEO">
+        <description>Shooting video, not stills.</description>
+      </entry>
+      <entry value="2" name="CAMERA_FEEDBACK_BADEXPOSURE">
+        <description>Unable to achieve requested exposure (e.g. shutter speed too low).</description>
+      </entry>
+      <entry value="3" name="CAMERA_FEEDBACK_CLOSEDLOOP">
+        <description>Closed loop feedback from camera, we know for sure it has successfully taken a picture.</description>
+      </entry>
+      <entry value="4" name="CAMERA_FEEDBACK_OPENLOOP">
+        <description>Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.</description>
+      </entry>
+    </enum>
+    <!-- Gimbal payload enumerations -->
+    <enum name="MAV_MODE_GIMBAL">
+      <entry value="0" name="MAV_MODE_GIMBAL_UNINITIALIZED">
+        <description>Gimbal is powered on but has not started initializing yet.</description>
+      </entry>
+      <entry value="1" name="MAV_MODE_GIMBAL_CALIBRATING_PITCH">
+        <description>Gimbal is currently running calibration on the pitch axis.</description>
+      </entry>
+      <entry value="2" name="MAV_MODE_GIMBAL_CALIBRATING_ROLL">
+        <description>Gimbal is currently running calibration on the roll axis.</description>
+      </entry>
+      <entry value="3" name="MAV_MODE_GIMBAL_CALIBRATING_YAW">
+        <description>Gimbal is currently running calibration on the yaw axis.</description>
+      </entry>
+      <entry value="4" name="MAV_MODE_GIMBAL_INITIALIZED">
+        <description>Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.</description>
+      </entry>
+      <entry value="5" name="MAV_MODE_GIMBAL_ACTIVE">
+        <description>Gimbal is actively stabilizing.</description>
+      </entry>
+      <entry value="6" name="MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT">
+        <description>Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_AXIS">
+      <entry value="0" name="GIMBAL_AXIS_YAW">
+        <description>Gimbal yaw axis.</description>
+      </entry>
+      <entry value="1" name="GIMBAL_AXIS_PITCH">
+        <description>Gimbal pitch axis.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_AXIS_ROLL">
+        <description>Gimbal roll axis.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_AXIS_CALIBRATION_STATUS">
+      <entry value="0" name="GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS">
+        <description>Axis calibration is in progress.</description>
+      </entry>
+      <entry value="1" name="GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED">
+        <description>Axis calibration succeeded.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_AXIS_CALIBRATION_STATUS_FAILED">
+        <description>Axis calibration failed.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_AXIS_CALIBRATION_REQUIRED">
+      <entry value="0" name="GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN">
+        <description>Whether or not this axis requires calibration is unknown at this time.</description>
+      </entry>
+      <entry value="1" name="GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE">
+        <description>This axis requires calibration.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE">
+        <description>This axis does not require calibration.</description>
+      </entry>
+    </enum>
+    <!-- GoPro System Enumerations -->
+    <enum name="GOPRO_HEARTBEAT_STATUS">
+      <entry value="0" name="GOPRO_HEARTBEAT_STATUS_DISCONNECTED">
+        <description>No GoPro connected.</description>
+      </entry>
+      <entry value="1" name="GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE">
+        <description>The detected GoPro is not HeroBus compatible.</description>
+      </entry>
+      <entry value="2" name="GOPRO_HEARTBEAT_STATUS_CONNECTED">
+        <description>A HeroBus compatible GoPro is connected.</description>
+      </entry>
+      <entry value="3" name="GOPRO_HEARTBEAT_STATUS_ERROR">
+        <description>An unrecoverable error was encountered with the connected GoPro, it may require a power cycle.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_HEARTBEAT_FLAGS" bitmask="true">
+      <!-- each entry is a mask to test a bit in GOPRO_HEARTBEAT_STATUS.flags -->
+      <entry value="1" name="GOPRO_FLAG_RECORDING">
+        <description>GoPro is currently recording.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_REQUEST_STATUS">
+      <entry value="0" name="GOPRO_REQUEST_SUCCESS">
+        <description>The write message with ID indicated succeeded.</description>
+      </entry>
+      <entry value="1" name="GOPRO_REQUEST_FAILED">
+        <description>The write message with ID indicated failed.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_COMMAND">
+      <entry value="0" name="GOPRO_COMMAND_POWER">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="1" name="GOPRO_COMMAND_CAPTURE_MODE">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="2" name="GOPRO_COMMAND_SHUTTER">
+        <description>(___/Set).</description>
+      </entry>
+      <entry value="3" name="GOPRO_COMMAND_BATTERY">
+        <description>(Get/___).</description>
+      </entry>
+      <entry value="4" name="GOPRO_COMMAND_MODEL">
+        <description>(Get/___).</description>
+      </entry>
+      <entry value="5" name="GOPRO_COMMAND_VIDEO_SETTINGS">
+        <description>(Get/Set).</description>
+        <!-- Packet structure for the four values is as follows byte 0: GOPRO_RESOLUTION byte 1: GOPRO_FRAME_RATE byte 2: GOPRO_FIELD_OF_VIEW byte 3: GOPRO_VIDEO_SETTINGS_FLAGS -->
+      </entry>
+      <entry value="6" name="GOPRO_COMMAND_LOW_LIGHT">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="7" name="GOPRO_COMMAND_PHOTO_RESOLUTION">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="8" name="GOPRO_COMMAND_PHOTO_BURST_RATE">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="9" name="GOPRO_COMMAND_PROTUNE">
+        <description>(Get/Set).</description>
+      </entry>
+      <entry value="10" name="GOPRO_COMMAND_PROTUNE_WHITE_BALANCE">
+        <description>(Get/Set) Hero 3+ Only.</description>
+      </entry>
+      <entry value="11" name="GOPRO_COMMAND_PROTUNE_COLOUR">
+        <description>(Get/Set) Hero 3+ Only.</description>
+      </entry>
+      <entry value="12" name="GOPRO_COMMAND_PROTUNE_GAIN">
+        <description>(Get/Set) Hero 3+ Only.</description>
+      </entry>
+      <entry value="13" name="GOPRO_COMMAND_PROTUNE_SHARPNESS">
+        <description>(Get/Set) Hero 3+ Only.</description>
+      </entry>
+      <entry value="14" name="GOPRO_COMMAND_PROTUNE_EXPOSURE">
+        <description>(Get/Set) Hero 3+ Only.</description>
+      </entry>
+      <entry value="15" name="GOPRO_COMMAND_TIME">
+        <description>(Get/Set).</description>
+        <!-- Packet structure for the four values is as follows byte 0...3: uint32_t unix timestamp (byte 0 is MSB) -->
+      </entry>
+      <entry value="16" name="GOPRO_COMMAND_CHARGING">
+        <description>(Get/Set).</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_CAPTURE_MODE">
+      <entry value="0" name="GOPRO_CAPTURE_MODE_VIDEO">
+        <description>Video mode.</description>
+      </entry>
+      <entry value="1" name="GOPRO_CAPTURE_MODE_PHOTO">
+        <description>Photo mode.</description>
+      </entry>
+      <entry value="2" name="GOPRO_CAPTURE_MODE_BURST">
+        <description>Burst mode, Hero 3+ only.</description>
+      </entry>
+      <entry value="3" name="GOPRO_CAPTURE_MODE_TIME_LAPSE">
+        <description>Time lapse mode, Hero 3+ only.</description>
+      </entry>
+      <entry value="4" name="GOPRO_CAPTURE_MODE_MULTI_SHOT">
+        <description>Multi shot mode, Hero 4 only.</description>
+      </entry>
+      <entry value="5" name="GOPRO_CAPTURE_MODE_PLAYBACK">
+        <description>Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.</description>
+      </entry>
+      <entry value="6" name="GOPRO_CAPTURE_MODE_SETUP">
+        <description>Playback mode, Hero 4 only.</description>
+      </entry>
+      <entry value="255" name="GOPRO_CAPTURE_MODE_UNKNOWN">
+        <description>Mode not yet known.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_RESOLUTION">
+      <entry value="0" name="GOPRO_RESOLUTION_480p">
+        <description>848 x 480 (480p).</description>
+      </entry>
+      <entry value="1" name="GOPRO_RESOLUTION_720p">
+        <description>1280 x 720 (720p).</description>
+      </entry>
+      <entry value="2" name="GOPRO_RESOLUTION_960p">
+        <description>1280 x 960 (960p).</description>
+      </entry>
+      <entry value="3" name="GOPRO_RESOLUTION_1080p">
+        <description>1920 x 1080 (1080p).</description>
+      </entry>
+      <entry value="4" name="GOPRO_RESOLUTION_1440p">
+        <description>1920 x 1440 (1440p).</description>
+      </entry>
+      <entry value="5" name="GOPRO_RESOLUTION_2_7k_17_9">
+        <description>2704 x 1440 (2.7k-17:9).</description>
+      </entry>
+      <entry value="6" name="GOPRO_RESOLUTION_2_7k_16_9">
+        <description>2704 x 1524 (2.7k-16:9).</description>
+      </entry>
+      <entry value="7" name="GOPRO_RESOLUTION_2_7k_4_3">
+        <description>2704 x 2028 (2.7k-4:3).</description>
+      </entry>
+      <entry value="8" name="GOPRO_RESOLUTION_4k_16_9">
+        <description>3840 x 2160 (4k-16:9).</description>
+      </entry>
+      <entry value="9" name="GOPRO_RESOLUTION_4k_17_9">
+        <description>4096 x 2160 (4k-17:9).</description>
+      </entry>
+      <entry value="10" name="GOPRO_RESOLUTION_720p_SUPERVIEW">
+        <description>1280 x 720 (720p-SuperView).</description>
+      </entry>
+      <entry value="11" name="GOPRO_RESOLUTION_1080p_SUPERVIEW">
+        <description>1920 x 1080 (1080p-SuperView).</description>
+      </entry>
+      <entry value="12" name="GOPRO_RESOLUTION_2_7k_SUPERVIEW">
+        <description>2704 x 1520 (2.7k-SuperView).</description>
+      </entry>
+      <entry value="13" name="GOPRO_RESOLUTION_4k_SUPERVIEW">
+        <description>3840 x 2160 (4k-SuperView).</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_FRAME_RATE">
+      <entry value="0" name="GOPRO_FRAME_RATE_12">
+        <description>12 FPS.</description>
+      </entry>
+      <entry value="1" name="GOPRO_FRAME_RATE_15">
+        <description>15 FPS.</description>
+      </entry>
+      <entry value="2" name="GOPRO_FRAME_RATE_24">
+        <description>24 FPS.</description>
+      </entry>
+      <entry value="3" name="GOPRO_FRAME_RATE_25">
+        <description>25 FPS.</description>
+      </entry>
+      <entry value="4" name="GOPRO_FRAME_RATE_30">
+        <description>30 FPS.</description>
+      </entry>
+      <entry value="5" name="GOPRO_FRAME_RATE_48">
+        <description>48 FPS.</description>
+      </entry>
+      <entry value="6" name="GOPRO_FRAME_RATE_50">
+        <description>50 FPS.</description>
+      </entry>
+      <entry value="7" name="GOPRO_FRAME_RATE_60">
+        <description>60 FPS.</description>
+      </entry>
+      <entry value="8" name="GOPRO_FRAME_RATE_80">
+        <description>80 FPS.</description>
+      </entry>
+      <entry value="9" name="GOPRO_FRAME_RATE_90">
+        <description>90 FPS.</description>
+      </entry>
+      <entry value="10" name="GOPRO_FRAME_RATE_100">
+        <description>100 FPS.</description>
+      </entry>
+      <entry value="11" name="GOPRO_FRAME_RATE_120">
+        <description>120 FPS.</description>
+      </entry>
+      <entry value="12" name="GOPRO_FRAME_RATE_240">
+        <description>240 FPS.</description>
+      </entry>
+      <entry value="13" name="GOPRO_FRAME_RATE_12_5">
+        <description>12.5 FPS.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_FIELD_OF_VIEW">
+      <entry value="0" name="GOPRO_FIELD_OF_VIEW_WIDE">
+        <description>0x00: Wide.</description>
+      </entry>
+      <entry value="1" name="GOPRO_FIELD_OF_VIEW_MEDIUM">
+        <description>0x01: Medium.</description>
+      </entry>
+      <entry value="2" name="GOPRO_FIELD_OF_VIEW_NARROW">
+        <description>0x02: Narrow.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_VIDEO_SETTINGS_FLAGS" bitmask="true">
+      <entry value="1" name="GOPRO_VIDEO_SETTINGS_TV_MODE">
+        <description>0=NTSC, 1=PAL.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PHOTO_RESOLUTION">
+      <entry value="0" name="GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM">
+        <description>5MP Medium.</description>
+      </entry>
+      <entry value="1" name="GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM">
+        <description>7MP Medium.</description>
+      </entry>
+      <entry value="2" name="GOPRO_PHOTO_RESOLUTION_7MP_WIDE">
+        <description>7MP Wide.</description>
+      </entry>
+      <entry value="3" name="GOPRO_PHOTO_RESOLUTION_10MP_WIDE">
+        <description>10MP Wide.</description>
+      </entry>
+      <entry value="4" name="GOPRO_PHOTO_RESOLUTION_12MP_WIDE">
+        <description>12MP Wide.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PROTUNE_WHITE_BALANCE">
+      <entry value="0" name="GOPRO_PROTUNE_WHITE_BALANCE_AUTO">
+        <description>Auto.</description>
+      </entry>
+      <entry value="1" name="GOPRO_PROTUNE_WHITE_BALANCE_3000K">
+        <description>3000K.</description>
+      </entry>
+      <entry value="2" name="GOPRO_PROTUNE_WHITE_BALANCE_5500K">
+        <description>5500K.</description>
+      </entry>
+      <entry value="3" name="GOPRO_PROTUNE_WHITE_BALANCE_6500K">
+        <description>6500K.</description>
+      </entry>
+      <entry value="4" name="GOPRO_PROTUNE_WHITE_BALANCE_RAW">
+        <description>Camera Raw.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PROTUNE_COLOUR">
+      <entry value="0" name="GOPRO_PROTUNE_COLOUR_STANDARD">
+        <description>Auto.</description>
+      </entry>
+      <entry value="1" name="GOPRO_PROTUNE_COLOUR_NEUTRAL">
+        <description>Neutral.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PROTUNE_GAIN">
+      <entry value="0" name="GOPRO_PROTUNE_GAIN_400">
+        <description>ISO 400.</description>
+      </entry>
+      <entry value="1" name="GOPRO_PROTUNE_GAIN_800">
+        <description>ISO 800 (Only Hero 4).</description>
+      </entry>
+      <entry value="2" name="GOPRO_PROTUNE_GAIN_1600">
+        <description>ISO 1600.</description>
+      </entry>
+      <entry value="3" name="GOPRO_PROTUNE_GAIN_3200">
+        <description>ISO 3200 (Only Hero 4).</description>
+      </entry>
+      <entry value="4" name="GOPRO_PROTUNE_GAIN_6400">
+        <description>ISO 6400.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PROTUNE_SHARPNESS">
+      <entry value="0" name="GOPRO_PROTUNE_SHARPNESS_LOW">
+        <description>Low Sharpness.</description>
+      </entry>
+      <entry value="1" name="GOPRO_PROTUNE_SHARPNESS_MEDIUM">
+        <description>Medium Sharpness.</description>
+      </entry>
+      <entry value="2" name="GOPRO_PROTUNE_SHARPNESS_HIGH">
+        <description>High Sharpness.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_PROTUNE_EXPOSURE">
+      <entry value="0" name="GOPRO_PROTUNE_EXPOSURE_NEG_5_0">
+        <description>-5.0 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="1" name="GOPRO_PROTUNE_EXPOSURE_NEG_4_5">
+        <description>-4.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="2" name="GOPRO_PROTUNE_EXPOSURE_NEG_4_0">
+        <description>-4.0 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="3" name="GOPRO_PROTUNE_EXPOSURE_NEG_3_5">
+        <description>-3.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="4" name="GOPRO_PROTUNE_EXPOSURE_NEG_3_0">
+        <description>-3.0 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="5" name="GOPRO_PROTUNE_EXPOSURE_NEG_2_5">
+        <description>-2.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="6" name="GOPRO_PROTUNE_EXPOSURE_NEG_2_0">
+        <description>-2.0 EV.</description>
+      </entry>
+      <entry value="7" name="GOPRO_PROTUNE_EXPOSURE_NEG_1_5">
+        <description>-1.5 EV.</description>
+      </entry>
+      <entry value="8" name="GOPRO_PROTUNE_EXPOSURE_NEG_1_0">
+        <description>-1.0 EV.</description>
+      </entry>
+      <entry value="9" name="GOPRO_PROTUNE_EXPOSURE_NEG_0_5">
+        <description>-0.5 EV.</description>
+      </entry>
+      <entry value="10" name="GOPRO_PROTUNE_EXPOSURE_ZERO">
+        <description>0.0 EV.</description>
+      </entry>
+      <entry value="11" name="GOPRO_PROTUNE_EXPOSURE_POS_0_5">
+        <description>+0.5 EV.</description>
+      </entry>
+      <entry value="12" name="GOPRO_PROTUNE_EXPOSURE_POS_1_0">
+        <description>+1.0 EV.</description>
+      </entry>
+      <entry value="13" name="GOPRO_PROTUNE_EXPOSURE_POS_1_5">
+        <description>+1.5 EV.</description>
+      </entry>
+      <entry value="14" name="GOPRO_PROTUNE_EXPOSURE_POS_2_0">
+        <description>+2.0 EV.</description>
+      </entry>
+      <entry value="15" name="GOPRO_PROTUNE_EXPOSURE_POS_2_5">
+        <description>+2.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="16" name="GOPRO_PROTUNE_EXPOSURE_POS_3_0">
+        <description>+3.0 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="17" name="GOPRO_PROTUNE_EXPOSURE_POS_3_5">
+        <description>+3.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="18" name="GOPRO_PROTUNE_EXPOSURE_POS_4_0">
+        <description>+4.0 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="19" name="GOPRO_PROTUNE_EXPOSURE_POS_4_5">
+        <description>+4.5 EV (Hero 3+ Only).</description>
+      </entry>
+      <entry value="20" name="GOPRO_PROTUNE_EXPOSURE_POS_5_0">
+        <description>+5.0 EV (Hero 3+ Only).</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_CHARGING">
+      <entry value="0" name="GOPRO_CHARGING_DISABLED">
+        <description>Charging disabled.</description>
+      </entry>
+      <entry value="1" name="GOPRO_CHARGING_ENABLED">
+        <description>Charging enabled.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_MODEL">
+      <entry value="0" name="GOPRO_MODEL_UNKNOWN">
+        <description>Unknown gopro model.</description>
+      </entry>
+      <entry value="1" name="GOPRO_MODEL_HERO_3_PLUS_SILVER">
+        <description>Hero 3+ Silver (HeroBus not supported by GoPro).</description>
+      </entry>
+      <entry value="2" name="GOPRO_MODEL_HERO_3_PLUS_BLACK">
+        <description>Hero 3+ Black.</description>
+      </entry>
+      <entry value="3" name="GOPRO_MODEL_HERO_4_SILVER">
+        <description>Hero 4 Silver.</description>
+      </entry>
+      <entry value="4" name="GOPRO_MODEL_HERO_4_BLACK">
+        <description>Hero 4 Black.</description>
+      </entry>
+    </enum>
+    <enum name="GOPRO_BURST_RATE">
+      <entry value="0" name="GOPRO_BURST_RATE_3_IN_1_SECOND">
+        <description>3 Shots / 1 Second.</description>
+      </entry>
+      <entry value="1" name="GOPRO_BURST_RATE_5_IN_1_SECOND">
+        <description>5 Shots / 1 Second.</description>
+      </entry>
+      <entry value="2" name="GOPRO_BURST_RATE_10_IN_1_SECOND">
+        <description>10 Shots / 1 Second.</description>
+      </entry>
+      <entry value="3" name="GOPRO_BURST_RATE_10_IN_2_SECOND">
+        <description>10 Shots / 2 Second.</description>
+      </entry>
+      <entry value="4" name="GOPRO_BURST_RATE_10_IN_3_SECOND">
+        <description>10 Shots / 3 Second (Hero 4 Only).</description>
+      </entry>
+      <entry value="5" name="GOPRO_BURST_RATE_30_IN_1_SECOND">
+        <description>30 Shots / 1 Second.</description>
+      </entry>
+      <entry value="6" name="GOPRO_BURST_RATE_30_IN_2_SECOND">
+        <description>30 Shots / 2 Second.</description>
+      </entry>
+      <entry value="7" name="GOPRO_BURST_RATE_30_IN_3_SECOND">
+        <description>30 Shots / 3 Second.</description>
+      </entry>
+      <entry value="8" name="GOPRO_BURST_RATE_30_IN_6_SECOND">
+        <description>30 Shots / 6 Second.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL">
+      <entry value="0" name="MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW">
+        <description>Switch Low.</description>
+      </entry>
+      <entry value="1" name="MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE">
+        <description>Switch Middle.</description>
+      </entry>
+      <entry value="2" name="MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH">
+        <description>Switch High.</description>
+      </entry>
+    </enum>
+    <!-- led control pattern enums (enumeration of specific patterns) -->
+    <enum name="LED_CONTROL_PATTERN">
+      <entry value="0" name="LED_CONTROL_PATTERN_OFF">
+        <description>LED patterns off (return control to regular vehicle control).</description>
+      </entry>
+      <entry value="1" name="LED_CONTROL_PATTERN_FIRMWAREUPDATE">
+        <description>LEDs show pattern during firmware update.</description>
+      </entry>
+      <entry value="255" name="LED_CONTROL_PATTERN_CUSTOM">
+        <description>Custom Pattern using custom bytes fields.</description>
+      </entry>
+    </enum>
+    <!-- EKF_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
+    <enum name="EKF_STATUS_FLAGS" bitmask="true">
+      <description>Flags in EKF_STATUS message.</description>
+      <entry value="1" name="EKF_ATTITUDE">
+        <description>Set if EKF's attitude estimate is good.</description>
+      </entry>
+      <entry value="2" name="EKF_VELOCITY_HORIZ">
+        <description>Set if EKF's horizontal velocity estimate is good.</description>
+      </entry>
+      <entry value="4" name="EKF_VELOCITY_VERT">
+        <description>Set if EKF's vertical velocity estimate is good.</description>
+      </entry>
+      <entry value="8" name="EKF_POS_HORIZ_REL">
+        <description>Set if EKF's horizontal position (relative) estimate is good.</description>
+      </entry>
+      <entry value="16" name="EKF_POS_HORIZ_ABS">
+        <description>Set if EKF's horizontal position (absolute) estimate is good.</description>
+      </entry>
+      <entry value="32" name="EKF_POS_VERT_ABS">
+        <description>Set if EKF's vertical position (absolute) estimate is good.</description>
+      </entry>
+      <entry value="64" name="EKF_POS_VERT_AGL">
+        <description>Set if EKF's vertical position (above ground) estimate is good.</description>
+      </entry>
+      <entry value="128" name="EKF_CONST_POS_MODE">
+        <description>EKF is in constant position mode and does not know it's absolute or relative position.</description>
+      </entry>
+      <entry value="256" name="EKF_PRED_POS_HORIZ_REL">
+        <description>Set if EKF's predicted horizontal position (relative) estimate is good.</description>
+      </entry>
+      <entry value="512" name="EKF_PRED_POS_HORIZ_ABS">
+        <description>Set if EKF's predicted horizontal position (absolute) estimate is good.</description>
+      </entry>
+      <entry value="32768" name="EKF_GPS_GLITCHING">
+        <description>Set if EKF believes the GPS input data is faulty.</description>
+      </entry>
+      <entry value="1024" name="EKF_UNINITIALIZED">
+        <description>Set if EKF has never been healthy.</description>
+      </entry>
+    </enum>
+    <enum name="PID_TUNING_AXIS">
+      <entry value="1" name="PID_TUNING_ROLL"/>
+      <entry value="2" name="PID_TUNING_PITCH"/>
+      <entry value="3" name="PID_TUNING_YAW"/>
+      <entry value="4" name="PID_TUNING_ACCZ"/>
+      <entry value="5" name="PID_TUNING_STEER"/>
+      <entry value="6" name="PID_TUNING_LANDING"/>
+      <entry value="7" name="PID_TUNING_WHEEL_LEFT">
+        <description>Left wheel rate.</description>
+      </entry>
+      <entry value="8" name="PID_TUNING_WHEEL_RIGHT">
+        <description>Right wheel rate.</description>
+      </entry>
+      <entry value="9" name="PID_TUNING_SAIL_HEEL">
+        <description>Sailboat heel to mainsail.</description>
+      </entry>
+      <entry value="10" name="PID_TUNING_VEL_NORTH">
+        <description>Velocity north.</description>
+      </entry>
+      <entry value="11" name="PID_TUNING_VEL_EAST">
+        <description>Velocity east.</description>
+      </entry>
+      <entry value="12" name="PID_TUNING_VEL_DOWN">
+        <description>Velocity down.</description>
+      </entry>
+      <entry value="13" name="PID_TUNING_POS_NORTH">
+        <description>Position north.</description>
+      </entry>
+      <entry value="14" name="PID_TUNING_POS_EAST">
+        <description>Position east.</description>
+      </entry>
+      <entry value="15" name="PID_TUNING_POS_DOWN">
+        <description>Position down.</description>
+      </entry>
+      <entry value="16" name="PID_TUNING_YAW_ANGLE">
+        <description>Yaw angle.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS">
+      <description>Special ACK block numbers control activation of dataflash log streaming.</description>
+      <!-- C uses signed integers for enumerations; these constants start at MAX_INT32_T and go down -->
+      <!-- 2^31-3 == 2147483645 -->
+      <entry value="2147483645" name="MAV_REMOTE_LOG_DATA_BLOCK_STOP">
+        <description>UAV to stop sending DataFlash blocks.</description>
+      </entry>
+      <!-- 2^31-2 == 2147483646 -->
+      <entry value="2147483646" name="MAV_REMOTE_LOG_DATA_BLOCK_START">
+        <description>UAV to start sending DataFlash blocks.</description>
+      </entry>
+      <!-- MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS_ENUM_END will be 2^31-1 == 2147483647 -->
+    </enum>
+    <enum name="MAV_REMOTE_LOG_DATA_BLOCK_STATUSES">
+      <description>Possible remote log data block statuses.</description>
+      <entry value="0" name="MAV_REMOTE_LOG_DATA_BLOCK_NACK">
+        <description>This block has NOT been received.</description>
+      </entry>
+      <entry value="1" name="MAV_REMOTE_LOG_DATA_BLOCK_ACK">
+        <description>This block has been received.</description>
+      </entry>
+    </enum>
+    <enum name="DEVICE_OP_BUSTYPE">
+      <description>Bus types for device operations.</description>
+      <entry value="0" name="DEVICE_OP_BUSTYPE_I2C">
+        <description>I2C Device operation.</description>
+      </entry>
+      <entry value="1" name="DEVICE_OP_BUSTYPE_SPI">
+        <description>SPI Device operation.</description>
+      </entry>
+    </enum>
+    <enum name="DEEPSTALL_STAGE">
+      <description>Deepstall flight stage.</description>
+      <entry value="0" name="DEEPSTALL_STAGE_FLY_TO_LANDING">
+        <description>Flying to the landing point.</description>
+      </entry>
+      <entry value="1" name="DEEPSTALL_STAGE_ESTIMATE_WIND">
+        <description>Building an estimate of the wind.</description>
+      </entry>
+      <entry value="2" name="DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT">
+        <description>Waiting to breakout of the loiter to fly the approach.</description>
+      </entry>
+      <entry value="3" name="DEEPSTALL_STAGE_FLY_TO_ARC">
+        <description>Flying to the first arc point to turn around to the landing point.</description>
+      </entry>
+      <entry value="4" name="DEEPSTALL_STAGE_ARC">
+        <description>Turning around back to the deepstall landing point.</description>
+      </entry>
+      <entry value="5" name="DEEPSTALL_STAGE_APPROACH">
+        <description>Approaching the landing point.</description>
+      </entry>
+      <entry value="6" name="DEEPSTALL_STAGE_LAND">
+        <description>Stalling and steering towards the land point.</description>
+      </entry>
+    </enum>
+    <enum name="PLANE_MODE">
+      <description>A mapping of plane flight modes for custom_mode field of heartbeat.</description>
+      <entry value="0" name="PLANE_MODE_MANUAL">
+        <description>MANUAL</description>
+      </entry>
+      <entry value="1" name="PLANE_MODE_CIRCLE">
+        <description>CIRCLE</description>
+      </entry>
+      <entry value="2" name="PLANE_MODE_STABILIZE">
+        <description>STABILIZE</description>
+      </entry>
+      <entry value="3" name="PLANE_MODE_TRAINING">
+        <description>TRAINING</description>
+      </entry>
+      <entry value="4" name="PLANE_MODE_ACRO">
+        <description>ACRO</description>
+      </entry>
+      <entry value="5" name="PLANE_MODE_FLY_BY_WIRE_A">
+        <description>FBWA</description>
+      </entry>
+      <entry value="6" name="PLANE_MODE_FLY_BY_WIRE_B">
+        <description>FBWB</description>
+      </entry>
+      <entry value="7" name="PLANE_MODE_CRUISE">
+        <description>CRUISE</description>
+      </entry>
+      <entry value="8" name="PLANE_MODE_AUTOTUNE">
+        <description>AUTOTUNE</description>
+      </entry>
+      <entry value="10" name="PLANE_MODE_AUTO">
+        <description>AUTO</description>
+      </entry>
+      <entry value="11" name="PLANE_MODE_RTL">
+        <description>RTL</description>
+      </entry>
+      <entry value="12" name="PLANE_MODE_LOITER">
+        <description>LOITER</description>
+      </entry>
+      <entry value="13" name="PLANE_MODE_TAKEOFF">
+        <description>TAKEOFF</description>
+      </entry>
+      <entry value="14" name="PLANE_MODE_AVOID_ADSB">
+        <description>AVOID ADSB</description>
+      </entry>
+      <entry value="15" name="PLANE_MODE_GUIDED">
+        <description>GUIDED</description>
+      </entry>
+      <entry value="16" name="PLANE_MODE_INITIALIZING">
+        <description>INITIALISING</description>
+      </entry>
+      <entry value="17" name="PLANE_MODE_QSTABILIZE">
+        <description>QSTABILIZE</description>
+      </entry>
+      <entry value="18" name="PLANE_MODE_QHOVER">
+        <description>QHOVER</description>
+      </entry>
+      <entry value="19" name="PLANE_MODE_QLOITER">
+        <description>QLOITER</description>
+      </entry>
+      <entry value="20" name="PLANE_MODE_QLAND">
+        <description>QLAND</description>
+      </entry>
+      <entry value="21" name="PLANE_MODE_QRTL">
+        <description>QRTL</description>
+      </entry>
+      <entry value="22" name="PLANE_MODE_QAUTOTUNE">
+        <description>QAUTOTUNE</description>
+      </entry>
+      <entry value="23" name="PLANE_MODE_QACRO">
+        <description>QACRO</description>
+      </entry>
+      <entry value="24" name="PLANE_MODE_THERMAL">
+        <description>THERMAL</description>
+      </entry>
+      <entry value="25" name="PLANE_MODE_LOITER_ALT_QLAND">
+        <description>LOITER2QLAND</description>
+      </entry>
+      <entry value="26" name="PLANE_MODE_AUTOLAND">
+        <description>AUTOLAND</description>
+      </entry>
+    </enum>
+    <enum name="COPTER_MODE">
+      <description>A mapping of copter flight modes for custom_mode field of heartbeat.</description>
+      <entry value="0" name="COPTER_MODE_STABILIZE">
+        <description>STABILIZE</description>
+      </entry>
+      <entry value="1" name="COPTER_MODE_ACRO">
+        <description>ACRO</description>
+      </entry>
+      <entry value="2" name="COPTER_MODE_ALT_HOLD">
+        <description>ALT HOLD</description>
+      </entry>
+      <entry value="3" name="COPTER_MODE_AUTO">
+        <description>AUTO</description>
+      </entry>
+      <entry value="4" name="COPTER_MODE_GUIDED">
+        <description>GUIDED</description>
+      </entry>
+      <entry value="5" name="COPTER_MODE_LOITER">
+        <description>LOITER</description>
+      </entry>
+      <entry value="6" name="COPTER_MODE_RTL">
+        <description>RTL</description>
+      </entry>
+      <entry value="7" name="COPTER_MODE_CIRCLE">
+        <description>CIRCLE</description>
+      </entry>
+      <entry value="9" name="COPTER_MODE_LAND">
+        <description>LAND</description>
+      </entry>
+      <entry value="11" name="COPTER_MODE_DRIFT">
+        <description>DRIFT</description>
+      </entry>
+      <entry value="13" name="COPTER_MODE_SPORT">
+        <description>SPORT</description>
+      </entry>
+      <entry value="14" name="COPTER_MODE_FLIP">
+        <description>FLIP</description>
+      </entry>
+      <entry value="15" name="COPTER_MODE_AUTOTUNE">
+        <description>AUTOTUNE</description>
+      </entry>
+      <entry value="16" name="COPTER_MODE_POSHOLD">
+        <description>POSHOLD</description>
+      </entry>
+      <entry value="17" name="COPTER_MODE_BRAKE">
+        <description>BRAKE</description>
+      </entry>
+      <entry value="18" name="COPTER_MODE_THROW">
+        <description>THROW</description>
+      </entry>
+      <entry value="19" name="COPTER_MODE_AVOID_ADSB">
+        <description>AVOID ADSB</description>
+      </entry>
+      <entry value="20" name="COPTER_MODE_GUIDED_NOGPS">
+        <description>GUIDED NOGPS</description>
+      </entry>
+      <entry value="21" name="COPTER_MODE_SMART_RTL">
+        <description>SMARTRTL</description>
+      </entry>
+      <entry value="22" name="COPTER_MODE_FLOWHOLD">
+        <description>FLOWHOLD</description>
+      </entry>
+      <entry value="23" name="COPTER_MODE_FOLLOW">
+        <description>FOLLOW</description>
+      </entry>
+      <entry value="24" name="COPTER_MODE_ZIGZAG">
+        <description>ZIGZAG</description>
+      </entry>
+      <entry value="25" name="COPTER_MODE_SYSTEMID">
+        <description>SYSTEMID</description>
+      </entry>
+      <entry value="26" name="COPTER_MODE_AUTOROTATE">
+        <description>AUTOROTATE</description>
+      </entry>
+      <entry value="27" name="COPTER_MODE_AUTO_RTL">
+        <description>AUTO RTL</description>
+      </entry>
+      <entry value="28" name="COPTER_MODE_TURTLE">
+        <description>TURTLE</description>
+      </entry>
+      <entry value="29" name="COPTER_MODE_RATE_ACRO">
+        <description>RATE_ACRO</description>
+      </entry>
+    </enum>
+    <enum name="SUB_MODE">
+      <description>A mapping of sub flight modes for custom_mode field of heartbeat.</description>
+      <entry value="0" name="SUB_MODE_STABILIZE">
+        <description>STABILIZE</description>
+      </entry>
+      <entry value="1" name="SUB_MODE_ACRO">
+        <description>ACRO</description>
+      </entry>
+      <entry value="2" name="SUB_MODE_ALT_HOLD">
+        <description>ALT HOLD</description>
+      </entry>
+      <entry value="3" name="SUB_MODE_AUTO">
+        <description>AUTO</description>
+      </entry>
+      <entry value="4" name="SUB_MODE_GUIDED">
+        <description>GUIDED</description>
+      </entry>
+      <entry value="7" name="SUB_MODE_CIRCLE">
+        <description>CIRCLE</description>
+      </entry>
+      <entry value="9" name="SUB_MODE_SURFACE">
+        <description>SURFACE</description>
+      </entry>
+      <entry value="16" name="SUB_MODE_POSHOLD">
+        <description>POSHOLD</description>
+      </entry>
+      <entry value="19" name="SUB_MODE_MANUAL">
+        <description>MANUAL</description>
+      </entry>
+      <entry value="20" name="SUB_MODE_MOTORDETECT">
+        <description>MOTORDETECT</description>
+      </entry>
+      <entry value="21" name="SUB_MODE_SURFTRAK">
+        <description>SURFTRAK</description>
+      </entry>
+    </enum>
+    <enum name="ROVER_MODE">
+      <description>A mapping of rover flight modes for custom_mode field of heartbeat.</description>
+      <entry value="0" name="ROVER_MODE_MANUAL">
+        <description>MANUAL</description>
+      </entry>
+      <entry value="1" name="ROVER_MODE_ACRO">
+        <description>ACRO</description>
+      </entry>
+      <entry value="3" name="ROVER_MODE_STEERING">
+        <description>STEERING</description>
+      </entry>
+      <entry value="4" name="ROVER_MODE_HOLD">
+        <description>HOLD</description>
+      </entry>
+      <entry value="5" name="ROVER_MODE_LOITER">
+        <description>LOITER</description>
+      </entry>
+      <entry value="6" name="ROVER_MODE_FOLLOW">
+        <description>FOLLOW</description>
+      </entry>
+      <entry value="7" name="ROVER_MODE_SIMPLE">
+        <description>SIMPLE</description>
+      </entry>
+      <entry value="8" name="ROVER_MODE_DOCK">
+        <description>DOCK</description>
+      </entry>
+      <entry value="9" name="ROVER_MODE_CIRCLE">
+        <description>CIRCLE</description>
+      </entry>
+      <entry value="10" name="ROVER_MODE_AUTO">
+        <description>AUTO</description>
+      </entry>
+      <entry value="11" name="ROVER_MODE_RTL">
+        <description>RTL</description>
+      </entry>
+      <entry value="12" name="ROVER_MODE_SMART_RTL">
+        <description>SMART RTL</description>
+      </entry>
+      <entry value="15" name="ROVER_MODE_GUIDED">
+        <description>GUIDED</description>
+      </entry>
+      <entry value="16" name="ROVER_MODE_INITIALIZING">
+        <description>INITIALISING</description>
+      </entry>
+    </enum>
+    <enum name="TRACKER_MODE">
+      <description>A mapping of antenna tracker flight modes for custom_mode field of heartbeat.</description>
+      <entry value="0" name="TRACKER_MODE_MANUAL">
+        <description>MANUAL</description>
+      </entry>
+      <entry value="1" name="TRACKER_MODE_STOP">
+        <description>STOP</description>
+      </entry>
+      <entry value="2" name="TRACKER_MODE_SCAN">
+        <description>SCAN</description>
+      </entry>
+      <entry value="3" name="TRACKER_MODE_SERVO_TEST">
+        <description>SERVO TEST</description>
+      </entry>
+      <entry value="4" name="TRACKER_MODE_GUIDED">
+        <description>GUIDED</description>
+      </entry>
+      <entry value="10" name="TRACKER_MODE_AUTO">
+        <description>AUTO</description>
+      </entry>
+      <entry value="16" name="TRACKER_MODE_INITIALIZING">
+        <description>INITIALISING</description>
+      </entry>
+    </enum>
+    <enum name="OSD_PARAM_CONFIG_TYPE">
+      <description>The type of parameter for the OSD parameter editor.</description>
+      <entry value="0" name="OSD_PARAM_NONE"/>
+      <entry value="1" name="OSD_PARAM_SERIAL_PROTOCOL"/>
+      <entry value="2" name="OSD_PARAM_SERVO_FUNCTION"/>
+      <entry value="3" name="OSD_PARAM_AUX_FUNCTION"/>
+      <entry value="4" name="OSD_PARAM_FLIGHT_MODE"/>
+      <entry value="5" name="OSD_PARAM_FAILSAFE_ACTION"/>
+      <entry value="6" name="OSD_PARAM_FAILSAFE_ACTION_1"/>
+      <entry value="7" name="OSD_PARAM_FAILSAFE_ACTION_2"/>
+      <entry value="8" name="OSD_PARAM_NUM_TYPES"/>
+    </enum>
+    <enum name="OSD_PARAM_CONFIG_ERROR">
+      <description>The error type for the OSD parameter editor.</description>
+      <entry value="0" name="OSD_PARAM_SUCCESS"/>
+      <entry value="1" name="OSD_PARAM_INVALID_SCREEN"/>
+      <entry value="2" name="OSD_PARAM_INVALID_PARAMETER_INDEX"/>
+      <entry value="3" name="OSD_PARAM_INVALID_PARAMETER"/>
+    </enum>
+  </enums>
+  <messages>
+    <message id="150" name="SENSOR_OFFSETS">
+      <deprecated since="2022-02" replaced_by="MAG_CAL_REPORT, Accel Parameters, and Gyro Parameters"/>
+      <description>Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.</description>
+      <field type="int16_t" name="mag_ofs_x">Magnetometer X offset.</field>
+      <field type="int16_t" name="mag_ofs_y">Magnetometer Y offset.</field>
+      <field type="int16_t" name="mag_ofs_z">Magnetometer Z offset.</field>
+      <field type="float" name="mag_declination" units="rad">Magnetic declination.</field>
+      <field type="int32_t" name="raw_press">Raw pressure from barometer.</field>
+      <field type="int32_t" name="raw_temp">Raw temperature from barometer.</field>
+      <field type="float" name="gyro_cal_x">Gyro X calibration.</field>
+      <field type="float" name="gyro_cal_y">Gyro Y calibration.</field>
+      <field type="float" name="gyro_cal_z">Gyro Z calibration.</field>
+      <field type="float" name="accel_cal_x">Accel X calibration.</field>
+      <field type="float" name="accel_cal_y">Accel Y calibration.</field>
+      <field type="float" name="accel_cal_z">Accel Z calibration.</field>
+    </message>
+    <message id="151" name="SET_MAG_OFFSETS">
+      <deprecated since="2014-07" replaced_by="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS"/>
+      <description>Set the magnetometer offsets</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="int16_t" name="mag_ofs_x">Magnetometer X offset.</field>
+      <field type="int16_t" name="mag_ofs_y">Magnetometer Y offset.</field>
+      <field type="int16_t" name="mag_ofs_z">Magnetometer Z offset.</field>
+    </message>
+    <message id="152" name="MEMINFO">
+      <description>State of autopilot RAM.</description>
+      <field type="uint16_t" name="brkval">Heap top.</field>
+      <field type="uint16_t" name="freemem" units="bytes">Free memory.</field>
+      <extensions/>
+      <field type="uint32_t" name="freemem32" units="bytes">Free memory (32 bit).</field>
+    </message>
+    <message id="153" name="AP_ADC">
+      <description>Raw ADC output.</description>
+      <field type="uint16_t" name="adc1">ADC output 1.</field>
+      <field type="uint16_t" name="adc2">ADC output 2.</field>
+      <field type="uint16_t" name="adc3">ADC output 3.</field>
+      <field type="uint16_t" name="adc4">ADC output 4.</field>
+      <field type="uint16_t" name="adc5">ADC output 5.</field>
+      <field type="uint16_t" name="adc6">ADC output 6.</field>
+    </message>
+    <!-- Camera Controller Messages -->
+    <message id="154" name="DIGICAM_CONFIGURE">
+      <description>Configure on-board Camera Control System.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="mode">Mode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).</field>
+      <field type="uint16_t" name="shutter_speed">Divisor number //e.g. 1000 means 1/1000 (0 means ignore).</field>
+      <field type="uint8_t" name="aperture">F stop number x 10 //e.g. 28 means 2.8 (0 means ignore).</field>
+      <field type="uint8_t" name="iso">ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).</field>
+      <field type="uint8_t" name="exposure_type">Exposure type enumeration from 1 to N (0 means ignore).</field>
+      <field type="uint8_t" name="command_id">Command Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.</field>
+      <field type="uint8_t" name="engine_cut_off" units="ds">Main engine cut-off time before camera trigger (0 means no cut-off).</field>
+      <field type="uint8_t" name="extra_param">Extra parameters enumeration (0 means ignore).</field>
+      <field type="float" name="extra_value">Correspondent value to given extra_param.</field>
+    </message>
+    <message id="155" name="DIGICAM_CONTROL">
+      <description>Control on-board Camera Control System to take shots.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="session">0: stop, 1: start or keep it up //Session control e.g. show/hide lens.</field>
+      <field type="uint8_t" name="zoom_pos">1 to N //Zoom's absolute position (0 means ignore).</field>
+      <field type="int8_t" name="zoom_step">-100 to 100 //Zooming step value to offset zoom from the current position.</field>
+      <field type="uint8_t" name="focus_lock">0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.</field>
+      <field type="uint8_t" name="shot">0: ignore, 1: shot or start filming.</field>
+      <field type="uint8_t" name="command_id">Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.</field>
+      <field type="uint8_t" name="extra_param">Extra parameters enumeration (0 means ignore).</field>
+      <field type="float" name="extra_value">Correspondent value to given extra_param.</field>
+    </message>
+    <!-- Camera Mount Messages -->
+    <message id="156" name="MOUNT_CONFIGURE">
+      <description>Message to configure a camera mount, directional antenna, etc.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="mount_mode" enum="MAV_MOUNT_MODE">Mount operating mode.</field>
+      <field type="uint8_t" name="stab_roll">(1 = yes, 0 = no).</field>
+      <field type="uint8_t" name="stab_pitch">(1 = yes, 0 = no).</field>
+      <field type="uint8_t" name="stab_yaw">(1 = yes, 0 = no).</field>
+    </message>
+    <message id="157" name="MOUNT_CONTROL">
+      <description>Message to control a camera mount, directional antenna, etc.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="int32_t" name="input_a">Pitch (centi-degrees) or lat (degE7), depending on mount mode.</field>
+      <field type="int32_t" name="input_b">Roll (centi-degrees) or lon (degE7) depending on mount mode.</field>
+      <field type="int32_t" name="input_c">Yaw (centi-degrees) or alt (cm) depending on mount mode.</field>
+      <field type="uint8_t" name="save_position">If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).</field>
+    </message>
+    <message id="158" name="MOUNT_STATUS">
+      <description>Message with some status from autopilot to GCS about camera or antenna mount.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="int32_t" name="pointing_a" units="cdeg">Pitch.</field>
+      <field type="int32_t" name="pointing_b" units="cdeg">Roll.</field>
+      <field type="int32_t" name="pointing_c" units="cdeg">Yaw.</field>
+      <extensions/>
+      <field type="uint8_t" name="mount_mode" enum="MAV_MOUNT_MODE">Mount operating mode.</field>
+    </message>
+    <!-- geo-fence messages -->
+    <message id="160" name="FENCE_POINT">
+      <description>A fence point. Used to set a point when from GCS -&gt; MAV. Also used to return a point from MAV -&gt; GCS.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="idx">Point index (first point is 1, 0 is for return point).</field>
+      <field type="uint8_t" name="count">Total number of points (for sanity checking).</field>
+      <field type="float" name="lat" units="deg">Latitude of point.</field>
+      <field type="float" name="lng" units="deg">Longitude of point.</field>
+    </message>
+    <message id="161" name="FENCE_FETCH_POINT">
+      <description>Request a current fence point from MAV.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="idx">Point index (first point is 1, 0 is for return point).</field>
+    </message>
+    <message id="163" name="AHRS">
+      <description>Status of DCM attitude estimator.</description>
+      <field type="float" name="omegaIx" units="rad/s">X gyro drift estimate.</field>
+      <field type="float" name="omegaIy" units="rad/s">Y gyro drift estimate.</field>
+      <field type="float" name="omegaIz" units="rad/s">Z gyro drift estimate.</field>
+      <field type="float" name="accel_weight">Average accel_weight.</field>
+      <field type="float" name="renorm_val">Average renormalisation value.</field>
+      <field type="float" name="error_rp">Average error_roll_pitch value.</field>
+      <field type="float" name="error_yaw">Average error_yaw value.</field>
+    </message>
+    <message id="164" name="SIMSTATE">
+      <description>Status of simulation environment, if used.</description>
+      <field type="float" name="roll" units="rad">Roll angle.</field>
+      <field type="float" name="pitch" units="rad">Pitch angle.</field>
+      <field type="float" name="yaw" units="rad">Yaw angle.</field>
+      <field type="float" name="xacc" units="m/s/s">X acceleration.</field>
+      <field type="float" name="yacc" units="m/s/s">Y acceleration.</field>
+      <field type="float" name="zacc" units="m/s/s">Z acceleration.</field>
+      <field type="float" name="xgyro" units="rad/s">Angular speed around X axis.</field>
+      <field type="float" name="ygyro" units="rad/s">Angular speed around Y axis.</field>
+      <field type="float" name="zgyro" units="rad/s">Angular speed around Z axis.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude.</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude.</field>
+    </message>
+    <message id="165" name="HWSTATUS">
+      <deprecated since="2022-09" replaced_by="POWER_STATUS">POWER_STATUS+SYS_STATUS form a superset of the fields in this message.</deprecated>
+      <description>Status of key hardware.</description>
+      <field type="uint16_t" name="Vcc" units="mV">Board voltage.</field>
+      <field type="uint8_t" name="I2Cerr">I2C error count.</field>
+    </message>
+    <message id="166" name="RADIO">
+      <description>Status generated by radio.</description>
+      <field type="uint8_t" name="rssi">Local signal strength.</field>
+      <field type="uint8_t" name="remrssi">Remote signal strength.</field>
+      <field type="uint8_t" name="txbuf" units="%">How full the tx buffer is.</field>
+      <field type="uint8_t" name="noise">Background noise level.</field>
+      <field type="uint8_t" name="remnoise">Remote background noise level.</field>
+      <field type="uint16_t" name="rxerrors">Receive errors.</field>
+      <field type="uint16_t" name="fixed">Count of error corrected packets.</field>
+    </message>
+    <!-- AP_Limits status -->
+    <message id="167" name="LIMITS_STATUS">
+      <description>Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.</description>
+      <field type="uint8_t" name="limits_state" enum="LIMITS_STATE">State of AP_Limits.</field>
+      <field type="uint32_t" name="last_trigger" units="ms">Time (since boot) of last breach.</field>
+      <field type="uint32_t" name="last_action" units="ms">Time (since boot) of last recovery action.</field>
+      <field type="uint32_t" name="last_recovery" units="ms">Time (since boot) of last successful recovery.</field>
+      <field type="uint32_t" name="last_clear" units="ms">Time (since boot) of last all-clear.</field>
+      <field type="uint16_t" name="breach_count">Number of fence breaches.</field>
+      <field type="uint8_t" name="mods_enabled" enum="LIMIT_MODULE">AP_Limit_Module bitfield of enabled modules.</field>
+      <field type="uint8_t" name="mods_required" enum="LIMIT_MODULE">AP_Limit_Module bitfield of required modules.</field>
+      <field type="uint8_t" name="mods_triggered" enum="LIMIT_MODULE">AP_Limit_Module bitfield of triggered modules.</field>
+    </message>
+    <message id="168" name="WIND">
+      <description>Wind estimation.</description>
+      <field type="float" name="direction" units="deg">Wind direction (that wind is coming from).</field>
+      <field type="float" name="speed" units="m/s">Wind speed in ground plane.</field>
+      <field type="float" name="speed_z" units="m/s">Vertical wind speed.</field>
+    </message>
+    <message id="169" name="DATA16">
+      <description>Data packet, size 16.</description>
+      <field type="uint8_t" name="type">Data type.</field>
+      <field type="uint8_t" name="len" units="bytes">Data length.</field>
+      <field type="uint8_t[16]" name="data">Raw data.</field>
+    </message>
+    <message id="170" name="DATA32">
+      <description>Data packet, size 32.</description>
+      <field type="uint8_t" name="type">Data type.</field>
+      <field type="uint8_t" name="len" units="bytes">Data length.</field>
+      <field type="uint8_t[32]" name="data">Raw data.</field>
+    </message>
+    <message id="171" name="DATA64">
+      <description>Data packet, size 64.</description>
+      <field type="uint8_t" name="type">Data type.</field>
+      <field type="uint8_t" name="len" units="bytes">Data length.</field>
+      <field type="uint8_t[64]" name="data">Raw data.</field>
+    </message>
+    <message id="172" name="DATA96">
+      <description>Data packet, size 96.</description>
+      <field type="uint8_t" name="type">Data type.</field>
+      <field type="uint8_t" name="len" units="bytes">Data length.</field>
+      <field type="uint8_t[96]" name="data">Raw data.</field>
+    </message>
+    <message id="173" name="RANGEFINDER">
+      <description>Rangefinder reporting.</description>
+      <field type="float" name="distance" units="m">Distance.</field>
+      <field type="float" name="voltage" units="V">Raw voltage if available, zero otherwise.</field>
+    </message>
+    <message id="174" name="AIRSPEED_AUTOCAL">
+      <description>Airspeed auto-calibration.</description>
+      <field type="float" name="vx" units="m/s">GPS velocity north.</field>
+      <field type="float" name="vy" units="m/s">GPS velocity east.</field>
+      <field type="float" name="vz" units="m/s">GPS velocity down.</field>
+      <field type="float" name="diff_pressure" units="Pa">Differential pressure.</field>
+      <field type="float" name="EAS2TAS">Estimated to true airspeed ratio.</field>
+      <field type="float" name="ratio">Airspeed ratio.</field>
+      <field type="float" name="state_x">EKF state x.</field>
+      <field type="float" name="state_y">EKF state y.</field>
+      <field type="float" name="state_z">EKF state z.</field>
+      <field type="float" name="Pax">EKF Pax.</field>
+      <field type="float" name="Pby">EKF Pby.</field>
+      <field type="float" name="Pcz">EKF Pcz.</field>
+    </message>
+    <!-- Rally point messages -->
+    <message id="175" name="RALLY_POINT">
+      <description>A rally point. Used to set a point when from GCS -&gt; MAV. Also used to return a point from MAV -&gt; GCS.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="idx">Point index (first point is 0).</field>
+      <field type="uint8_t" name="count">Total number of points (for sanity checking).</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude of point.</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude of point.</field>
+      <field type="int16_t" name="alt" units="m">Transit / loiter altitude relative to home.</field>
+      <!-- Path planned landings are still in the future, but we want these fields ready: -->
+      <field type="int16_t" name="break_alt" units="m">Break altitude relative to home.</field>
+      <field type="uint16_t" name="land_dir" units="cdeg">Heading to aim for when landing.</field>
+      <field type="uint8_t" name="flags" enum="RALLY_FLAGS">Configuration flags.</field>
+    </message>
+    <message id="176" name="RALLY_FETCH_POINT">
+      <description>Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="idx">Point index (first point is 0).</field>
+    </message>
+    <message id="177" name="COMPASSMOT_STATUS">
+      <description>Status of compassmot calibration.</description>
+      <field type="uint16_t" name="throttle" units="d%">Throttle.</field>
+      <field type="float" name="current" units="A">Current.</field>
+      <field type="uint16_t" name="interference" units="%">Interference.</field>
+      <field type="float" name="CompensationX">Motor Compensation X.</field>
+      <field type="float" name="CompensationY">Motor Compensation Y.</field>
+      <field type="float" name="CompensationZ">Motor Compensation Z.</field>
+    </message>
+    <message id="178" name="AHRS2">
+      <description>Status of secondary AHRS filter if available.</description>
+      <field type="float" name="roll" units="rad">Roll angle.</field>
+      <field type="float" name="pitch" units="rad">Pitch angle.</field>
+      <field type="float" name="yaw" units="rad">Yaw angle.</field>
+      <field type="float" name="altitude" units="m">Altitude (MSL).</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude.</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude.</field>
+    </message>
+    <!-- camera event message from CCB to autopilot: for image trigger events but also things like heartbeat, error, low power, full card, etc -->
+    <message id="179" name="CAMERA_STATUS">
+      <description>Camera Event.</description>
+      <field type="uint64_t" name="time_usec" units="us">Image timestamp (since UNIX epoch, according to camera clock).</field>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <!-- support multiple concurrent vehicles -->
+      <field type="uint8_t" name="cam_idx">Camera ID.</field>
+      <!-- component ID, to support multiple cameras -->
+      <field type="uint16_t" name="img_idx">Image index.</field>
+      <!-- per camera image index, should be unique+sequential within a mission, preferably non-wrapping -->
+      <field type="uint8_t" name="event_id" enum="CAMERA_STATUS_TYPES">Event type.</field>
+      <field type="float" name="p1">Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).</field>
+      <field type="float" name="p2">Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).</field>
+      <field type="float" name="p3">Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).</field>
+      <field type="float" name="p4">Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).</field>
+    </message>
+    <!-- camera feedback message - can be originated from CCB (in response to a CAMERA_STATUS), or directly from the autopilot as part of a DO_DIGICAM_CONTROL-->
+    <message id="180" name="CAMERA_FEEDBACK">
+      <description>Camera Capture Feedback.</description>
+      <field type="uint64_t" name="time_usec" units="us">Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).</field>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <!-- support multiple concurrent vehicles -->
+      <field type="uint8_t" name="cam_idx">Camera ID.</field>
+      <!-- component ID, to support multiple cameras -->
+      <field type="uint16_t" name="img_idx">Image index.</field>
+      <!-- per camera image index, should be unique+sequential within a mission, preferably non-wrapping -->
+      <field type="int32_t" name="lat" units="degE7">Latitude.</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude.</field>
+      <field type="float" name="alt_msl" units="m">Altitude (MSL).</field>
+      <field type="float" name="alt_rel" units="m">Altitude (Relative to HOME location).</field>
+      <field type="float" name="roll" units="deg">Camera Roll angle (earth frame, +-180).</field>
+      <!-- initially only supporting fixed cameras, in future we'll need feedback messages from the gimbal so we can include that offset here -->
+      <field type="float" name="pitch" units="deg">Camera Pitch angle (earth frame, +-180).</field>
+      <!-- initially only supporting fixed cameras, in future we'll need feedback messages from the gimbal so we can include that offset here -->
+      <field type="float" name="yaw" units="deg">Camera Yaw (earth frame, 0-360, true).</field>
+      <!-- initially only supporting fixed cameras, in future we'll need feedback messages from the gimbal so we can include that offset here -->
+      <field type="float" name="foc_len" units="mm">Focal Length.</field>
+      <!-- per-image to support zooms. Zero means fixed focal length or unknown. Should be true mm, not scaled to 35mm film equivalent -->
+      <field type="uint8_t" name="flags" enum="CAMERA_FEEDBACK_FLAGS">Feedback flags.</field>
+      <!-- future proofing -->
+      <extensions/>
+      <field type="uint16_t" name="completed_captures">Completed image captures.</field>
+    </message>
+    <message id="181" name="BATTERY2">
+      <deprecated since="2017-04" replaced_by="BATTERY_STATUS"/>
+      <description>2nd Battery status</description>
+      <field type="uint16_t" name="voltage" units="mV">Voltage.</field>
+      <field type="int16_t" name="current_battery" units="cA">Battery current, -1: autopilot does not measure the current.</field>
+    </message>
+    <message id="182" name="AHRS3">
+      <description>Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).</description>
+      <field type="float" name="roll" units="rad">Roll angle.</field>
+      <field type="float" name="pitch" units="rad">Pitch angle.</field>
+      <field type="float" name="yaw" units="rad">Yaw angle.</field>
+      <field type="float" name="altitude" units="m">Altitude (MSL).</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude.</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude.</field>
+      <field type="float" name="v1">Test variable1.</field>
+      <field type="float" name="v2">Test variable2.</field>
+      <field type="float" name="v3">Test variable3.</field>
+      <field type="float" name="v4">Test variable4.</field>
+    </message>
+    <message id="183" name="AUTOPILOT_VERSION_REQUEST">
+      <description>Request the autopilot version from the system/component.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+    </message>
+    <!-- remote log messages -->
+    <message id="184" name="REMOTE_LOG_DATA_BLOCK">
+      <description>Send a block of log data to remote location.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="seqno" enum="MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS">Log data block sequence number.</field>
+      <field type="uint8_t[200]" name="data">Log data block.</field>
+    </message>
+    <message id="185" name="REMOTE_LOG_BLOCK_STATUS">
+      <description>Send Status of each log block that autopilot board might have sent.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="seqno">Log data block sequence number.</field>
+      <field type="uint8_t" name="status" enum="MAV_REMOTE_LOG_DATA_BLOCK_STATUSES">Log data block status.</field>
+    </message>
+    <message id="186" name="LED_CONTROL">
+      <description>Control vehicle LEDs.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="instance">Instance (LED instance to control or 255 for all LEDs).</field>
+      <field type="uint8_t" name="pattern">Pattern (see LED_PATTERN_ENUM).</field>
+      <field type="uint8_t" name="custom_len">Custom Byte Length.</field>
+      <field type="uint8_t[24]" name="custom_bytes">Custom Bytes.</field>
+    </message>
+    <message id="191" name="MAG_CAL_PROGRESS">
+      <description>Reports progress of compass calibration.</description>
+      <field type="uint8_t" name="compass_id" instance="true">Compass being calibrated.</field>
+      <field type="uint8_t" name="cal_mask">Bitmask of compasses being calibrated.</field>
+      <field type="uint8_t" name="cal_status" enum="MAG_CAL_STATUS">Calibration Status.</field>
+      <field type="uint8_t" name="attempt">Attempt number.</field>
+      <field type="uint8_t" name="completion_pct" units="%">Completion percentage.</field>
+      <field type="uint8_t[10]" name="completion_mask">Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).</field>
+      <field type="float" name="direction_x">Body frame direction vector for display.</field>
+      <field type="float" name="direction_y">Body frame direction vector for display.</field>
+      <field type="float" name="direction_z">Body frame direction vector for display.</field>
+    </message>
+    <!-- 192 MAG_CAL_REPORT moved to common.xml -->
+    <!-- EKF status message from autopilot to GCS. -->
+    <message id="193" name="EKF_STATUS_REPORT">
+      <description>EKF Status message including flags and variances.</description>
+      <field type="uint16_t" name="flags" enum="EKF_STATUS_FLAGS">Flags.</field>
+      <!-- supported flags see EKF_STATUS_FLAGS enum -->
+      <field type="float" name="velocity_variance">Velocity variance.</field>
+      <!-- below 0.5 is good, 0.5~0.79 is warning, 0.8 or higher is bad -->
+      <field type="float" name="pos_horiz_variance">Horizontal Position variance.</field>
+      <field type="float" name="pos_vert_variance">Vertical Position variance.</field>
+      <field type="float" name="compass_variance">Compass variance.</field>
+      <field type="float" name="terrain_alt_variance">Terrain Altitude variance.</field>
+      <extensions/>
+      <field type="float" name="airspeed_variance">Airspeed variance.</field>
+    </message>
+    <!-- realtime PID tuning message -->
+    <message id="194" name="PID_TUNING">
+      <description>PID tuning information.</description>
+      <field type="uint8_t" name="axis" enum="PID_TUNING_AXIS" instance="true">Axis.</field>
+      <field type="float" name="desired">Desired rate.</field>
+      <field type="float" name="achieved">Achieved rate.</field>
+      <field type="float" name="FF">FF component.</field>
+      <field type="float" name="P">P component.</field>
+      <field type="float" name="I">I component.</field>
+      <field type="float" name="D">D component.</field>
+      <extensions/>
+      <field type="float" name="SRate">Slew rate.</field>
+      <field type="float" name="PDmod">P/D oscillation modifier.</field>
+    </message>
+    <message id="195" name="DEEPSTALL">
+      <description>Deepstall path planning.</description>
+      <field type="int32_t" name="landing_lat" units="degE7">Landing latitude.</field>
+      <field type="int32_t" name="landing_lon" units="degE7">Landing longitude.</field>
+      <field type="int32_t" name="path_lat" units="degE7">Final heading start point, latitude.</field>
+      <field type="int32_t" name="path_lon" units="degE7">Final heading start point, longitude.</field>
+      <field type="int32_t" name="arc_entry_lat" units="degE7">Arc entry point, latitude.</field>
+      <field type="int32_t" name="arc_entry_lon" units="degE7">Arc entry point, longitude.</field>
+      <field type="float" name="altitude" units="m">Altitude.</field>
+      <field type="float" name="expected_travel_distance" units="m">Distance the aircraft expects to travel during the deepstall.</field>
+      <field type="float" name="cross_track_error" units="m">Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).</field>
+      <field type="uint8_t" name="stage" enum="DEEPSTALL_STAGE">Deepstall stage.</field>
+    </message>
+    <message id="200" name="GIMBAL_REPORT">
+      <description>3 axis gimbal measurements.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="float" name="delta_time" units="s">Time since last update.</field>
+      <field type="float" name="delta_angle_x" units="rad">Delta angle X.</field>
+      <field type="float" name="delta_angle_y" units="rad">Delta angle Y.</field>
+      <field type="float" name="delta_angle_z" units="rad">Delta angle X.</field>
+      <field type="float" name="delta_velocity_x" units="m/s">Delta velocity X.</field>
+      <field type="float" name="delta_velocity_y" units="m/s">Delta velocity Y.</field>
+      <field type="float" name="delta_velocity_z" units="m/s">Delta velocity Z.</field>
+      <field type="float" name="joint_roll" units="rad">Joint ROLL.</field>
+      <field type="float" name="joint_el" units="rad">Joint EL.</field>
+      <field type="float" name="joint_az" units="rad">Joint AZ.</field>
+    </message>
+    <message id="201" name="GIMBAL_CONTROL">
+      <description>Control message for rate gimbal.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="float" name="demanded_rate_x" units="rad/s">Demanded angular rate X.</field>
+      <field type="float" name="demanded_rate_y" units="rad/s">Demanded angular rate Y.</field>
+      <field type="float" name="demanded_rate_z" units="rad/s">Demanded angular rate Z.</field>
+    </message>
+    <message id="214" name="GIMBAL_TORQUE_CMD_REPORT">
+      <description>100 Hz gimbal torque command telemetry.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="int16_t" name="rl_torque_cmd">Roll Torque Command.</field>
+      <field type="int16_t" name="el_torque_cmd">Elevation Torque Command.</field>
+      <field type="int16_t" name="az_torque_cmd">Azimuth Torque Command.</field>
+    </message>
+    <!-- GoPro Messages -->
+    <message id="215" name="GOPRO_HEARTBEAT">
+      <description>Heartbeat from a HeroBus attached GoPro.</description>
+      <field type="uint8_t" name="status" enum="GOPRO_HEARTBEAT_STATUS">Status.</field>
+      <field type="uint8_t" name="capture_mode" enum="GOPRO_CAPTURE_MODE">Current capture mode.</field>
+      <field type="uint8_t" name="flags" enum="GOPRO_HEARTBEAT_FLAGS">Additional status bits.</field>
+      <!-- see GOPRO_HEARTBEAT_FLAGS -->
+    </message>
+    <message id="216" name="GOPRO_GET_REQUEST">
+      <description>Request a GOPRO_COMMAND response from the GoPro.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="cmd_id" enum="GOPRO_COMMAND">Command ID.</field>
+    </message>
+    <message id="217" name="GOPRO_GET_RESPONSE">
+      <description>Response from a GOPRO_COMMAND get request.</description>
+      <field type="uint8_t" name="cmd_id" enum="GOPRO_COMMAND">Command ID.</field>
+      <field type="uint8_t" name="status" enum="GOPRO_REQUEST_STATUS">Status.</field>
+      <field type="uint8_t[4]" name="value">Value.</field>
+    </message>
+    <message id="218" name="GOPRO_SET_REQUEST">
+      <description>Request to set a GOPRO_COMMAND with a desired.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="cmd_id" enum="GOPRO_COMMAND">Command ID.</field>
+      <field type="uint8_t[4]" name="value">Value.</field>
+    </message>
+    <message id="219" name="GOPRO_SET_RESPONSE">
+      <description>Response from a GOPRO_COMMAND set request.</description>
+      <field type="uint8_t" name="cmd_id" enum="GOPRO_COMMAND">Command ID.</field>
+      <field type="uint8_t" name="status" enum="GOPRO_REQUEST_STATUS">Status.</field>
+    </message>
+    <!-- 219 to 224 RESERVED for more GOPRO-->
+    <!-- 225 EFI_STATUS moved to common.xml -->
+    <message id="226" name="RPM">
+      <description>RPM sensor output.</description>
+      <field type="float" name="rpm1">RPM Sensor1.</field>
+      <field type="float" name="rpm2">RPM Sensor2.</field>
+    </message>
+    <!-- ardupilot specific mavlink2 messages starting at 11000-->
+    <message id="11000" name="DEVICE_OP_READ">
+      <description>Read registers for a device.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="request_id">Request ID - copied to reply.</field>
+      <field type="uint8_t" name="bustype" enum="DEVICE_OP_BUSTYPE">The bus type.</field>
+      <field type="uint8_t" name="bus">Bus number.</field>
+      <field type="uint8_t" name="address">Bus address.</field>
+      <field type="char[40]" name="busname">Name of device on bus (for SPI).</field>
+      <field type="uint8_t" name="regstart">First register to read.</field>
+      <field type="uint8_t" name="count">Count of registers to read.</field>
+      <extensions/>
+      <field type="uint8_t" name="bank">Bank number.</field>
+    </message>
+    <message id="11001" name="DEVICE_OP_READ_REPLY">
+      <description>Read registers reply.</description>
+      <field type="uint32_t" name="request_id">Request ID - copied from request.</field>
+      <field type="uint8_t" name="result">0 for success, anything else is failure code.</field>
+      <field type="uint8_t" name="regstart">Starting register.</field>
+      <field type="uint8_t" name="count">Count of bytes read.</field>
+      <field type="uint8_t[128]" name="data">Reply data.</field>
+      <extensions/>
+      <field type="uint8_t" name="bank">Bank number.</field>
+    </message>
+    <message id="11002" name="DEVICE_OP_WRITE">
+      <description>Write registers for a device.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="request_id">Request ID - copied to reply.</field>
+      <field type="uint8_t" name="bustype" enum="DEVICE_OP_BUSTYPE">The bus type.</field>
+      <field type="uint8_t" name="bus">Bus number.</field>
+      <field type="uint8_t" name="address">Bus address.</field>
+      <field type="char[40]" name="busname">Name of device on bus (for SPI).</field>
+      <field type="uint8_t" name="regstart">First register to write.</field>
+      <field type="uint8_t" name="count">Count of registers to write.</field>
+      <field type="uint8_t[128]" name="data">Write data.</field>
+      <extensions/>
+      <field type="uint8_t" name="bank">Bank number.</field>
+    </message>
+    <message id="11003" name="DEVICE_OP_WRITE_REPLY">
+      <description>Write registers reply.</description>
+      <field type="uint32_t" name="request_id">Request ID - copied from request.</field>
+      <field type="uint8_t" name="result">0 for success, anything else is failure code.</field>
+    </message>
+    <message id="11004" name="SECURE_COMMAND">
+      <description>Send a secure command. Data should be signed with a private key corresponding with a public key known to the recipient. Signature should be over the concatenation of the sequence number (little-endian format), the operation (little-endian format) the data and the session key. For SECURE_COMMAND_GET_SESSION_KEY the session key should be zero length. The data array consists of the data followed by the signature. The sum of the data_length and the sig_length cannot be more than 220. The format of the data is command specific.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="sequence">Sequence ID for tagging reply.</field>
+      <field type="uint32_t" name="operation" enum="SECURE_COMMAND_OP">Operation being requested.</field>
+      <field type="uint8_t" name="data_length">Data length.</field>
+      <field type="uint8_t" name="sig_length">Signature length.</field>
+      <field type="uint8_t[220]" name="data">Signed data.</field>
+    </message>
+    <message id="11005" name="SECURE_COMMAND_REPLY">
+      <description>Reply from secure command.</description>
+      <field type="uint32_t" name="sequence">Sequence ID from request.</field>
+      <field type="uint32_t" name="operation" enum="SECURE_COMMAND_OP">Operation that was requested.</field>
+      <field type="uint8_t" name="result" enum="MAV_RESULT">Result of command.</field>
+      <field type="uint8_t" name="data_length">Data length.</field>
+      <field type="uint8_t[220]" name="data">Reply data.</field>
+    </message>
+    <!-- realtime Adaptive Controller tuning message -->
+    <message id="11010" name="ADAP_TUNING">
+      <description>Adaptive Controller tuning information.</description>
+      <field type="uint8_t" name="axis" enum="PID_TUNING_AXIS" instance="true">Axis.</field>
+      <field type="float" name="desired" units="deg/s">Desired rate.</field>
+      <field type="float" name="achieved" units="deg/s">Achieved rate.</field>
+      <field type="float" name="error">Error between model and vehicle.</field>
+      <field type="float" name="theta">Theta estimated state predictor.</field>
+      <field type="float" name="omega">Omega estimated state predictor.</field>
+      <field type="float" name="sigma">Sigma estimated state predictor.</field>
+      <field type="float" name="theta_dot">Theta derivative.</field>
+      <field type="float" name="omega_dot">Omega derivative.</field>
+      <field type="float" name="sigma_dot">Sigma derivative.</field>
+      <field type="float" name="f">Projection operator value.</field>
+      <field type="float" name="f_dot">Projection operator derivative.</field>
+      <field type="float" name="u">u adaptive controlled output command.</field>
+    </message>
+    <!-- camera vision based attitude and position delta message -->
+    <message id="11011" name="VISION_POSITION_DELTA">
+      <description>Camera vision based attitude and position deltas.</description>
+      <field name="time_usec" type="uint64_t" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field name="time_delta_usec" type="uint64_t" units="us">Time since the last reported camera frame.</field>
+      <field type="float[3]" name="angle_delta" units="rad">Defines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.</field>
+      <field type="float[3]" name="position_delta" units="m">Change in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.</field>
+      <field type="float" name="confidence" units="%">Normalised confidence value from 0 to 100.</field>
+    </message>
+    <!-- Angle of Attack and Side Slip Angle message -->
+    <message id="11020" name="AOA_SSA">
+      <description>Angle of Attack and Side Slip Angle.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (since boot or Unix epoch).</field>
+      <field name="AOA" type="float" units="deg">Angle of Attack.</field>
+      <field name="SSA" type="float" units="deg">Side Slip Angle.</field>
+    </message>
+    <message id="11030" name="ESC_TELEMETRY_1_TO_4">
+      <description>ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11031" name="ESC_TELEMETRY_5_TO_8">
+      <description>ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11032" name="ESC_TELEMETRY_9_TO_12">
+      <description>ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11033" name="OSD_PARAM_CONFIG">
+      <description>Configure an OSD parameter slot.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="request_id">Request ID - copied to reply.</field>
+      <field type="uint8_t" name="osd_screen">OSD parameter screen index.</field>
+      <field type="uint8_t" name="osd_index">OSD parameter display index.</field>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="uint8_t" name="config_type" enum="OSD_PARAM_CONFIG_TYPE">Config type.</field>
+      <field type="float" name="min_value">OSD parameter minimum value.</field>
+      <field type="float" name="max_value">OSD parameter maximum value.</field>
+      <field type="float" name="increment">OSD parameter increment.</field>
+    </message>
+    <message id="11034" name="OSD_PARAM_CONFIG_REPLY">
+      <description>Configure OSD parameter reply.</description>
+      <field type="uint32_t" name="request_id">Request ID - copied from request.</field>
+      <field type="uint8_t" name="result" enum="OSD_PARAM_CONFIG_ERROR">Config error type.</field>
+    </message>
+    <message id="11035" name="OSD_PARAM_SHOW_CONFIG">
+      <description>Read a configured an OSD parameter slot.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="request_id">Request ID - copied to reply.</field>
+      <field type="uint8_t" name="osd_screen">OSD parameter screen index.</field>
+      <field type="uint8_t" name="osd_index">OSD parameter display index.</field>
+    </message>
+    <message id="11036" name="OSD_PARAM_SHOW_CONFIG_REPLY">
+      <description>Read configured OSD parameter reply.</description>
+      <field type="uint32_t" name="request_id">Request ID - copied from request.</field>
+      <field type="uint8_t" name="result" enum="OSD_PARAM_CONFIG_ERROR">Config error type.</field>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="uint8_t" name="config_type" enum="OSD_PARAM_CONFIG_TYPE">Config type.</field>
+      <field type="float" name="min_value">OSD parameter minimum value.</field>
+      <field type="float" name="max_value">OSD parameter maximum value.</field>
+      <field type="float" name="increment">OSD parameter increment.</field>
+    </message>
+    <message id="11037" name="OBSTACLE_DISTANCE_3D">
+      <!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
+      <description>Obstacle located as a 3D vector.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="sensor_type" enum="MAV_DISTANCE_SENSOR">Class id of the distance sensor type.</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame of reference.</field>
+      <field type="uint16_t" name="obstacle_id" instance="true"> Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.</field>
+      <field type="float" name="x" units="m"> X position of the obstacle.</field>
+      <field type="float" name="y" units="m"> Y position of the obstacle.</field>
+      <field type="float" name="z" units="m"> Z position of the obstacle.</field>
+      <field type="float" name="min_distance" units="m">Minimum distance the sensor can measure.</field>
+      <field type="float" name="max_distance" units="m">Maximum distance the sensor can measure.</field>
+    </message>
+    <message id="11038" name="WATER_DEPTH">
+      <description>Water depth</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot)</field>
+      <field type="uint8_t" name="id" instance="true">Onboard ID of the sensor</field>
+      <field type="uint8_t" name="healthy">Sensor data healthy (0=unhealthy, 1=healthy)</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lng" units="degE7">Longitude</field>
+      <field type="float" name="alt" units="m">Altitude (MSL) of vehicle</field>
+      <field type="float" name="roll" units="rad">Roll angle</field>
+      <field type="float" name="pitch" units="rad">Pitch angle</field>
+      <field type="float" name="yaw" units="rad">Yaw angle</field>
+      <field type="float" name="distance" units="m">Distance (uncorrected)</field>
+      <field type="float" name="temperature" units="degC">Water temperature</field>
+    </message>
+    <message id="11039" name="MCU_STATUS">
+      <description>The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.</description>
+      <field type="uint8_t" name="id" instance="true">MCU instance</field>
+      <field type="int16_t" name="MCU_temperature" units="cdegC">MCU Internal temperature</field>
+      <field type="uint16_t" name="MCU_voltage" units="mV">MCU voltage</field>
+      <field type="uint16_t" name="MCU_voltage_min" units="mV">MCU voltage minimum</field>
+      <field type="uint16_t" name="MCU_voltage_max" units="mV">MCU voltage maximum</field>
+    </message>
+    <message id="11040" name="ESC_TELEMETRY_13_TO_16">
+      <description>ESC Telemetry Data for ESCs 13 to 16, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11041" name="ESC_TELEMETRY_17_TO_20">
+      <description>ESC Telemetry Data for ESCs 17 to 20, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11042" name="ESC_TELEMETRY_21_TO_24">
+      <description>ESC Telemetry Data for ESCs 21 to 24, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11043" name="ESC_TELEMETRY_25_TO_28">
+      <description>ESC Telemetry Data for ESCs 25 to 28, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11044" name="ESC_TELEMETRY_29_TO_32">
+      <description>ESC Telemetry Data for ESCs 29 to 32, matching data sent by BLHeli ESCs.</description>
+      <field type="uint8_t[4]" name="temperature" units="degC">Temperature.</field>
+      <field type="uint16_t[4]" name="voltage" units="cV">Voltage.</field>
+      <field type="uint16_t[4]" name="current" units="cA">Current.</field>
+      <field type="uint16_t[4]" name="totalcurrent" units="mAh">Total current.</field>
+      <field type="uint16_t[4]" name="rpm" units="rpm">RPM (eRPM).</field>
+      <field type="uint16_t[4]" name="count">count of telemetry packets received (wraps at 65535).</field>
+    </message>
+    <message id="11060" name="NAMED_VALUE_STRING">
+      <description>Send a key-value pair as string. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="char[10]" name="name" instance="true">Name of the debug variable</field>
+      <field type="char[64]" name="value">Value of the debug variable</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/common.xml b/src/main/resources/mavlink/ardupilot/common.xml
new file mode 100644
index 0000000..067c8dd
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/common.xml
@@ -0,0 +1,7539 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>standard.xml</include>
+  <version>3</version>
+  <dialect>0</dialect>
+  <enums>
+    <enum name="HL_FAILURE_FLAG" bitmask="true">
+      <description>Flags to report failure cases over the high latency telemetry.</description>
+      <entry value="1" name="HL_FAILURE_FLAG_GPS">
+        <description>GPS failure.</description>
+      </entry>
+      <entry value="2" name="HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE">
+        <description>Differential pressure sensor failure.</description>
+      </entry>
+      <entry value="4" name="HL_FAILURE_FLAG_ABSOLUTE_PRESSURE">
+        <description>Absolute pressure sensor failure.</description>
+      </entry>
+      <entry value="8" name="HL_FAILURE_FLAG_3D_ACCEL">
+        <description>Accelerometer sensor failure.</description>
+      </entry>
+      <entry value="16" name="HL_FAILURE_FLAG_3D_GYRO">
+        <description>Gyroscope sensor failure.</description>
+      </entry>
+      <entry value="32" name="HL_FAILURE_FLAG_3D_MAG">
+        <description>Magnetometer sensor failure.</description>
+      </entry>
+      <entry value="64" name="HL_FAILURE_FLAG_TERRAIN">
+        <description>Terrain subsystem failure.</description>
+      </entry>
+      <entry value="128" name="HL_FAILURE_FLAG_BATTERY">
+        <description>Battery failure/critical low battery.</description>
+      </entry>
+      <entry value="256" name="HL_FAILURE_FLAG_RC_RECEIVER">
+        <description>RC receiver failure/no RC connection.</description>
+      </entry>
+      <entry value="512" name="HL_FAILURE_FLAG_OFFBOARD_LINK">
+        <description>Offboard link failure.</description>
+      </entry>
+      <entry value="1024" name="HL_FAILURE_FLAG_ENGINE">
+        <description>Engine failure.</description>
+      </entry>
+      <entry value="2048" name="HL_FAILURE_FLAG_GEOFENCE">
+        <description>Geofence violation.</description>
+      </entry>
+      <entry value="4096" name="HL_FAILURE_FLAG_ESTIMATOR">
+        <description>Estimator failure, for example measurement rejection or large variances.</description>
+      </entry>
+      <entry value="8192" name="HL_FAILURE_FLAG_MISSION">
+        <description>Mission failure.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_GOTO">
+      <description>Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.</description>
+      <entry value="0" name="MAV_GOTO_DO_HOLD">
+        <description>Hold at the current position.</description>
+      </entry>
+      <entry value="1" name="MAV_GOTO_DO_CONTINUE">
+        <description>Continue with the next item in mission execution.</description>
+      </entry>
+      <entry value="2" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
+        <description>Hold at the current position of the system</description>
+      </entry>
+      <entry value="3" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
+        <description>Hold at the position specified in the parameters of the DO_HOLD action</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MODE">
+      <deprecated since="2025-02" replaced_by="MAV_MODE_FLAG">Using MAV_MODE to set modes is less predictable than using standard modes (MAV_STANDARD_MODE) or custom modes (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED).</deprecated>
+      <description>Predefined OR-combined MAV_MODE_FLAG values. These can simplify using the flags when setting modes. Note that manual input is enabled in all modes as a safety override.</description>
+      <entry value="0" name="MAV_MODE_PREFLIGHT">
+        <description>System is not ready to fly, booting, calibrating, etc. No flag is set.</description>
+      </entry>
+      <entry value="80" name="MAV_MODE_STABILIZE_DISARMED">
+        <description>System is allowed to be active, under assisted RC control (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_STABILIZE_ENABLED)</description>
+      </entry>
+      <entry value="208" name="MAV_MODE_STABILIZE_ARMED">
+        <description>System is allowed to be active, under assisted RC control (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_STABILIZE_ENABLED)</description>
+      </entry>
+      <entry value="64" name="MAV_MODE_MANUAL_DISARMED">
+        <description>System is allowed to be active, under manual (RC) control, no stabilization (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)</description>
+      </entry>
+      <entry value="192" name="MAV_MODE_MANUAL_ARMED">
+        <description>System is allowed to be active, under manual (RC) control, no stabilization (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)</description>
+      </entry>
+      <entry value="88" name="MAV_MODE_GUIDED_DISARMED">
+        <description>System is allowed to be active, under autonomous control, manual setpoint (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_STABILIZE_ENABLED, MAV_MODE_FLAG_GUIDED_ENABLED)</description>
+      </entry>
+      <entry value="216" name="MAV_MODE_GUIDED_ARMED">
+        <description>System is allowed to be active, under autonomous control, manual setpoint (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_STABILIZE_ENABLED, MAV_MODE_FLAG_GUIDED_ENABLED)</description>
+      </entry>
+      <entry value="92" name="MAV_MODE_AUTO_DISARMED">
+        <description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints). (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_STABILIZE_ENABLED, MAV_MODE_FLAG_GUIDED_ENABLED, MAV_MODE_FLAG_AUTO_ENABLED).</description>
+      </entry>
+      <entry value="220" name="MAV_MODE_AUTO_ARMED">
+        <description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints). (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_STABILIZE_ENABLED, MAV_MODE_FLAG_GUIDED_ENABLED,MAV_MODE_FLAG_AUTO_ENABLED).</description>
+      </entry>
+      <entry value="66" name="MAV_MODE_TEST_DISARMED">
+        <description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_TEST_ENABLED).</description>
+      </entry>
+      <entry value="194" name="MAV_MODE_TEST_ARMED">
+        <description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only (MAV_MODE_FLAG_SAFETY_ARMED, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, MAV_MODE_FLAG_TEST_ENABLED)</description>
+      </entry>
+    </enum>
+    <enum name="MAV_SYS_STATUS_SENSOR" bitmask="true">
+      <description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>
+      <entry value="1" name="MAV_SYS_STATUS_SENSOR_3D_GYRO">
+        <description>0x01 3D gyro</description>
+      </entry>
+      <entry value="2" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL">
+        <description>0x02 3D accelerometer</description>
+      </entry>
+      <entry value="4" name="MAV_SYS_STATUS_SENSOR_3D_MAG">
+        <description>0x04 3D magnetometer</description>
+      </entry>
+      <entry value="8" name="MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE">
+        <description>0x08 absolute pressure</description>
+      </entry>
+      <entry value="16" name="MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE">
+        <description>0x10 differential pressure</description>
+      </entry>
+      <entry value="32" name="MAV_SYS_STATUS_SENSOR_GPS">
+        <description>0x20 GPS</description>
+      </entry>
+      <entry value="64" name="MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW">
+        <description>0x40 optical flow</description>
+      </entry>
+      <entry value="128" name="MAV_SYS_STATUS_SENSOR_VISION_POSITION">
+        <description>0x80 computer vision position</description>
+      </entry>
+      <entry value="256" name="MAV_SYS_STATUS_SENSOR_LASER_POSITION">
+        <description>0x100 laser based position</description>
+      </entry>
+      <entry value="512" name="MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH">
+        <description>0x200 external ground truth (Vicon or Leica)</description>
+      </entry>
+      <entry value="1024" name="MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL">
+        <description>0x400 3D angular rate control</description>
+      </entry>
+      <entry value="2048" name="MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION">
+        <description>0x800 attitude stabilization</description>
+      </entry>
+      <entry value="4096" name="MAV_SYS_STATUS_SENSOR_YAW_POSITION">
+        <description>0x1000 yaw position</description>
+      </entry>
+      <entry value="8192" name="MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL">
+        <description>0x2000 z/altitude control</description>
+      </entry>
+      <entry value="16384" name="MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL">
+        <description>0x4000 x/y position control</description>
+      </entry>
+      <entry value="32768" name="MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS">
+        <description>0x8000 motor outputs / control</description>
+      </entry>
+      <entry value="65536" name="MAV_SYS_STATUS_SENSOR_RC_RECEIVER">
+        <description>0x10000 RC receiver</description>
+      </entry>
+      <entry value="131072" name="MAV_SYS_STATUS_SENSOR_3D_GYRO2">
+        <description>0x20000 2nd 3D gyro</description>
+      </entry>
+      <entry value="262144" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL2">
+        <description>0x40000 2nd 3D accelerometer</description>
+      </entry>
+      <entry value="524288" name="MAV_SYS_STATUS_SENSOR_3D_MAG2">
+        <description>0x80000 2nd 3D magnetometer</description>
+      </entry>
+      <entry value="1048576" name="MAV_SYS_STATUS_GEOFENCE">
+        <description>0x100000 geofence</description>
+      </entry>
+      <entry value="2097152" name="MAV_SYS_STATUS_AHRS">
+        <description>0x200000 AHRS subsystem health</description>
+      </entry>
+      <entry value="4194304" name="MAV_SYS_STATUS_TERRAIN">
+        <description>0x400000 Terrain subsystem health</description>
+      </entry>
+      <entry value="8388608" name="MAV_SYS_STATUS_REVERSE_MOTOR">
+        <description>0x800000 Motors are reversed</description>
+      </entry>
+      <entry value="16777216" name="MAV_SYS_STATUS_LOGGING">
+        <description>0x1000000 Logging</description>
+      </entry>
+      <entry value="33554432" name="MAV_SYS_STATUS_SENSOR_BATTERY">
+        <description>0x2000000 Battery</description>
+      </entry>
+      <entry value="67108864" name="MAV_SYS_STATUS_SENSOR_PROXIMITY">
+        <description>0x4000000 Proximity</description>
+      </entry>
+      <entry value="134217728" name="MAV_SYS_STATUS_SENSOR_SATCOM">
+        <description>0x8000000 Satellite Communication </description>
+      </entry>
+      <entry value="268435456" name="MAV_SYS_STATUS_PREARM_CHECK">
+        <description>0x10000000 pre-arm check status. Always healthy when armed</description>
+      </entry>
+      <entry value="536870912" name="MAV_SYS_STATUS_OBSTACLE_AVOIDANCE">
+        <description>0x20000000 Avoidance/collision prevention</description>
+      </entry>
+      <entry value="1073741824" name="MAV_SYS_STATUS_SENSOR_PROPULSION">
+        <description>0x40000000 propulsion (actuator, esc, motor or propellor)</description>
+      </entry>
+      <entry value="2147483648" name="MAV_SYS_STATUS_EXTENSION_USED">
+        <description>0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)</description>
+      </entry>
+    </enum>
+    <enum name="MAV_SYS_STATUS_SENSOR_EXTENDED" bitmask="true">
+      <description>These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.</description>
+      <entry value="1" name="MAV_SYS_STATUS_RECOVERY_SYSTEM">
+        <description>0x01 Recovery system (parachute, balloon, retracts etc)</description>
+      </entry>
+      <entry value="2" name="MAV_SYS_STATUS_SENSOR_LEAK">
+        <description>0x02 Leak detection</description>
+      </entry>
+    </enum>
+    <enum name="MAV_FRAME">
+      <description>Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.
+
+      Global frames use the following naming conventions:
+      - "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default.
+        The following modifiers may be used with "GLOBAL":
+        - "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
+        - "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
+        - "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.
+
+      Local frames use the following naming conventions:
+      - "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
+      - "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
+      - "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.
+
+      Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).
+ </description>
+      <entry value="0" name="MAV_FRAME_GLOBAL">
+        <description>Global (WGS84) coordinate frame + altitude relative to mean sea level (MSL).</description>
+      </entry>
+      <entry value="1" name="MAV_FRAME_LOCAL_NED">
+        <description>NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.</description>
+      </entry>
+      <entry value="2" name="MAV_FRAME_MISSION">
+        <description>NOT a coordinate frame, indicates a mission command.</description>
+      </entry>
+      <entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
+        <description>
+          Global (WGS84) coordinate frame + altitude relative to the home position.
+        </description>
+      </entry>
+      <entry value="4" name="MAV_FRAME_LOCAL_ENU">
+        <description>ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.</description>
+      </entry>
+      <entry value="5" name="MAV_FRAME_GLOBAL_INT">
+        <superseded since="2024-03" replaced_by="MAV_FRAME_GLOBAL">Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.</superseded>
+        <description>Global (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).</description>
+      </entry>
+      <entry value="6" name="MAV_FRAME_GLOBAL_RELATIVE_ALT_INT">
+        <superseded since="2024-03" replaced_by="MAV_FRAME_GLOBAL_RELATIVE_ALT">Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.</superseded>
+        <description>Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. </description>
+      </entry>
+      <entry value="7" name="MAV_FRAME_LOCAL_OFFSET_NED">
+        <description>NED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.</description>
+      </entry>
+      <entry value="8" name="MAV_FRAME_BODY_NED">
+        <superseded since="2019-08" replaced_by="MAV_FRAME_BODY_FRD"/>
+        <description>Same as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.</description>
+      </entry>
+      <entry value="9" name="MAV_FRAME_BODY_OFFSET_NED">
+        <superseded since="2019-08" replaced_by="MAV_FRAME_BODY_FRD"/>
+        <description>This is the same as MAV_FRAME_BODY_FRD.</description>
+      </entry>
+      <entry value="10" name="MAV_FRAME_GLOBAL_TERRAIN_ALT">
+        <description>Global (WGS84) coordinate frame with AGL altitude (altitude at ground level).</description>
+      </entry>
+      <entry value="11" name="MAV_FRAME_GLOBAL_TERRAIN_ALT_INT">
+        <superseded since="2024-03" replaced_by="MAV_FRAME_GLOBAL_TERRAIN_ALT">Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.</superseded>
+        <description>Global (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).</description>
+      </entry>
+      <entry value="12" name="MAV_FRAME_BODY_FRD">
+        <description>FRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.</description>
+      </entry>
+      <entry value="13" name="MAV_FRAME_RESERVED_13">
+        <deprecated since="2019-04" replaced_by=""/>
+        <description>MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).</description>
+      </entry>
+      <entry value="14" name="MAV_FRAME_RESERVED_14">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
+        <description>MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).</description>
+      </entry>
+      <entry value="15" name="MAV_FRAME_RESERVED_15">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
+        <description>MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).</description>
+      </entry>
+      <entry value="16" name="MAV_FRAME_RESERVED_16">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
+        <description>MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).</description>
+      </entry>
+      <entry value="17" name="MAV_FRAME_RESERVED_17">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
+        <description>MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).</description>
+      </entry>
+      <entry value="18" name="MAV_FRAME_RESERVED_18">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
+        <description>MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).</description>
+      </entry>
+      <entry value="19" name="MAV_FRAME_RESERVED_19">
+        <deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
+        <description>MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).</description>
+      </entry>
+      <entry value="20" name="MAV_FRAME_LOCAL_FRD">
+        <description>FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.</description>
+      </entry>
+      <entry value="21" name="MAV_FRAME_LOCAL_FLU">
+        <description>FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.</description>
+      </entry>
+    </enum>
+    <enum name="MAVLINK_DATA_STREAM_TYPE">
+      <entry value="0" name="MAVLINK_DATA_STREAM_IMG_JPEG">
+        <description/>
+      </entry>
+      <entry value="1" name="MAVLINK_DATA_STREAM_IMG_BMP">
+        <description/>
+      </entry>
+      <entry value="2" name="MAVLINK_DATA_STREAM_IMG_RAW8U">
+        <description/>
+      </entry>
+      <entry value="3" name="MAVLINK_DATA_STREAM_IMG_RAW32U">
+        <description/>
+      </entry>
+      <entry value="4" name="MAVLINK_DATA_STREAM_IMG_PGM">
+        <description/>
+      </entry>
+      <entry value="5" name="MAVLINK_DATA_STREAM_IMG_PNG">
+        <description/>
+      </entry>
+    </enum>
+    <!-- fenced mode enums -->
+    <enum name="FENCE_BREACH">
+      <entry value="0" name="FENCE_BREACH_NONE">
+        <description>No last fence breach</description>
+      </entry>
+      <entry value="1" name="FENCE_BREACH_MINALT">
+        <description>Breached minimum altitude</description>
+      </entry>
+      <entry value="2" name="FENCE_BREACH_MAXALT">
+        <description>Breached maximum altitude</description>
+      </entry>
+      <entry value="3" name="FENCE_BREACH_BOUNDARY">
+        <description>Breached fence boundary</description>
+      </entry>
+    </enum>
+    <enum name="FENCE_MITIGATE">
+      <!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Actions being taken to mitigate/prevent fence breach</description>
+      <entry value="0" name="FENCE_MITIGATE_UNKNOWN">
+        <description>Unknown</description>
+      </entry>
+      <entry value="1" name="FENCE_MITIGATE_NONE">
+        <description>No actions being taken</description>
+      </entry>
+      <entry value="2" name="FENCE_MITIGATE_VEL_LIMIT">
+        <description>Velocity limiting active to prevent breach</description>
+      </entry>
+    </enum>
+    <enum name="FENCE_TYPE" bitmask="true">
+      <description>Fence types to enable or disable when using MAV_CMD_DO_FENCE_ENABLE.
+        Note that at least one of these flags must be set in MAV_CMD_DO_FENCE_ENABLE.param2.
+        If none are set, the flight stack will ignore the field and enable/disable its default set of fences (usually all of them).
+      </description>
+      <entry value="1" name="FENCE_TYPE_ALT_MAX">
+        <description>Maximum altitude fence</description>
+      </entry>
+      <entry value="2" name="FENCE_TYPE_CIRCLE">
+        <description>Circle fence</description>
+      </entry>
+      <entry value="4" name="FENCE_TYPE_POLYGON">
+        <description>Polygon fence</description>
+      </entry>
+      <entry value="8" name="FENCE_TYPE_ALT_MIN">
+        <description>Minimum altitude fence</description>
+      </entry>
+    </enum>
+    <!-- Camera Mount mode Enumeration -->
+    <enum name="MAV_MOUNT_MODE">
+      <deprecated since="2020-01" replaced_by="GIMBAL_MANAGER_FLAGS"/>
+      <description>Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.</description>
+      <entry value="0" name="MAV_MOUNT_MODE_RETRACT">
+        <description>Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization</description>
+      </entry>
+      <entry value="1" name="MAV_MOUNT_MODE_NEUTRAL">
+        <description>Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.</description>
+      </entry>
+      <entry value="2" name="MAV_MOUNT_MODE_MAVLINK_TARGETING">
+        <description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description>
+      </entry>
+      <entry value="3" name="MAV_MOUNT_MODE_RC_TARGETING">
+        <description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description>
+      </entry>
+      <entry value="4" name="MAV_MOUNT_MODE_GPS_POINT">
+        <description>Load neutral position and start to point to Lat,Lon,Alt</description>
+      </entry>
+      <entry value="5" name="MAV_MOUNT_MODE_SYSID_TARGET">
+        <description>Gimbal tracks system with specified system ID</description>
+      </entry>
+      <entry value="6" name="MAV_MOUNT_MODE_HOME_LOCATION">
+        <description>Gimbal tracks home position</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_DEVICE_CAP_FLAGS" bitmask="true">
+      <description>Gimbal device (low level) capability flags (bitmap).</description>
+      <entry value="1" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT">
+        <description>Gimbal device supports a retracted position.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL">
+        <description>Gimbal device supports a horizontal, forward looking position, stabilized.</description>
+      </entry>
+      <entry value="4" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS">
+        <description>Gimbal device supports rotating around roll axis.</description>
+      </entry>
+      <entry value="8" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW">
+        <description>Gimbal device supports to follow a roll angle relative to the vehicle.</description>
+      </entry>
+      <entry value="16" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK">
+        <description>Gimbal device supports locking to a roll angle (generally that's the default with roll stabilized).</description>
+      </entry>
+      <entry value="32" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS">
+        <description>Gimbal device supports rotating around pitch axis.</description>
+      </entry>
+      <entry value="64" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW">
+        <description>Gimbal device supports to follow a pitch angle relative to the vehicle.</description>
+      </entry>
+      <entry value="128" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK">
+        <description>Gimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).</description>
+      </entry>
+      <entry value="256" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS">
+        <description>Gimbal device supports rotating around yaw axis.</description>
+      </entry>
+      <entry value="512" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW">
+        <description>Gimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).</description>
+      </entry>
+      <entry value="1024" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK">
+        <description>Gimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).</description>
+      </entry>
+      <entry value="2048" name="GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW">
+        <description>Gimbal device supports yawing/panning infinitely (e.g. using slip disk).</description>
+      </entry>
+      <entry value="4096" name="GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME">
+        <description>Gimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.</description>
+      </entry>
+      <entry value="8192" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS">
+        <description>Gimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.</description>
+      </entry>
+      <entry value="65536" name="GIMBAL_DEVICE_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL">
+        <description>Gimbal device supports to point to a local position.</description>
+      </entry>
+      <entry value="131072" name="GIMBAL_DEVICE_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL">
+        <description>Gimbal device supports to point to a global latitude, longitude, altitude position.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_MANAGER_CAP_FLAGS" bitmask="true">
+      <description>Gimbal manager high level capability flags (bitmap). The flags are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.</description>
+      <entry value="1" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.</description>
+      </entry>
+      <entry value="4" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.</description>
+      </entry>
+      <entry value="8" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.</description>
+      </entry>
+      <entry value="16" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.</description>
+      </entry>
+      <entry value="32" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.</description>
+      </entry>
+      <entry value="64" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.</description>
+      </entry>
+      <entry value="128" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.</description>
+      </entry>
+      <entry value="256" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.</description>
+      </entry>
+      <entry value="512" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.</description>
+      </entry>
+      <entry value="1024" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.</description>
+      </entry>
+      <entry value="2048" name="GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.</description>
+      </entry>
+      <entry value="4096" name="GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.</description>
+      </entry>
+      <entry value="8192" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTS">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.</description>
+      </entry>
+      <entry value="65536" name="GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL.</description>
+      </entry>
+      <entry value="131072" name="GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL">
+        <description>Based on GIMBAL_DEVICE_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_DEVICE_FLAGS" bitmask="true">
+      <description>Flags for gimbal device (lower level) operation.</description>
+      <entry value="1" name="GIMBAL_DEVICE_FLAGS_RETRACT">
+        <description>Set to retracted safe position (no stabilization), takes precedence over all other flags.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_DEVICE_FLAGS_NEUTRAL">
+        <description>Set to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.</description>
+      </entry>
+      <entry value="4" name="GIMBAL_DEVICE_FLAGS_ROLL_LOCK">
+        <description>Lock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.</description>
+      </entry>
+      <entry value="8" name="GIMBAL_DEVICE_FLAGS_PITCH_LOCK">
+        <description>Lock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.</description>
+      </entry>
+      <entry value="16" name="GIMBAL_DEVICE_FLAGS_YAW_LOCK">
+        <description>Lock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).</description>
+      </entry>
+      <entry value="32" name="GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME">
+        <description>Yaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).</description>
+      </entry>
+      <entry value="64" name="GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME">
+        <description>Yaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).</description>
+      </entry>
+      <entry value="128" name="GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME">
+        <description>Gimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).</description>
+      </entry>
+      <entry value="256" name="GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE">
+        <description>The gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.</description>
+      </entry>
+      <entry value="512" name="GIMBAL_DEVICE_FLAGS_RC_MIXED">
+        <description>The gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_MANAGER_FLAGS" bitmask="true">
+      <description>Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.</description>
+      <entry value="1" name="GIMBAL_MANAGER_FLAGS_RETRACT">
+        <description>Based on GIMBAL_DEVICE_FLAGS_RETRACT.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_MANAGER_FLAGS_NEUTRAL">
+        <description>Based on GIMBAL_DEVICE_FLAGS_NEUTRAL.</description>
+      </entry>
+      <entry value="4" name="GIMBAL_MANAGER_FLAGS_ROLL_LOCK">
+        <description>Based on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.</description>
+      </entry>
+      <entry value="8" name="GIMBAL_MANAGER_FLAGS_PITCH_LOCK">
+        <description>Based on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.</description>
+      </entry>
+      <entry value="16" name="GIMBAL_MANAGER_FLAGS_YAW_LOCK">
+        <description>Based on GIMBAL_DEVICE_FLAGS_YAW_LOCK.</description>
+      </entry>
+      <entry value="32" name="GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAME">
+        <description>Based on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.</description>
+      </entry>
+      <entry value="64" name="GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME">
+        <description>Based on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.</description>
+      </entry>
+      <entry value="128" name="GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME">
+        <description>Based on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.</description>
+      </entry>
+      <entry value="256" name="GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVE">
+        <description>Based on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.</description>
+      </entry>
+      <entry value="512" name="GIMBAL_MANAGER_FLAGS_RC_MIXED">
+        <description>Based on GIMBAL_DEVICE_FLAGS_RC_MIXED.</description>
+      </entry>
+    </enum>
+    <enum name="GIMBAL_DEVICE_ERROR_FLAGS" bitmask="true">
+      <description>Gimbal device (low level) error flags (bitmap, 0 means no error)</description>
+      <entry value="1" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMIT">
+        <description>Gimbal device is limited by hardware roll limit.</description>
+      </entry>
+      <entry value="2" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMIT">
+        <description>Gimbal device is limited by hardware pitch limit.</description>
+      </entry>
+      <entry value="4" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMIT">
+        <description>Gimbal device is limited by hardware yaw limit.</description>
+      </entry>
+      <entry value="8" name="GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERROR">
+        <description>There is an error with the gimbal encoders.</description>
+      </entry>
+      <entry value="16" name="GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERROR">
+        <description>There is an error with the gimbal power source.</description>
+      </entry>
+      <entry value="32" name="GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERROR">
+        <description>There is an error with the gimbal motors.</description>
+      </entry>
+      <entry value="64" name="GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERROR">
+        <description>There is an error with the gimbal's software.</description>
+      </entry>
+      <entry value="128" name="GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERROR">
+        <description>There is an error with the gimbal's communication.</description>
+      </entry>
+      <entry value="256" name="GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNING">
+        <description>Gimbal device is currently calibrating.</description>
+      </entry>
+      <entry value="512" name="GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGER">
+        <description>Gimbal device is not assigned to a gimbal manager.</description>
+      </entry>
+    </enum>
+    <!-- gripper action enum -->
+    <enum name="GRIPPER_ACTIONS">
+      <description>Gripper actions.</description>
+      <entry value="0" name="GRIPPER_ACTION_RELEASE">
+        <description>Gripper release cargo.</description>
+      </entry>
+      <entry value="1" name="GRIPPER_ACTION_GRAB">
+        <description>Gripper grab onto cargo.</description>
+      </entry>
+      <entry value="2" name="GRIPPER_ACTION_HOLD">
+        <description>Gripper hold current grip state/position.</description>
+      </entry>
+    </enum>
+    <!-- winch action enum -->
+    <enum name="WINCH_ACTIONS">
+      <description>Winch actions.</description>
+      <entry value="0" name="WINCH_RELAXED">
+        <description>Allow motor to freewheel.</description>
+      </entry>
+      <entry value="1" name="WINCH_RELATIVE_LENGTH_CONTROL">
+        <description>Wind or unwind specified length of line, optionally using specified rate.</description>
+      </entry>
+      <entry value="2" name="WINCH_RATE_CONTROL">
+        <description>Wind or unwind line at specified rate.</description>
+      </entry>
+      <entry value="3" name="WINCH_LOCK">
+        <description>Perform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="4" name="WINCH_DELIVER">
+        <description>Sequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="5" name="WINCH_HOLD">
+        <description>Engage motor and hold current position. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="6" name="WINCH_RETRACT">
+        <description>Return the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="7" name="WINCH_LOAD_LINE">
+        <description>Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="8" name="WINCH_ABANDON_LINE">
+        <description>Spool out the entire length of the line. Only action and instance command parameters are used, others are ignored.</description>
+      </entry>
+      <entry value="9" name="WINCH_LOAD_PAYLOAD">
+        <description>Spools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored</description>
+      </entry>
+    </enum>
+    <!-- UAVCAN node health enumeration -->
+    <enum name="UAVCAN_NODE_HEALTH">
+      <description>Generalized UAVCAN node health</description>
+      <entry value="0" name="UAVCAN_NODE_HEALTH_OK">
+        <description>The node is functioning properly.</description>
+      </entry>
+      <entry value="1" name="UAVCAN_NODE_HEALTH_WARNING">
+        <description>A critical parameter went out of range or the node has encountered a minor failure.</description>
+      </entry>
+      <entry value="2" name="UAVCAN_NODE_HEALTH_ERROR">
+        <description>The node has encountered a major failure.</description>
+      </entry>
+      <entry value="3" name="UAVCAN_NODE_HEALTH_CRITICAL">
+        <description>The node has suffered a fatal malfunction.</description>
+      </entry>
+    </enum>
+    <!-- UAVCAN node mode enumeration -->
+    <enum name="UAVCAN_NODE_MODE">
+      <description>Generalized UAVCAN node mode</description>
+      <entry value="0" name="UAVCAN_NODE_MODE_OPERATIONAL">
+        <description>The node is performing its primary functions.</description>
+      </entry>
+      <entry value="1" name="UAVCAN_NODE_MODE_INITIALIZATION">
+        <description>The node is initializing; this mode is entered immediately after startup.</description>
+      </entry>
+      <entry value="2" name="UAVCAN_NODE_MODE_MAINTENANCE">
+        <description>The node is under maintenance.</description>
+      </entry>
+      <entry value="3" name="UAVCAN_NODE_MODE_SOFTWARE_UPDATE">
+        <description>The node is in the process of updating its software.</description>
+      </entry>
+      <entry value="7" name="UAVCAN_NODE_MODE_OFFLINE">
+        <description>The node is no longer available online.</description>
+      </entry>
+    </enum>
+    <enum name="STORAGE_STATUS">
+      <description>Flags to indicate the status of camera storage.</description>
+      <entry value="0" name="STORAGE_STATUS_EMPTY">
+        <description>Storage is missing (no microSD card loaded for example.)</description>
+      </entry>
+      <entry value="1" name="STORAGE_STATUS_UNFORMATTED">
+        <description>Storage present but unformatted.</description>
+      </entry>
+      <entry value="2" name="STORAGE_STATUS_READY">
+        <description>Storage present and ready.</description>
+      </entry>
+      <entry value="3" name="STORAGE_STATUS_NOT_SUPPORTED">
+        <description>Camera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.</description>
+      </entry>
+    </enum>
+    <enum name="STORAGE_TYPE">
+      <description>Flags to indicate the type of storage.</description>
+      <entry value="0" name="STORAGE_TYPE_UNKNOWN">
+        <description>Storage type is not known.</description>
+      </entry>
+      <entry value="1" name="STORAGE_TYPE_USB_STICK">
+        <description>Storage type is USB device.</description>
+      </entry>
+      <entry value="2" name="STORAGE_TYPE_SD">
+        <description>Storage type is SD card.</description>
+      </entry>
+      <entry value="3" name="STORAGE_TYPE_MICROSD">
+        <description>Storage type is microSD card.</description>
+      </entry>
+      <entry value="4" name="STORAGE_TYPE_CF">
+        <description>Storage type is CFast.</description>
+      </entry>
+      <entry value="5" name="STORAGE_TYPE_CFE">
+        <description>Storage type is CFexpress.</description>
+      </entry>
+      <entry value="6" name="STORAGE_TYPE_XQD">
+        <description>Storage type is XQD.</description>
+      </entry>
+      <entry value="7" name="STORAGE_TYPE_HD">
+        <description>Storage type is HD mass storage type.</description>
+      </entry>
+      <entry value="254" name="STORAGE_TYPE_OTHER">
+        <description>Storage type is other, not listed type.</description>
+      </entry>
+    </enum>
+    <enum name="STORAGE_USAGE_FLAG" bitmask="true">
+      <description>Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).</description>
+      <entry value="1" name="STORAGE_USAGE_FLAG_SET">
+        <description>Always set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).</description>
+      </entry>
+      <entry value="2" name="STORAGE_USAGE_FLAG_PHOTO">
+        <description>Storage for saving photos.</description>
+      </entry>
+      <entry value="4" name="STORAGE_USAGE_FLAG_VIDEO">
+        <description>Storage for saving videos.</description>
+      </entry>
+      <entry value="8" name="STORAGE_USAGE_FLAG_LOGS">
+        <description>Storage for saving logs.</description>
+      </entry>
+    </enum>
+    <enum name="ORBIT_YAW_BEHAVIOUR">
+      <description>Yaw behaviour during orbit flight.</description>
+      <entry value="0" name="ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER">
+        <description>Vehicle front points to the center (default).</description>
+      </entry>
+      <entry value="1" name="ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING">
+        <description>Vehicle front holds heading when message received.</description>
+      </entry>
+      <entry value="2" name="ORBIT_YAW_BEHAVIOUR_UNCONTROLLED">
+        <description>Yaw uncontrolled.</description>
+      </entry>
+      <entry value="3" name="ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE">
+        <description>Vehicle front follows flight path (tangential to circle).</description>
+      </entry>
+      <entry value="4" name="ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED">
+        <description>Yaw controlled by RC input.</description>
+      </entry>
+      <entry value="5" name="ORBIT_YAW_BEHAVIOUR_UNCHANGED">
+        <description>Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.</description>
+      </entry>
+    </enum>
+    <enum name="ACTUATOR_CONFIGURATION">
+      <description>Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.</description>
+      <entry value="0" name="ACTUATOR_CONFIGURATION_NONE">
+        <description>Do nothing.</description>
+      </entry>
+      <entry value="1" name="ACTUATOR_CONFIGURATION_BEEP">
+        <description>Command the actuator to beep now.</description>
+      </entry>
+      <entry value="2" name="ACTUATOR_CONFIGURATION_3D_MODE_ON">
+        <description>Permanently set the actuator (ESC) to 3D mode (reversible thrust).</description>
+      </entry>
+      <entry value="3" name="ACTUATOR_CONFIGURATION_3D_MODE_OFF">
+        <description>Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).</description>
+      </entry>
+      <entry value="4" name="ACTUATOR_CONFIGURATION_SPIN_DIRECTION1">
+        <description>Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).</description>
+      </entry>
+      <entry value="5" name="ACTUATOR_CONFIGURATION_SPIN_DIRECTION2">
+        <description>Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).</description>
+      </entry>
+    </enum>
+    <enum name="ACTUATOR_OUTPUT_FUNCTION">
+      <description>Actuator output function. Values greater or equal to 1000 are autopilot-specific.</description>
+      <entry value="0" name="ACTUATOR_OUTPUT_FUNCTION_NONE">
+        <description>No function (disabled).</description>
+      </entry>
+      <entry value="1" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR1">
+        <description>Motor 1</description>
+      </entry>
+      <entry value="2" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR2">
+        <description>Motor 2</description>
+      </entry>
+      <entry value="3" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR3">
+        <description>Motor 3</description>
+      </entry>
+      <entry value="4" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR4">
+        <description>Motor 4</description>
+      </entry>
+      <entry value="5" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR5">
+        <description>Motor 5</description>
+      </entry>
+      <entry value="6" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR6">
+        <description>Motor 6</description>
+      </entry>
+      <entry value="7" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR7">
+        <description>Motor 7</description>
+      </entry>
+      <entry value="8" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR8">
+        <description>Motor 8</description>
+      </entry>
+      <entry value="9" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR9">
+        <description>Motor 9</description>
+      </entry>
+      <entry value="10" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR10">
+        <description>Motor 10</description>
+      </entry>
+      <entry value="11" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR11">
+        <description>Motor 11</description>
+      </entry>
+      <entry value="12" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR12">
+        <description>Motor 12</description>
+      </entry>
+      <entry value="13" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR13">
+        <description>Motor 13</description>
+      </entry>
+      <entry value="14" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR14">
+        <description>Motor 14</description>
+      </entry>
+      <entry value="15" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR15">
+        <description>Motor 15</description>
+      </entry>
+      <entry value="16" name="ACTUATOR_OUTPUT_FUNCTION_MOTOR16">
+        <description>Motor 16</description>
+      </entry>
+      <entry value="33" name="ACTUATOR_OUTPUT_FUNCTION_SERVO1">
+        <description>Servo 1</description>
+      </entry>
+      <entry value="34" name="ACTUATOR_OUTPUT_FUNCTION_SERVO2">
+        <description>Servo 2</description>
+      </entry>
+      <entry value="35" name="ACTUATOR_OUTPUT_FUNCTION_SERVO3">
+        <description>Servo 3</description>
+      </entry>
+      <entry value="36" name="ACTUATOR_OUTPUT_FUNCTION_SERVO4">
+        <description>Servo 4</description>
+      </entry>
+      <entry value="37" name="ACTUATOR_OUTPUT_FUNCTION_SERVO5">
+        <description>Servo 5</description>
+      </entry>
+      <entry value="38" name="ACTUATOR_OUTPUT_FUNCTION_SERVO6">
+        <description>Servo 6</description>
+      </entry>
+      <entry value="39" name="ACTUATOR_OUTPUT_FUNCTION_SERVO7">
+        <description>Servo 7</description>
+      </entry>
+      <entry value="40" name="ACTUATOR_OUTPUT_FUNCTION_SERVO8">
+        <description>Servo 8</description>
+      </entry>
+      <entry value="41" name="ACTUATOR_OUTPUT_FUNCTION_SERVO9">
+        <description>Servo 9</description>
+      </entry>
+      <entry value="42" name="ACTUATOR_OUTPUT_FUNCTION_SERVO10">
+        <description>Servo 10</description>
+      </entry>
+      <entry value="43" name="ACTUATOR_OUTPUT_FUNCTION_SERVO11">
+        <description>Servo 11</description>
+      </entry>
+      <entry value="44" name="ACTUATOR_OUTPUT_FUNCTION_SERVO12">
+        <description>Servo 12</description>
+      </entry>
+      <entry value="45" name="ACTUATOR_OUTPUT_FUNCTION_SERVO13">
+        <description>Servo 13</description>
+      </entry>
+      <entry value="46" name="ACTUATOR_OUTPUT_FUNCTION_SERVO14">
+        <description>Servo 14</description>
+      </entry>
+      <entry value="47" name="ACTUATOR_OUTPUT_FUNCTION_SERVO15">
+        <description>Servo 15</description>
+      </entry>
+      <entry value="48" name="ACTUATOR_OUTPUT_FUNCTION_SERVO16">
+        <description>Servo 16</description>
+      </entry>
+    </enum>
+    <enum name="AUTOTUNE_AXIS" bitmask="true">
+      <description>Axes that will be autotuned by MAV_CMD_DO_AUTOTUNE_ENABLE.
+        Note that at least one flag must be set in MAV_CMD_DO_AUTOTUNE_ENABLE.param2: if none are set, the flight stack will tune its default set of axes.</description>
+      <entry value="1" name="AUTOTUNE_AXIS_ROLL">
+        <description>Autotune roll axis.</description>
+      </entry>
+      <entry value="2" name="AUTOTUNE_AXIS_PITCH">
+        <description>Autotune pitch axis.</description>
+      </entry>
+      <entry value="4" name="AUTOTUNE_AXIS_YAW">
+        <description>Autotune yaw axis.</description>
+      </entry>
+    </enum>
+    <enum name="PREFLIGHT_STORAGE_PARAMETER_ACTION">
+      <description>
+        Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE.
+        (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)
+      </description>
+      <entry value="0" name="PARAM_READ_PERSISTENT">
+        <description>Read all parameters from persistent storage. Replaces values in volatile storage.</description>
+      </entry>
+      <entry value="1" name="PARAM_WRITE_PERSISTENT">
+        <description>Write all parameter values to persistent storage (flash/EEPROM)</description>
+      </entry>
+      <entry value="2" name="PARAM_RESET_FACTORY_DEFAULT">
+        <description>Reset parameters to default values (such as sensor calibration, safety settings, and so on). Note that a flight stack may choose not to reset some parameters at their own discretion (such as those that are locked or expected to persist for the vehicle lifetime).</description>
+      </entry>
+      <entry value="3" name="PARAM_RESET_SENSOR_DEFAULT">
+        <description>Reset only sensor calibration parameters to factory defaults (or firmware default if not available)</description>
+      </entry>
+      <entry value="4" name="PARAM_RESET_ALL_DEFAULT">
+        <description>Reset all parameters to default values.</description>
+      </entry>
+    </enum>
+    <enum name="PREFLIGHT_STORAGE_MISSION_ACTION">
+      <description>
+        Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE.
+        (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)
+      </description>
+      <entry value="0" name="MISSION_READ_PERSISTENT">
+        <description>Read current mission data from persistent storage</description>
+      </entry>
+      <entry value="1" name="MISSION_WRITE_PERSISTENT">
+        <description>Write current mission data to persistent storage</description>
+      </entry>
+      <entry value="2" name="MISSION_RESET_DEFAULT">
+        <description>Erase all mission data stored on the vehicle (both persistent and volatile storage)</description>
+      </entry>
+    </enum>
+    <enum name="REBOOT_SHUTDOWN_ACTION">
+      <description>Reboot/shutdown action for selected component in MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN.</description>
+      <entry value="0" name="REBOOT_SHUTDOWN_ACTION_NONE">
+        <description>Do nothing.</description>
+      </entry>
+      <entry value="1" name="REBOOT_SHUTDOWN_ACTION_REBOOT">
+        <description>Reboot component.</description>
+      </entry>
+      <entry value="2" name="REBOOT_SHUTDOWN_ACTION_SHUTDOWN">
+        <description>Shutdown component.</description>
+      </entry>
+      <entry value="3" name="REBOOT_SHUTDOWN_ACTION_REBOOT_TO_BOOTLOADER">
+        <description>Reboot component and keep it in the bootloader until upgraded.</description>
+      </entry>
+      <entry value="4" name="REBOOT_SHUTDOWN_ACTION_POWER_ON">
+        <description>Power on component. Do nothing if component is already powered (ACK command with MAV_RESULT_ACCEPTED).</description>
+      </entry>
+    </enum>
+    <enum name="REBOOT_SHUTDOWN_CONDITIONS">
+      <description>Specifies the conditions under which the MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command should be accepted.</description>
+      <entry value="0" name="REBOOT_SHUTDOWN_CONDITIONS_SAFETY_INTERLOCKED">
+        <description>Reboot/Shutdown only if allowed by safety checks, such as being landed.</description>
+      </entry>
+      <entry value="20190226" name="REBOOT_SHUTDOWN_CONDITIONS_FORCE">
+        <description>Force reboot/shutdown of the autopilot/component regardless of system state.</description>
+      </entry>
+    </enum>
+    <enum name="PREFLIGHT_CALIBRATION_MAGNETOMETER">
+      <description>Action for the magnetometer (param2) of MAV_CMD_PREFLIGHT_CALIBRATION.</description>
+      <entry value="0" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_NONE">
+        <description>No action.</description>
+      </entry>
+      <entry value="1" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_START">
+        <description>Start magnetometer calibration.</description>
+      </entry>
+      <entry value="76" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_FORCE_SAVE">
+        <description>Force-accept the existing compass calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
+      </entry>
+    </enum>
+    <enum name="PREFLIGHT_CALIBRATION_ACCELEROMETER">
+      <description>Action for the accelerometer (param5) of MAV_CMD_PREFLIGHT_CALIBRATION.</description>
+      <entry value="0" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_NONE">
+        <description>No action.</description>
+      </entry>
+      <entry value="1" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_FULL">
+        <description>Full 6-position accelerometer calibration.</description>
+      </entry>
+      <entry value="2" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_TRIM">
+        <description>Board level (trim) calibration.</description>
+      </entry>
+      <entry value="3" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_TEMPERATURE">
+        <description>Accelerometer temperature calibration.</description>
+      </entry>
+      <entry value="4" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_SIMPLE">
+        <description>Simple accelerometer calibration.</description>
+      </entry>
+      <entry value="76" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_FORCE_SAVE">
+        <description>Force-accept the existing accelerometer calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
+      </entry>
+    </enum>
+    <enum name="NAV_TAKEOFF_FLAGS" bitmask="true">
+      <entry value="1" name="NAV_TAKEOFF_FLAGS_HORIZONTAL_POSITION_NOT_REQUIRED">
+        <description>Accept the command even if the autopilot does not have control over its horizontal position (note that it might not have altitude control either).</description>
+      </entry>
+    </enum>
+    <!-- The MAV_CMD enum entries describe either: -->
+    <!--  * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
+    <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
+    <!-- ALL the entries in the MAV_CMD enum have a maximum of 7 parameters -->
+    <enum name="MAV_CMD">
+      <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
+      <entry value="16" name="MAV_CMD_NAV_WAYPOINT" hasLocation="true" isDestination="true">
+        <description>Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).</description>
+        <param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
+        <param index="2" label="Accept Radius" units="m" minValue="0">Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)</param>
+        <param index="3" label="Pass Radius" units="m">0 to pass through the WP, if &gt; 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
+        <param index="4" label="Yaw" units="deg">Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM" hasLocation="true" isDestination="true">
+        <description>Loiter around this waypoint an unlimited amount of time</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise</param>
+        <param index="4" label="Yaw" units="deg">Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="18" name="MAV_CMD_NAV_LOITER_TURNS" hasLocation="true" isDestination="true">
+        <description>Loiter around this waypoint for X turns</description>
+        <param index="1" label="Turns" minValue="0">Number of turns.</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
+        <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="19" name="MAV_CMD_NAV_LOITER_TIME" hasLocation="true" isDestination="true">
+        <description>Loiter around this waypoint for X seconds</description>
+        <param index="1" label="Time" units="s" minValue="0">Loiter time.</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise.</param>
+        <param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle.  NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="20" name="MAV_CMD_NAV_RETURN_TO_LAUNCH" hasLocation="false" isDestination="false">
+        <description>Return to launch location</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="21" name="MAV_CMD_NAV_LAND" hasLocation="true" isDestination="true">
+        <description>Land at location.</description>
+        <param index="1" label="Abort Alt" units="m">Minimum target altitude if landing is aborted (0 = undefined/use system default).</param>
+        <param index="2" label="Land Mode" enum="PRECISION_LAND_MODE">Precision land mode.</param>
+        <param index="3">Empty.</param>
+        <param index="4" label="Yaw Angle" units="deg">Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude.</param>
+        <param index="6" label="Longitude">Longitude.</param>
+        <param index="7" label="Altitude" units="m">Landing altitude (ground level in current frame).</param>
+      </entry>
+      <entry value="22" name="MAV_CMD_NAV_TAKEOFF" hasLocation="true" isDestination="true">
+        <description>Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.</description>
+        <param index="1" label="Pitch" units="deg">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Flags" enum="NAV_TAKEOFF_FLAGS">Bitmask of options flags.</param>
+        <param index="4" label="Yaw" units="deg">Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="23" name="MAV_CMD_NAV_LAND_LOCAL" hasLocation="true" isDestination="true">
+        <description>Land at local position (local frame only)</description>
+        <param index="1" label="Target" minValue="0" increment="1">Landing target number (if available)</param>
+        <param index="2" label="Offset" units="m" minValue="0">Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land</param>
+        <param index="3" label="Descend Rate" units="m/s">Landing descend rate</param>
+        <param index="4" label="Yaw" units="rad">Desired yaw angle</param>
+        <param index="5" label="Y Position" units="m">Y-axis position</param>
+        <param index="6" label="X Position" units="m">X-axis position</param>
+        <param index="7" label="Z Position" units="m">Z-axis / ground level position</param>
+      </entry>
+      <entry value="24" name="MAV_CMD_NAV_TAKEOFF_LOCAL" hasLocation="true" isDestination="true">
+        <description>Takeoff from local position (local frame only)</description>
+        <param index="1" label="Pitch" units="rad">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Ascend Rate" units="m/s">Takeoff ascend rate</param>
+        <param index="4" label="Yaw" units="rad">Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these</param>
+        <param index="5" label="Y Position" units="m">Y-axis position</param>
+        <param index="6" label="X Position" units="m">X-axis position</param>
+        <param index="7" label="Z Position" units="m">Z-axis position</param>
+      </entry>
+      <entry value="25" name="MAV_CMD_NAV_FOLLOW" hasLocation="true" isDestination="false">
+        <description>Vehicle following, i.e. this waypoint represents the position of a moving vehicle</description>
+        <param index="1" label="Following" increment="1">Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation</param>
+        <param index="2" label="Ground Speed" units="m/s">Ground speed of vehicle to be followed</param>
+        <param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
+        <param index="4" label="Yaw" units="deg">Desired yaw angle.</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="30" name="MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" hasLocation="false" isDestination="true">
+        <description>Continue on the current course and climb/descend to specified altitude.  When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.</description>
+        <param index="1" label="Action" minValue="0" maxValue="2" increment="1">Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7" label="Altitude" units="m">Desired altitude</param>
+      </entry>
+      <entry value="31" name="MAV_CMD_NAV_LOITER_TO_ALT" hasLocation="true" isDestination="true">
+        <description>Begin loiter at the specified Latitude and Longitude.  If Lat=Lon=0, then loiter at the current position.  Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.</description>
+        <param index="1" label="Heading Required" enum="MAV_BOOL">Leave loiter circle only when track heading towards the next waypoint (MAV_BOOL_FALSE: Leave when altitude reached). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param>
+        <param index="3">Empty</param>
+        <param index="4" label="Xtrack Location" minValue="0" maxValue="1" increment="1">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="32" name="MAV_CMD_DO_FOLLOW" hasLocation="false" isDestination="false">
+        <description>Begin following a target</description>
+        <param index="1" label="System ID" minValue="0" maxValue="255" increment="1">System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4" label="Altitude Mode" minValue="0" maxValue="2" increment="1">Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.</param>
+        <param index="5" label="Altitude" units="m">Altitude above home. (used if mode=2)</param>
+        <param index="6">Reserved</param>
+        <param index="7" label="Time to Land" units="s" minValue="0">Time to land in which the MAV should go to the default position hold mode after a message RX timeout.</param>
+      </entry>
+      <entry value="33" name="MAV_CMD_DO_FOLLOW_REPOSITION" hasLocation="false" isDestination="false">
+        <description>Reposition the MAV after a follow target command has been sent</description>
+        <param index="1" label="Camera Q1">Camera q1 (where 0 is on the ray from the camera to the tracking device)</param>
+        <param index="2" label="Camera Q2">Camera q2</param>
+        <param index="3" label="Camera Q3">Camera q3</param>
+        <param index="4" label="Camera Q4">Camera q4</param>
+        <param index="5" label="Altitude Offset" units="m">altitude offset from target</param>
+        <param index="6" label="X Offset" units="m">X offset from target</param>
+        <param index="7" label="Y Offset" units="m">Y offset from target</param>
+      </entry>
+      <entry value="34" name="MAV_CMD_DO_ORBIT" hasLocation="true" isDestination="true">
+        <description>Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.</description>
+        <param index="1" label="Radius" units="m">Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.</param>
+        <param index="2" label="Velocity" units="m/s">Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.</param>
+        <param index="3" label="Yaw Behavior" enum="ORBIT_YAW_BEHAVIOUR">Yaw behavior of the vehicle.</param>
+        <param index="4" label="Orbits" units="rad" minValue="0" default="0">Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.</param>
+        <param index="5" label="Latitude/X">Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.</param>
+        <param index="6" label="Longitude/Y">Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.</param>
+        <param index="7" label="Altitude/Z">Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.</param>
+      </entry>
+      <entry value="35" name="MAV_CMD_DO_FIGURE_EIGHT" hasLocation="true" isDestination="true">
+        <description>Fly a figure eight path as defined by the parameters.
+          Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values.
+          The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation.
+          This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED).
+          Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).
+        </description>
+        <param index="1" label="Major Radius" units="m">Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
+        NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
+        Must be greater or equal to two times the minor radius for feasible values.</param>
+        <param index="2" label="Minor Radius" units="m">Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
+        NaN: The radius will be set to the default loiter radius.</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" label="Orientation" units="rad">Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.</param>
+        <param index="5" label="Latitude/X">Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
+        INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.</param>
+        <param index="6" label="Longitude/Y">Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
+        INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.</param>
+        <param index="7" label="Altitude/Z">Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
+        INT32_MAX or NaN: Use current vehicle altitude.</param>
+      </entry>
+      <entry value="36" name="MAV_CMD_NAV_ARC_WAYPOINT" hasLocation="true" isDestination="true">
+        <description>Circular arc path waypoint.
+          This defines the end/exit point and angle (param1) of an arc path from the previous waypoint. A position is required before this command to define the start of the arc (e.g. current position, a MAV_CMD_NAV_WAYPOINT, or a MAV_CMD_NAV_ARC_WAYPOINT).
+          The resulting path is a circular arc in the NE frame, with the difference in height being defined by the difference in waypoint altitudes.
+        </description>
+        <param index="1" label="Arc Angle" units="deg" minValue="-359" maxValue="359" increment="1">The angle in degrees from the starting position to the exit position of the arc in the NE frame. Positive values are CW arcs and negative values are CCW arcs.</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="80" name="MAV_CMD_NAV_ROI" hasLocation="true" isDestination="false">
+        <superseded since="2018-01" replaced_by="`MAV_CMD_DO_SET_ROI_*`"/>
+        <description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+        <param index="1" label="ROI Mode" enum="MAV_ROI">Region of interest mode.</param>
+        <param index="2" label="WP Index" minValue="0" increment="1">Waypoint index/ target ID. (see MAV_ROI enum)</param>
+        <param index="3" label="ROI Index" minValue="0" increment="1">ROI index (allows a vehicle to manage multiple ROI's)</param>
+        <param index="4">Empty</param>
+        <param index="5" label="X">x the location of the fixed ROI (see MAV_FRAME)</param>
+        <param index="6" label="Y">y</param>
+        <param index="7" label="Z">z</param>
+      </entry>
+      <entry value="81" name="MAV_CMD_NAV_PATHPLANNING" hasLocation="true" isDestination="true">
+        <description>Control autonomous path planning on the MAV.</description>
+        <param index="1" label="Local Ctrl" minValue="0" maxValue="2" increment="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
+        <param index="2" label="Global Ctrl" minValue="0" maxValue="3" increment="1">0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid</param>
+        <param index="3">Empty</param>
+        <param index="4" label="Yaw" units="deg">Yaw angle at goal</param>
+        <param index="5" label="Latitude/X">Latitude/X of goal</param>
+        <param index="6" label="Longitude/Y">Longitude/Y of goal</param>
+        <param index="7" label="Altitude/Z">Altitude/Z of goal</param>
+      </entry>
+      <entry value="82" name="MAV_CMD_NAV_SPLINE_WAYPOINT" hasLocation="true" isDestination="true">
+        <description>Navigate to waypoint using a spline path.</description>
+        <param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude/X">Latitude/X of goal</param>
+        <param index="6" label="Longitude/Y">Longitude/Y of goal</param>
+        <param index="7" label="Altitude/Z">Altitude/Z of goal</param>
+      </entry>
+      <entry value="84" name="MAV_CMD_NAV_VTOL_TAKEOFF" hasLocation="true" isDestination="true">
+        <description>Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).</description>
+        <param index="1">Empty</param>
+        <param index="2" label="Transition Heading" enum="VTOL_TRANSITION_HEADING">Front transition heading.</param>
+        <param index="3">Empty</param>
+        <param index="4" label="Yaw Angle" units="deg">Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="85" name="MAV_CMD_NAV_VTOL_LAND" hasLocation="true" isDestination="true">
+        <description>Land using VTOL mode</description>
+        <param index="1" label="Land Options" enum="NAV_VTOL_LAND_OPTIONS">Landing behaviour.</param>
+        <param index="2">Empty</param>
+        <param index="3" label="Approach Altitude" units="m">Approach altitude (with the same reference as the Altitude field). NaN if unspecified.</param>
+        <param index="4" label="Yaw" units="deg">Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Ground Altitude" units="m">Altitude (ground level)</param>
+      </entry>
+      <!-- IDs 90 and 91 are reserved until the end of 2014,
+                    as they were used in some conflicting proposals
+                    between PX4 and ArduPilot and need to be kept
+                    unused to prevent errors -->
+      <entry value="92" name="MAV_CMD_NAV_GUIDED_ENABLE" hasLocation="false" isDestination="false">
+        <description>Hand control over to an external controller</description>
+        <param index="1" label="Enable" enum="MAV_BOOL">Guided mode on (MAV_BOOL_FALSE: Off). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="93" name="MAV_CMD_NAV_DELAY" hasLocation="false" isDestination="false">
+        <description>Delay the next navigation command a number of seconds or until a specified time</description>
+        <param index="1" label="Delay" units="s" minValue="-1" increment="1">Delay (-1 to enable time-of-day fields)</param>
+        <param index="2" label="Hour" minValue="-1" maxValue="23" increment="1">hour (24h format, UTC, -1 to ignore)</param>
+        <param index="3" label="Minute" minValue="-1" maxValue="59" increment="1">minute (24h format, UTC, -1 to ignore)</param>
+        <param index="4" label="Second" minValue="-1" maxValue="59" increment="1">second (24h format, UTC, -1 to ignore)</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="94" name="MAV_CMD_NAV_PAYLOAD_PLACE" hasLocation="true" isDestination="true">
+        <description>Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.</description>
+        <param index="1" label="Max Descent" units="m" minValue="0">Maximum distance to descend.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="95" name="MAV_CMD_NAV_LAST" hasLocation="false" isDestination="false">
+        <description>NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="112" name="MAV_CMD_CONDITION_DELAY" hasLocation="false" isDestination="false">
+        <description>Delay mission state machine.</description>
+        <param index="1" label="Delay" units="s" minValue="0">Delay</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="113" name="MAV_CMD_CONDITION_CHANGE_ALT" hasLocation="false" isDestination="true">
+        <description>Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.</description>
+        <param index="1" label="Rate" units="m/s">Descent / Ascend rate.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7" label="Altitude" units="m">Target Altitude</param>
+      </entry>
+      <entry value="114" name="MAV_CMD_CONDITION_DISTANCE" hasLocation="false" isDestination="false">
+        <description>Delay mission state machine until within desired distance of next NAV point.</description>
+        <param index="1" label="Distance" units="m" minValue="0">Distance.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="115" name="MAV_CMD_CONDITION_YAW" hasLocation="false" isDestination="false">
+        <description>Reach a certain target angle.</description>
+        <param index="1" label="Angle" units="deg" minValue="0" maxValue="360">target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.</param>
+        <param index="2" label="Angular Speed" units="deg/s" minValue="0">angular speed</param>
+        <param index="3" label="Direction" minValue="-1" maxValue="1" increment="1">direction: -1: counter clockwise, 0: shortest direction, 1: clockwise</param>
+        <param index="4" label="Relative" enum="MAV_BOOL">Relative offset (MAV_BOOL_FALSE: absolute angle). Values not equal to 0 or 1 are invalid.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="159" name="MAV_CMD_CONDITION_LAST" hasLocation="false" isDestination="false">
+        <description>NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="176" name="MAV_CMD_DO_SET_MODE" hasLocation="false" isDestination="false">
+        <description>Set system mode.</description>
+        <param index="1" label="Mode" enum="MAV_MODE_FLAG">Mode flags. MAV_MODE values can be used to set some mode flag combinations.</param>
+        <param index="2" label="Custom Mode">Custom system-specific mode (see target autopilot specifications for mode information). If MAV_MODE_FLAG_CUSTOM_MODE_ENABLED is set in param1 (mode) this mode is used: otherwise the field is ignored.</param>
+        <param index="3" label="Custom Submode">Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="177" name="MAV_CMD_DO_JUMP" hasLocation="false" isDestination="false">
+        <description>Jump to the desired command in the mission list.  Repeat this action only the specified number of times</description>
+        <param index="1" label="Number" minValue="0" increment="1">Sequence number</param>
+        <param index="2" label="Repeat" minValue="0" increment="1">Repeat count</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="178" name="MAV_CMD_DO_CHANGE_SPEED" hasLocation="false" isDestination="false">
+        <description>Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change</description>
+        <param index="1" label="Speed Type" enum="SPEED_TYPE">Speed type of value set in param2 (such as airspeed, ground speed, and so on)</param>
+        <param index="2" label="Speed" units="m/s" minValue="-2">Speed (-1 indicates no change, -2 indicates return to default vehicle speed)</param>
+        <param index="3" label="Throttle" units="%" minValue="-2">Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)</param>
+        <param index="4" reserved="true" default="0"/>
+        <param index="5" reserved="true" default="0"/>
+        <param index="6" reserved="true" default="0"/>
+        <param index="7" reserved="true" default="0"/>
+      </entry>
+      <entry value="179" name="MAV_CMD_DO_SET_HOME" hasLocation="true" isDestination="false">
+        <description>
+          Sets the home position to either to the current position or a specified position.
+          The home position is the default position that the system will return to and land on.
+          The position is set automatically by the system during the takeoff (and may also be set using this command).
+          Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).
+        </description>
+        <param index="1" label="Use Current" enum="MAV_BOOL">Use current location (MAV_BOOL_FALSE: use specified location). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="180" name="MAV_CMD_DO_SET_PARAMETER" hasLocation="false" isDestination="false">
+        <deprecated since="2024-04" replaced_by="PARAM_SET"/>
+        <description>Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter.</description>
+        <param index="1" label="Number" minValue="0" increment="1">Parameter number</param>
+        <param index="2" label="Value">Parameter value</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="181" name="MAV_CMD_DO_SET_RELAY" hasLocation="false" isDestination="false">
+        <description>Set a relay to a condition. The current value may optionally be reported using RELAY_STATUS.</description>
+        <param index="1" label="Instance" minValue="0" increment="1">Relay instance number.</param>
+        <param index="2" label="Setting" minValue="0" increment="1">Setting. (1=on, 0=off, others possible depending on system hardware)</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="182" name="MAV_CMD_DO_REPEAT_RELAY" hasLocation="false" isDestination="false">
+        <description>Cycle a relay on and off for a desired number of cycles with a desired period.</description>
+        <param index="1" label="Instance" minValue="0" increment="1">Relay instance number.</param>
+        <param index="2" label="Count" minValue="1" increment="1">Cycle count.</param>
+        <param index="3" label="Time" units="s" minValue="0">Cycle time.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="183" name="MAV_CMD_DO_SET_SERVO" hasLocation="false" isDestination="false">
+        <description>Set a servo to a desired PWM value.</description>
+        <param index="1" label="Instance" minValue="0" increment="1">Servo instance number.</param>
+        <param index="2" label="PWM" units="us" minValue="0" increment="1">Pulse Width Modulation.</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="184" name="MAV_CMD_DO_REPEAT_SERVO" hasLocation="false" isDestination="false">
+        <description>Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.</description>
+        <param index="1" label="Instance" minValue="0" increment="1">Servo instance number.</param>
+        <param index="2" label="PWM" units="us" minValue="0" increment="1">Pulse Width Modulation.</param>
+        <param index="3" label="Count" minValue="1" increment="1">Cycle count.</param>
+        <param index="4" label="Time" units="s" minValue="0">Cycle time.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION" hasLocation="false" isDestination="false">
+        <description>Terminate flight immediately</description>
+        <param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if &gt; 0.5</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="186" name="MAV_CMD_DO_CHANGE_ALTITUDE" hasLocation="false" isDestination="false">
+        <description>Change altitude set point.</description>
+        <param index="1" label="Altitude" units="m">Altitude.</param>
+        <param index="2" label="Frame" enum="MAV_FRAME">Frame of new altitude.</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="187" name="MAV_CMD_DO_SET_ACTUATOR" hasLocation="false" isDestination="false">
+        <description>Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).</description>
+        <param index="1" label="Actuator 1" minValue="-1" maxValue="1">Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="2" label="Actuator 2" minValue="-1" maxValue="1">Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="3" label="Actuator 3" minValue="-1" maxValue="1">Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="4" label="Actuator 4" minValue="-1" maxValue="1">Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="5" label="Actuator 5" minValue="-1" maxValue="1">Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="6" label="Actuator 6" minValue="-1" maxValue="1">Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="7" label="Index" minValue="0" increment="1">Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)</param>
+      </entry>
+      <entry value="188" name="MAV_CMD_DO_RETURN_PATH_START" hasLocation="true" isDestination="false">
+        <wip/>
+        <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+        <description>Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).
+          A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint).
+          The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path.
+          The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path.
+          If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing.
+          If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing.
+          The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed.
+          If specified, the item defines the waypoint at which the return segment starts.
+          If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.
+        </description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitudee. 0: not used.</param>
+        <param index="6" label="Longitude">Longitudee. 0: not used.</param>
+        <param index="7" label="Altitude" units="m">Altitudee. 0: not used.</param>
+      </entry>
+      <entry value="189" name="MAV_CMD_DO_LAND_START" hasLocation="true" isDestination="false">
+        <description>Mission item to mark the start of a mission landing pattern, or a command to land with a mission landing pattern.
+
+        When used in a mission, this is a marker for the start of a sequence of mission items that represent a landing pattern.
+        It should be followed by a navigation item that defines the first waypoint of the landing sequence.
+        The start marker positional params are used only for selecting what landing pattern to use if several are defined in the mission (the selected pattern will be the one with the marker position that is closest to the vehicle when a landing is commanded).
+        If the marker item position has zero-values for latitude, longitude, and altitude, then landing pattern selection is instead based on the position of the first waypoint in the landing sequence.
+
+	      When sent as a command it triggers a landing using a mission landing pattern.
+	      The location parameters are not used in this case, and should be set to 0.
+	</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).</param>
+        <param index="6" label="Longitude">Longitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).</param>
+        <param index="7" label="Altitude" units="m">Altitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).</param>
+      </entry>
+      <entry value="190" name="MAV_CMD_DO_RALLY_LAND" hasLocation="false" isDestination="false">
+        <description>Mission command to perform a landing from a rally point.</description>
+        <param index="1" label="Altitude" units="m">Break altitude</param>
+        <param index="2" label="Speed" units="m/s">Landing speed</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="191" name="MAV_CMD_DO_GO_AROUND" hasLocation="false" isDestination="false">
+        <description>Mission command to safely abort an autonomous landing.</description>
+        <param index="1" label="Altitude" units="m">Altitude</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="192" name="MAV_CMD_DO_REPOSITION" hasLocation="true" isDestination="true">
+        <description>Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).</description>
+        <param index="1" label="Speed" units="m/s" minValue="-1">Ground speed, less than 0 (-1) for default</param>
+        <param index="2" label="Bitmask" enum="MAV_DO_REPOSITION_FLAGS">Bitmask of option flags.</param>
+        <param index="3" label="Radius" units="m">Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored. </param>
+        <param index="4" label="Yaw" units="rad">Yaw heading (heading reference defined in Bitmask field). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="193" name="MAV_CMD_DO_PAUSE_CONTINUE" hasLocation="false" isDestination="false">
+        <description>If in a GPS controlled position mode, hold the current position or continue.</description>
+        <param index="1" label="Continue" enum="MAV_BOOL">Continue mission (MAV_BOOL_TRUE), Pause current mission or reposition command, hold current position (MAV_BOOL_FALSE). Values not equal to 0 or 1 are invalid. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5">Reserved</param>
+        <param index="6">Reserved</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="194" name="MAV_CMD_DO_SET_REVERSE" hasLocation="false" isDestination="false">
+        <description>Set moving direction to forward or reverse.</description>
+        <param index="1" label="Reverse" enum="MAV_BOOL">Reverse direction (MAV_BOOL_FALSE: Forward direction). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="195" name="MAV_CMD_DO_SET_ROI_LOCATION" hasLocation="true" isDestination="false">
+        <description>Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude of ROI location</param>
+        <param index="6" label="Longitude">Longitude of ROI location</param>
+        <param index="7" label="Altitude" units="m">Altitude of ROI location</param>
+      </entry>
+      <entry value="196" name="MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET" hasLocation="false" isDestination="false">
+        <description>Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Pitch Offset">Pitch offset from next waypoint, positive pitching up</param>
+        <param index="6" label="Roll Offset">Roll offset from next waypoint, positive rolling to the right</param>
+        <param index="7" label="Yaw Offset">Yaw offset from next waypoint, positive yawing to the right</param>
+      </entry>
+      <entry value="197" name="MAV_CMD_DO_SET_ROI_NONE" hasLocation="false" isDestination="false">
+        <description>Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="198" name="MAV_CMD_DO_SET_ROI_SYSID">
+        <description>Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means.</description>
+        <param index="1" label="System ID" minValue="1" maxValue="255" increment="1">System ID</param>
+      </entry>
+      <entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO" hasLocation="false" isDestination="false">
+        <description>Control onboard camera system.</description>
+        <param index="1" label="ID" minValue="-1" increment="1">Camera ID (-1 for all)</param>
+        <param index="2" label="Transmission" minValue="0" maxValue="2" increment="1">Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
+        <param index="3" label="Interval" units="s" minValue="0">Transmission mode: 0: video stream, &gt;0: single images every n seconds</param>
+        <param index="4" label="Recording" minValue="0" maxValue="2" increment="1">Recording: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="201" name="MAV_CMD_DO_SET_ROI" hasLocation="true" isDestination="false">
+        <superseded since="2018-01" replaced_by="`MAV_CMD_DO_SET_ROI_*`"/>
+        <description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
+        <param index="1" label="ROI Mode" enum="MAV_ROI">Region of interest mode.</param>
+        <param index="2" label="WP Index" minValue="0" increment="1">Waypoint index/ target ID (depends on param 1).</param>
+        <param index="3" label="ROI Index" minValue="0" increment="1">Region of interest index. (allows a vehicle to manage multiple ROI's)</param>
+        <param index="4">Empty</param>
+        <param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
+        <param index="6">y</param>
+        <param index="7">z</param>
+      </entry>
+      <!-- Camera Controller Mission Commands Enumeration -->
+      <entry value="202" name="MAV_CMD_DO_DIGICAM_CONFIGURE" hasLocation="false" isDestination="false">
+        <description>Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).</description>
+        <param index="1" label="Mode" minValue="0" increment="1">Modes: P, TV, AV, M, Etc.</param>
+        <param index="2" label="Shutter Speed" minValue="0" increment="1">Shutter speed: Divisor number for one second.</param>
+        <param index="3" label="Aperture" minValue="0">Aperture: F stop number.</param>
+        <param index="4" label="ISO" minValue="0" increment="1">ISO number e.g. 80, 100, 200, Etc.</param>
+        <param index="5" label="Exposure">Exposure type enumerator.</param>
+        <param index="6" label="Command Identity">Command Identity.</param>
+        <param index="7" label="Engine Cut-off" units="ds" minValue="0" increment="1">Main engine cut-off time before camera trigger. (0 means no cut-off)</param>
+      </entry>
+      <entry value="203" name="MAV_CMD_DO_DIGICAM_CONTROL" hasLocation="false" isDestination="false">
+        <description>Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).</description>
+        <param index="1" label="Session Control">Session control e.g. show/hide lens</param>
+        <param index="2" label="Zoom Absolute">Zoom's absolute position</param>
+        <param index="3" label="Zoom Relative">Zooming step value to offset zoom from the current position</param>
+        <param index="4" label="Focus">Focus Locking, Unlocking or Re-locking</param>
+        <param index="5" label="Shoot Command">Shooting Command</param>
+        <param index="6" label="Command Identity">Command Identity</param>
+        <param index="7" label="Shot ID">Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.</param>
+      </entry>
+      <!-- Camera Mount Mission Commands Enumeration -->
+      <entry value="204" name="MAV_CMD_DO_MOUNT_CONFIGURE" hasLocation="false" isDestination="false">
+        <superseded since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE">The message can still be used to communicate with legacy gimbals implementing it.</superseded>
+        <description>Mission command to configure a camera or antenna mount</description>
+        <param index="1" label="Mode" enum="MAV_MOUNT_MODE">Mount operation mode</param>
+        <param index="2" label="Stabilize Roll" enum="MAV_BOOL">Stabilize roll (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="3" label="Stabilize Pitch" enum="MAV_BOOL">Stabilize pitch (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="4" label="Stabilize Yaw" enum="MAV_BOOL">Stabilize yaw (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <!-- this one is messed up! altitude should be param 7, not param4 -->
+      <entry value="205" name="MAV_CMD_DO_MOUNT_CONTROL" hasLocation="false" isDestination="false">
+        <superseded since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW">This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and `MAV_CMD_DO_SET_ROI_*` variants. The message can still be used to communicate with legacy gimbals implementing it.</superseded>
+        <description>Mission command to control a camera or antenna mount</description>
+        <param index="1">pitch (WIP: DEPRECATED: or lat in degrees) depending on mount mode.</param>
+        <param index="2">roll (WIP: DEPRECATED: or lon in degrees) depending on mount mode.</param>
+        <param index="3">yaw (WIP: DEPRECATED: or alt in meters) depending on mount mode.</param>
+        <param index="4">WIP: alt in meters depending on mount mode.</param>
+        <param index="5">WIP: latitude in degrees * 1E7, set if appropriate mount mode.</param>
+        <param index="6">WIP: longitude in degrees * 1E7, set if appropriate mount mode.</param>
+        <param index="7" label="Mode" enum="MAV_MOUNT_MODE">Mount mode.</param>
+      </entry>
+      <entry value="206" name="MAV_CMD_DO_SET_CAM_TRIGG_DIST" hasLocation="false" isDestination="false">
+        <description>Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.</description>
+        <param index="1" label="Distance" units="m" minValue="0">Camera trigger distance. 0 to stop triggering.</param>
+        <param index="2" label="Shutter" units="ms" minValue="-1" increment="1">Camera shutter integration time. -1 or 0 to ignore</param>
+        <param index="3" label="Trigger" enum="MAV_BOOL">Trigger camera once, immediately (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="207" name="MAV_CMD_DO_FENCE_ENABLE" hasLocation="false" isDestination="false">
+        <description>
+          Enable the geofence.
+          This can be used in a mission or via the command protocol.
+          The persistence/lifetime of the setting is undefined.
+          Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission.
+          Flight stacks typically reset the setting to system defaults on reboot.
+	</description>
+        <param index="1" label="Enable" minValue="0" maxValue="2" increment="1">enable? (0=disable, 1=enable, 2=disable_floor_only)</param>
+        <param index="2" label="Types" enum="FENCE_TYPE">Fence types to enable or disable as a bitmask. 0: all fences should be enabled or disabled (parameter is ignored, for compatibility reasons).Parameter is ignored if param1=2</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="208" name="MAV_CMD_DO_PARACHUTE" hasLocation="false" isDestination="false">
+        <description>Mission item/command to release a parachute or enable/disable auto release.</description>
+        <param index="1" label="Action" enum="PARACHUTE_ACTION">Action</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="209" name="MAV_CMD_DO_MOTOR_TEST" hasLocation="false" isDestination="false">
+        <description>Command to perform motor test.</description>
+        <param index="1" label="Instance" minValue="1" increment="1">Motor instance number (from 1 to max number of motors on the vehicle).</param>
+        <param index="2" label="Throttle Type" enum="MOTOR_TEST_THROTTLE_TYPE">Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)</param>
+        <param index="3" label="Throttle">Throttle value.</param>
+        <param index="4" label="Timeout" units="s" minValue="0">Timeout between tests that are run in sequence.</param>
+        <param index="5" label="Motor Count" minValue="0" increment="1">Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.</param>
+        <param index="6" label="Test Order" enum="MOTOR_TEST_ORDER">Motor test order.</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="210" name="MAV_CMD_DO_INVERTED_FLIGHT" hasLocation="false" isDestination="false">
+        <description>Change to/from inverted flight.</description>
+        <param index="1" label="Inverted" enum="MAV_BOOL">Inverted flight (MAV_BOOL_False: normal flight). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="211" name="MAV_CMD_DO_GRIPPER" hasLocation="false" isDestination="false">
+        <description>Mission command to operate a gripper.</description>
+        <param index="1" label="Gripper ID" minValue="0" increment="1">Gripper ID. 1-6 for an autopilot connected gripper. In missions this may be set to 1-6 for an autopilot gripper, or the gripper component id for a MAVLink gripper. 0 targets all grippers.</param>
+        <param index="2" label="Action" enum="GRIPPER_ACTIONS">Gripper action to perform.</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="212" name="MAV_CMD_DO_AUTOTUNE_ENABLE" hasLocation="false" isDestination="false">
+        <description>Enable/disable autotune.</description>
+        <param index="1" label="Enable" enum="MAV_BOOL">Enable autotune (MAV_BOOL_FALSE: disable autotune). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2" label="Axis" enum="AUTOTUNE_AXIS">Specify axes for which autotuning is enabled/disabled. 0 indicates the field is unused (for compatibility reasons). If 0 the autopilot will follow its default behaviour, which is usually to tune all axes.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="213" name="MAV_CMD_NAV_SET_YAW_SPEED" hasLocation="false" isDestination="false">
+        <description>Sets a desired vehicle turn angle and speed change.</description>
+        <param index="1" label="Yaw" units="deg">Yaw angle to adjust steering by.</param>
+        <param index="2" label="Speed" units="m/s">Speed.</param>
+        <param index="3" label="Angle" enum="MAV_BOOL">Relative final angle (MAV_BOOL_FALSE: Absolute angle). Values not equal to 0 or 1 are invalid.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="214" name="MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL" hasLocation="false" isDestination="false">
+        <description>Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.</description>
+        <param index="1" label="Trigger Cycle" units="ms" minValue="-1" increment="1">Camera trigger cycle time. -1 or 0 to ignore.</param>
+        <param index="2" label="Shutter Integration" units="ms" minValue="-1" increment="1">Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="220" name="MAV_CMD_DO_MOUNT_CONTROL_QUAT" hasLocation="false" isDestination="false">
+        <superseded since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW"/>
+        <description>Mission command to control a camera or antenna mount, using a quaternion as reference.</description>
+        <param index="1" label="Q1">quaternion param q1, w (1 in null-rotation)</param>
+        <param index="2" label="Q2">quaternion param q2, x (0 in null-rotation)</param>
+        <param index="3" label="Q3">quaternion param q3, y (0 in null-rotation)</param>
+        <param index="4" label="Q4">quaternion param q4, z (0 in null-rotation)</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="221" name="MAV_CMD_DO_GUIDED_MASTER" hasLocation="false" isDestination="false">
+        <description>set id of master controller</description>
+        <param index="1" label="System ID" minValue="0" maxValue="255" increment="1">System ID</param>
+        <param index="2" label="Component ID" minValue="0" maxValue="255" increment="1">Component ID</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="222" name="MAV_CMD_DO_GUIDED_LIMITS" hasLocation="false" isDestination="false">
+        <description>Set limits for external control</description>
+        <param index="1" label="Timeout" units="s" minValue="0">Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.</param>
+        <param index="2" label="Min Altitude" units="m">Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.</param>
+        <param index="3" label="Max Altitude" units="m">Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.</param>
+        <param index="4" label="Horiz. Move Limit" units="m" minValue="0">Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="223" name="MAV_CMD_DO_ENGINE_CONTROL" hasLocation="false" isDestination="false">
+        <description>Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines</description>
+        <param index="1" label="Start Engine" enum="MAV_BOOL">Start engine (MAV_BOOL_False: Stop engine). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2" label="Cold Start" enum="MAV_BOOL">Cold start engine (MAV_BOOL_FALSE: Warm start). Values not equal to 0 or 1 are invalid. Controls use of choke where applicable</param>
+        <param index="3" label="Height Delay" units="m" minValue="0">Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.</param>
+        <param index="4" label="Options" enum="ENGINE_CONTROL_OPTIONS">A bitmask of options for engine control</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="224" name="MAV_CMD_DO_SET_MISSION_CURRENT" hasLocation="false" isDestination="false">
+        <description>
+          Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed).
+          If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items.
+	  Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).
+
+          This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE.
+          If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission.
+          If the system is not in mission mode this command must not trigger a switch to mission mode.
+
+          The mission may be "reset" using param2.
+          Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to `-1`).
+          Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.
+
+	  The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).
+        </description>
+        <param index="1" label="Number" minValue="-1" increment="1">Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).</param>
+        <param index="2" label="Reset Mission" enum="MAV_BOOL">Reset mission (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="240" name="MAV_CMD_DO_LAST" hasLocation="false" isDestination="false">
+        <description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION" hasLocation="false" isDestination="false">
+        <description>Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.</description>
+        <param index="1" label="Gyro Temperature" minValue="0" maxValue="3" increment="1">1: gyro calibration, 3: gyro temperature calibration</param>
+        <param index="2" label="Magnetometer" enum="PREFLIGHT_CALIBRATION_MAGNETOMETER">Magnetometer calibration action.</param>
+        <param index="3" label="Ground Pressure" enum="MAV_BOOL">Ground pressure calibration. Values not equal to 0 or 1 are invalid.</param>
+        <param index="4" label="Remote Control" minValue="0" maxValue="1" increment="1">1: radio RC calibration, 2: RC trim calibration</param>
+        <param index="5" label="Accelerometer" enum="PREFLIGHT_CALIBRATION_ACCELEROMETER">Accelerometer calibration action.</param>
+        <param index="6" label="Compmot or Airspeed" minValue="0" maxValue="2" increment="1">1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration</param>
+        <param index="7" label="ESC or Baro" minValue="0" maxValue="3" increment="1">1: ESC calibration, 3: barometer temperature calibration</param>
+      </entry>
+      <entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS" hasLocation="false" isDestination="false">
+        <description>Set sensor offsets. This command will be only accepted if in pre-flight mode.</description>
+        <param index="1" label="Sensor Type" minValue="0" maxValue="6" increment="1">Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer</param>
+        <param index="2" label="X Offset">X axis offset (or generic dimension 1), in the sensor's raw units</param>
+        <param index="3" label="Y Offset">Y axis offset (or generic dimension 2), in the sensor's raw units</param>
+        <param index="4" label="Z Offset">Z axis offset (or generic dimension 3), in the sensor's raw units</param>
+        <param index="5" label="4th Dimension">Generic dimension 4, in the sensor's raw units</param>
+        <param index="6" label="5th Dimension">Generic dimension 5, in the sensor's raw units</param>
+        <param index="7" label="6th Dimension">Generic dimension 6, in the sensor's raw units</param>
+      </entry>
+      <entry value="243" name="MAV_CMD_PREFLIGHT_UAVCAN" hasLocation="false" isDestination="false">
+        <description>Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).</description>
+        <param index="1" label="Actuator ID">1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5">Reserved</param>
+        <param index="6">Reserved</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE" hasLocation="false" isDestination="false">
+        <description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
+        <param index="1" label="Parameter Storage" enum="PREFLIGHT_STORAGE_PARAMETER_ACTION">Action to perform on the persistent parameter storage</param>
+        <param index="2" label="Mission Storage" enum="PREFLIGHT_STORAGE_MISSION_ACTION">Action to perform on the persistent mission storage</param>
+        <param index="3" label="Logging Rate" units="Hz" minValue="-1" increment="1">Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, &gt; 1: logging rate (e.g. set to 1000 for 1000 Hz logging)</param>
+        <param index="4">Reserved</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN" hasLocation="false" isDestination="false">
+        <description>Request the reboot or shutdown of system components.</description>
+        <param index="1" label="Autopilot" enum="REBOOT_SHUTDOWN_ACTION">Action to take for autopilot.</param>
+        <param index="2" label="Companion" enum="REBOOT_SHUTDOWN_ACTION">Action to take for onboard computer.</param>
+        <param index="3" label="Component Action" enum="REBOOT_SHUTDOWN_ACTION">Action to take for component specified in param4.</param>
+        <param index="4" label="Component ID" minValue="0" maxValue="255" increment="1">MAVLink Component ID targeted in param3 (0 for all components).</param>
+        <param index="5">Reserved (set to 0)</param>
+        <param index="6" label="Conditions" enum="REBOOT_SHUTDOWN_CONDITIONS">Conditions under which reboot/shutdown is allowed.</param>
+        <param index="7">WIP: ID (e.g. camera ID -1 for all IDs)</param>
+      </entry>
+      <!-- id "247" reserved for MAV_CMD_DO_UPGRADE in development.xml -->
+      <entry value="252" name="MAV_CMD_OVERRIDE_GOTO" hasLocation="true" isDestination="true">
+        <description>Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.</description>
+        <param index="1" label="Continue" enum="MAV_GOTO">MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.</param>
+        <param index="2" label="Position" enum="MAV_GOTO">MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.</param>
+        <param index="3" label="Frame" enum="MAV_FRAME">Coordinate frame of hold point.</param>
+        <param index="4" label="Yaw" units="deg">Desired yaw angle.</param>
+        <param index="5" label="Latitude/X">Latitude/X position.</param>
+        <param index="6" label="Longitude/Y">Longitude/Y position.</param>
+        <param index="7" label="Altitude/Z">Altitude/Z position.</param>
+      </entry>
+      <entry value="260" name="MAV_CMD_OBLIQUE_SURVEY" hasLocation="false" isDestination="false">
+        <description>Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.</description>
+        <param index="1" label="Distance" units="m" minValue="0">Camera trigger distance. 0 to stop triggering.</param>
+        <param index="2" label="Shutter" units="ms" minValue="0" increment="1" default="0">Camera shutter integration time. 0 to ignore</param>
+        <param index="3" label="Min Interval" units="ms" minValue="0" maxValue="10000" increment="1" default="0">The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.</param>
+        <param index="4" label="Positions" minValue="2" increment="1">Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).</param>
+        <param index="5" label="Roll Angle" units="deg" minValue="0" default="0">Angle limits that the camera can be rolled to left and right of center.</param>
+        <param index="6" label="Pitch Angle" units="deg" minValue="-180" maxValue="180" default="0">Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="262" name="MAV_CMD_DO_SET_STANDARD_MODE" hasLocation="false" isDestination="false">
+        <description>Enable the specified standard MAVLink mode.
+          If the specified mode is not supported, the vehicle should ACK with MAV_RESULT_FAILED.
+          See https://mavlink.io/en/services/standard_modes.html
+        </description>
+        <param index="1" label="Standard Mode" enum="MAV_STANDARD_MODE">The mode to set.</param>
+        <param index="2" reserved="true" default="0"/>
+        <param index="3" reserved="true" default="0"/>
+        <param index="4" reserved="true" default="0"/>
+        <param index="5" reserved="true" default="0"/>
+        <param index="6" reserved="true" default="0"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="300" name="MAV_CMD_MISSION_START" hasLocation="false" isDestination="false">
+        <description>start running a mission</description>
+        <param index="1" label="First Item" minValue="0" increment="1">first_item: the first mission item to run</param>
+        <param index="2" label="Last Item" minValue="0" increment="1">last_item:  the last mission item to run (after this item is run, the mission ends)</param>
+      </entry>
+      <entry value="310" name="MAV_CMD_ACTUATOR_TEST" hasLocation="false" isDestination="false">
+        <description>Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots must NACK this command with MAV_RESULT_TEMPORARILY_REJECTED while armed.</description>
+        <param index="1" label="Value" minValue="-1" maxValue="1">Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).</param>
+        <param index="2" label="Timeout" units="s" minValue="0" maxValue="3">Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.</param>
+        <param index="3" reserved="true" default="0"/>
+        <param index="4" reserved="true" default="0"/>
+        <param index="5" label="Output Function" enum="ACTUATOR_OUTPUT_FUNCTION">Actuator Output function</param>
+        <param index="6" reserved="true" default="0"/>
+        <param index="7" reserved="true" default="0"/>
+      </entry>
+      <entry value="311" name="MAV_CMD_CONFIGURE_ACTUATOR" hasLocation="false" isDestination="false">
+        <description>Actuator configuration command.</description>
+        <param index="1" label="Configuration" enum="ACTUATOR_CONFIGURATION">Actuator configuration action</param>
+        <param index="2" reserved="true" default="0"/>
+        <param index="3" reserved="true" default="0"/>
+        <param index="4" reserved="true" default="0"/>
+        <param index="5" label="Output Function" enum="ACTUATOR_OUTPUT_FUNCTION">Actuator Output function</param>
+        <param index="6" reserved="true" default="0"/>
+        <param index="7" reserved="true" default="0"/>
+      </entry>
+      <entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM" hasLocation="false" isDestination="false">
+        <description>Arms / Disarms a component</description>
+        <param index="1" label="Arm" enum="MAV_BOOL">Arm (MAV_BOOL_FALSE: disarm). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2" label="Force" minValue="0" maxValue="21196" increment="21196">0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)</param>
+      </entry>
+      <entry value="401" name="MAV_CMD_RUN_PREARM_CHECKS" hasLocation="false" isDestination="false">
+        <description>Instructs a target system to run pre-arm checks.
+          This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed.
+          This command should return MAV_RESULT_ACCEPTED if it will run the checks.
+          The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific).
+          The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.
+        </description>
+      </entry>
+      <entry value="405" name="MAV_CMD_ILLUMINATOR_ON_OFF" hasLocation="false" isDestination="false">
+        <description>Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).</description>
+        <param index="1" label="Enable" enum="MAV_BOOL">Illuminators on/off (MAV_BOOL_TRUE: illuminators on). Values not equal to 0 or 1 are invalid.</param>
+      </entry>
+      <entry value="406" name="MAV_CMD_DO_ILLUMINATOR_CONFIGURE" hasLocation="false" isDestination="false">
+        <description>Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).</description>
+        <param index="1" label="Mode" enum="ILLUMINATOR_MODE">Mode</param>
+        <param index="2" label="Brightness" units="%" minValue="0" maxValue="100">0%: Off, 100%: Max Brightness</param>
+        <param index="3" label="Strobe Period" units="s" minValue="0">Strobe period in seconds where 0 means strobing is not used</param>
+        <param index="4" label="Strobe Duty" units="%" minValue="0" maxValue="100">Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not used</param>
+      </entry>
+      <entry value="410" name="MAV_CMD_GET_HOME_POSITION" hasLocation="false" isDestination="false">
+        <superseded since="2022-04" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request the home position from the vehicle.
+          The vehicle will ACK the command and emit the HOME_POSITION message.</description>
+        <param index="1">Reserved</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5">Reserved</param>
+        <param index="6">Reserved</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="420" name="MAV_CMD_INJECT_FAILURE">
+        <description>Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.</description>
+        <param index="1" label="Failure unit" enum="FAILURE_UNIT">The unit which is affected by the failure.</param>
+        <param index="2" label="Failure type" enum="FAILURE_TYPE">The type how the failure manifests itself.</param>
+        <param index="3" label="Instance">Instance affected by failure (0 to signal all).</param>
+      </entry>
+      <entry value="500" name="MAV_CMD_START_RX_PAIR" hasLocation="false" isDestination="false">
+        <description>Starts receiver pairing.</description>
+        <param index="1" label="RC Type" enum="RC_TYPE">RC type.</param>
+        <param index="2" label="RC Sub Type" enum="RC_SUB_TYPE">RC sub type.</param>
+      </entry>
+      <entry value="510" name="MAV_CMD_GET_MESSAGE_INTERVAL" hasLocation="false" isDestination="false">
+        <description>Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.</description>
+        <param index="1" label="Message ID" minValue="0" maxValue="16777215" increment="1">The MAVLink message ID</param>
+      </entry>
+      <entry value="511" name="MAV_CMD_SET_MESSAGE_INTERVAL" hasLocation="false" isDestination="false">
+        <description>Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.</description>
+        <param index="1" label="Message ID" minValue="0" maxValue="16777215" increment="1">The MAVLink message ID</param>
+        <param index="2" label="Interval" units="us" minValue="-1" increment="1">The interval between two messages. Set to -1 to disable and 0 to request default rate.</param>
+        <param index="7" label="Response Target" minValue="0" maxValue="2" increment="1">Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requester, 2: broadcast.</param>
+      </entry>
+      <entry value="512" name="MAV_CMD_REQUEST_MESSAGE" hasLocation="false" isDestination="false">
+        <description>Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).</description>
+        <param index="1" label="Message ID" minValue="0" maxValue="16777215" increment="1">The MAVLink message ID of the requested message.</param>
+        <param index="2" label="Req Param 1">Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).</param>
+        <param index="3" label="Req Param 2">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
+        <param index="4" label="Req Param 3">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
+        <param index="5" label="Req Param 4">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
+        <param index="6" label="Req Param 5">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
+        <param index="7" label="Response Target" minValue="0" maxValue="2" increment="1">Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requester, 2: broadcast.</param>
+      </entry>
+      <entry value="519" name="MAV_CMD_REQUEST_PROTOCOL_VERSION" hasLocation="false" isDestination="false">
+        <deprecated since="2025-11" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message</description>
+        <param index="1" label="Protocol" enum="MAV_BOOL">Request supported protocol versions by all nodes on the network (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="520" name="MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message</description>
+        <param index="1" label="Version" enum="MAV_BOOL">Request autopilot version (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="521" name="MAV_CMD_REQUEST_CAMERA_INFORMATION" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request camera information (CAMERA_INFORMATION).</description>
+        <param index="1" label="Capabilities" enum="MAV_BOOL">Request camera capabilities (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="522" name="MAV_CMD_REQUEST_CAMERA_SETTINGS" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request camera settings (CAMERA_SETTINGS).</description>
+        <param index="1" label="Settings" enum="MAV_BOOL">Request camera settings (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="525" name="MAV_CMD_REQUEST_STORAGE_INFORMATION" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
+        <param index="1" label="Storage ID" minValue="0" increment="1">Storage ID (0 for all, 1 for first, 2 for second, etc.)</param>
+        <param index="2" label="Information" enum="MAV_BOOL">Request storage information (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="3">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="526" name="MAV_CMD_STORAGE_FORMAT" hasLocation="false" isDestination="false">
+        <description>Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.</description>
+        <param index="1" label="Storage ID" minValue="0" increment="1">Storage ID (1 for first, 2 for second, etc.)</param>
+        <param index="2" label="Format" enum="MAV_BOOL">Format storage (and reset image log). Values not equal to 0 or 1 are invalid.</param>
+        <param index="3">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="527" name="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request camera capture status (CAMERA_CAPTURE_STATUS)</description>
+        <param index="1" label="Capture Status" enum="MAV_BOOL">Request camera capture status (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="528" name="MAV_CMD_REQUEST_FLIGHT_INFORMATION" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request flight information (FLIGHT_INFORMATION)</description>
+        <param index="1" label="Flight Information" enum="MAV_BOOL">Request flight information (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="529" name="MAV_CMD_RESET_CAMERA_SETTINGS" hasLocation="false" isDestination="false">
+        <description>Reset all camera settings to Factory Default</description>
+        <param index="1" label="Reset" enum="MAV_BOOL">Reset all settings (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Reserved (all remaining params)</param>
+      </entry>
+      <entry value="530" name="MAV_CMD_SET_CAMERA_MODE" hasLocation="false" isDestination="false">
+        <description>Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.</description>
+        <param index="1">Reserved (Set to 0)</param>
+        <param index="2" label="Camera Mode" enum="CAMERA_MODE">Camera mode</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="531" name="MAV_CMD_SET_CAMERA_ZOOM" hasLocation="false" isDestination="false">
+        <description>Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).</description>
+        <param index="1" label="Zoom Type" enum="CAMERA_ZOOM_TYPE">Zoom type</param>
+        <param index="2" label="Zoom Value">Zoom value. The range of valid values depend on the zoom type.</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="532" name="MAV_CMD_SET_CAMERA_FOCUS" hasLocation="false" isDestination="false">
+        <description>Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).</description>
+        <param index="1" label="Focus Type" enum="SET_FOCUS_TYPE">Focus type</param>
+        <param index="2" label="Focus Value">Focus value</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="533" name="MAV_CMD_SET_STORAGE_USAGE" hasLocation="false" isDestination="false">
+        <description>Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).
+          There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage.
+          If no flag is set the system should use its default storage.
+          A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED.
+          A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.</description>
+        <param index="1" label="Storage ID" minValue="0" increment="1">Storage ID (1 for first, 2 for second, etc.)</param>
+        <param index="2" label="Usage" enum="STORAGE_USAGE_FLAG">Usage flags</param>
+      </entry>
+      <entry value="534" name="MAV_CMD_SET_CAMERA_SOURCE" hasLocation="false" isDestination="false">
+        <description>Set camera source. Changes the camera's active sources on cameras with multiple image sensors.</description>
+        <param index="1" label="device id">Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.</param>
+        <param index="2" label="primary source" enum="CAMERA_SOURCE">Primary Source</param>
+        <param index="3" label="secondary source" enum="CAMERA_SOURCE">Secondary Source. If non-zero the second source will be displayed as picture-in-picture.</param>
+      </entry>
+      <entry value="600" name="MAV_CMD_JUMP_TAG" hasLocation="false" isDestination="false">
+        <description>Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.</description>
+        <param index="1" label="Tag" minValue="0" increment="1">Tag.</param>
+      </entry>
+      <entry value="601" name="MAV_CMD_DO_JUMP_TAG" hasLocation="false" isDestination="false">
+        <description>Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.</description>
+        <param index="1" label="Tag" minValue="0" increment="1">Target tag to jump to.</param>
+        <param index="2" label="Repeat" minValue="0" increment="1">Repeat count.</param>
+      </entry>
+      <entry value="1000" name="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW" hasLocation="false" isDestination="false">
+        <description>Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate. </description>
+        <param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).</param>
+        <param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).</param>
+        <param index="3" label="Pitch rate" units="deg/s">Pitch rate (positive to pitch up).</param>
+        <param index="4" label="Yaw rate" units="deg/s">Yaw rate (positive to yaw to the right).</param>
+        <param index="5" label="Gimbal manager flags" enum="GIMBAL_MANAGER_FLAGS">Gimbal manager flags to use.</param>
+        <param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</param>
+      </entry>
+      <entry value="1001" name="MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE" hasLocation="false" isDestination="false">
+        <description>Gimbal configuration to set which sysid/compid is in primary and secondary control.</description>
+        <param index="1" label="sysid primary control">Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="2" label="compid primary control">Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="3" label="sysid secondary control">Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="4" label="compid secondary control">Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).</param>
+        <param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</param>
+      </entry>
+      <entry value="2000" name="MAV_CMD_IMAGE_START_CAPTURE" hasLocation="false" isDestination="false">
+        <description>Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.
+
+          Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
+          It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
+          It is also needed to specify the target camera in missions.
+
+          When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
+          If the param1 is 0 the autopilot should do both.
+
+          When sent in a command the target MAVLink address is set using target_component.
+          If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
+          If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
+          If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
+        </description>
+        <param index="1" label="id" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission</param>
+        <param index="2" label="Interval" units="s" minValue="0">Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).</param>
+        <param index="3" label="Total Images" minValue="0" increment="1">Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.</param>
+        <param index="4" label="Sequence Number" minValue="1" increment="1">Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.</param>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2001" name="MAV_CMD_IMAGE_STOP_CAPTURE" hasLocation="false" isDestination="false">
+        <description>Stop image capture sequence.
+
+          Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
+          It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
+          It is also needed to specify the target camera in missions.
+
+          When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
+          If the param1 is 0 the autopilot should do both.
+
+          When sent in a command the target MAVLink address is set using target_component.
+          If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
+          If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
+          If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
+        </description>
+        <param index="1" label="id" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission</param>
+        <param index="2" reserved="true" default="NaN"/>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2002" name="MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Re-request a CAMERA_IMAGE_CAPTURED message.</description>
+        <param index="1" label="Number" minValue="0" increment="1">Sequence number for missing CAMERA_IMAGE_CAPTURED message</param>
+        <param index="2" reserved="true" default="NaN"/>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2003" name="MAV_CMD_DO_TRIGGER_CONTROL" hasLocation="false" isDestination="false">
+        <description>Enable or disable on-board camera triggering system.</description>
+        <param index="1" label="Enable" minValue="-1" maxValue="1" increment="1">Trigger enable/disable (0 for disable, 1 for start), -1 to ignore</param>
+        <param index="2" label="Reset" minValue="-1" maxValue="1" increment="1">1 to reset the trigger sequence, -1 or 0 to ignore</param>
+        <param index="3" label="Pause" minValue="-1" maxValue="1" increment="2">1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore</param>
+      </entry>
+      <entry value="2004" name="MAV_CMD_CAMERA_TRACK_POINT" hasLocation="false" isDestination="false">
+        <description>If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.</description>
+        <param index="1" label="Point x" minValue="0" maxValue="1">Point to track x value (normalized 0..1, 0 is left, 1 is right).</param>
+        <param index="2" label="Point y" minValue="0" maxValue="1">Point to track y value (normalized 0..1, 0 is top, 1 is bottom).</param>
+        <param index="3" label="Radius" minValue="0" maxValue="1">Point radius (normalized 0..1, 0 is image left, 1 is image right).</param>
+      </entry>
+      <entry value="2005" name="MAV_CMD_CAMERA_TRACK_RECTANGLE" hasLocation="false" isDestination="false">
+        <description>If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.</description>
+        <param index="1" label="Top left corner x" minValue="0" maxValue="1">Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).</param>
+        <param index="2" label="Top left corner y" minValue="0" maxValue="1">Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).</param>
+        <param index="3" label="Bottom right corner x" minValue="0" maxValue="1">Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).</param>
+        <param index="4" label="Bottom right corner y" minValue="0" maxValue="1">Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).</param>
+      </entry>
+      <entry value="2010" name="MAV_CMD_CAMERA_STOP_TRACKING" hasLocation="false" isDestination="false">
+        <description>Stops ongoing tracking.</description>
+      </entry>
+      <entry value="2500" name="MAV_CMD_VIDEO_START_CAPTURE" hasLocation="false" isDestination="false">
+        <description>Starts video capture (recording).</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams)</param>
+        <param index="2" label="Status Frequency" minValue="0" units="Hz">Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2501" name="MAV_CMD_VIDEO_STOP_CAPTURE" hasLocation="false" isDestination="false">
+        <description>Stop the current video capture (recording).</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams)</param>
+        <param index="2" reserved="true" default="NaN"/>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2502" name="MAV_CMD_VIDEO_START_STREAMING" hasLocation="false" isDestination="false">
+        <description>Start video streaming</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
+      </entry>
+      <entry value="2503" name="MAV_CMD_VIDEO_STOP_STREAMING" hasLocation="false" isDestination="false">
+        <description>Stop the given video stream</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
+      </entry>
+      <entry value="2504" name="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request video stream information (VIDEO_STREAM_INFORMATION)</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
+      </entry>
+      <entry value="2505" name="MAV_CMD_REQUEST_VIDEO_STREAM_STATUS" hasLocation="false" isDestination="false">
+        <superseded since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
+        <description>Request video stream status (VIDEO_STREAM_STATUS)</description>
+        <param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
+      </entry>
+      <entry value="2510" name="MAV_CMD_LOGGING_START" hasLocation="false" isDestination="false">
+        <description>Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)</description>
+        <param index="1" label="Format" minValue="0" increment="1">Format: 0: ULog</param>
+        <param index="2">Reserved (set to 0)</param>
+        <param index="3">Reserved (set to 0)</param>
+        <param index="4">Reserved (set to 0)</param>
+        <param index="5">Reserved (set to 0)</param>
+        <param index="6">Reserved (set to 0)</param>
+        <param index="7">Reserved (set to 0)</param>
+      </entry>
+      <entry value="2511" name="MAV_CMD_LOGGING_STOP" hasLocation="false" isDestination="false">
+        <description>Request to stop streaming log data over MAVLink</description>
+        <param index="1">Reserved (set to 0)</param>
+        <param index="2">Reserved (set to 0)</param>
+        <param index="3">Reserved (set to 0)</param>
+        <param index="4">Reserved (set to 0)</param>
+        <param index="5">Reserved (set to 0)</param>
+        <param index="6">Reserved (set to 0)</param>
+        <param index="7">Reserved (set to 0)</param>
+      </entry>
+      <entry value="2520" name="MAV_CMD_AIRFRAME_CONFIGURATION" hasLocation="false" isDestination="false">
+        <description/>
+        <param index="1" label="Landing Gear ID" minValue="-1" increment="1">Landing gear ID (default: 0, -1 for all)</param>
+        <param index="2" label="Landing Gear Position">Landing gear position (Down: 0, Up: 1, NaN for no change)</param>
+        <param index="3" reserved="true" default="NaN"/>
+        <param index="4" reserved="true" default="NaN"/>
+        <param index="5" reserved="true"/>
+        <param index="6" reserved="true"/>
+        <param index="7" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="2600" name="MAV_CMD_CONTROL_HIGH_LATENCY" hasLocation="false" isDestination="false">
+        <description>Request to start/stop transmitting over the high latency telemetry</description>
+        <param index="1" label="Enable" enum="MAV_BOOL">Start transmission over high latency telemetry (MAV_BOOL_FALSE: stop transmission). Values not equal to 0 or 1 are invalid.</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="2800" name="MAV_CMD_PANORAMA_CREATE" hasLocation="false" isDestination="false">
+        <description>Create a panorama at the current position</description>
+        <param index="1" label="Horizontal Angle" units="deg">Viewing angle horizontal of the panorama (+- 0.5 the total angle)</param>
+        <param index="2" label="Vertical Angle" units="deg">Viewing angle vertical of panorama.</param>
+        <param index="3" label="Horizontal Speed" units="deg/s">Speed of the horizontal rotation.</param>
+        <param index="4" label="Vertical Speed" units="deg/s">Speed of the vertical rotation.</param>
+      </entry>
+      <entry value="3000" name="MAV_CMD_DO_VTOL_TRANSITION" hasLocation="false" isDestination="false">
+        <description>Request VTOL transition</description>
+        <param index="1" label="State" enum="MAV_VTOL_STATE">The target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.</param>
+      </entry>
+      <entry value="3001" name="MAV_CMD_ARM_AUTHORIZATION_REQUEST" hasLocation="false" isDestination="false">
+        <description>Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.
+		If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds.
+		If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
+        </description>
+        <param index="1" label="System ID" minValue="0" maxValue="255" increment="1">Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle</param>
+      </entry>
+      <entry value="4000" name="MAV_CMD_SET_GUIDED_SUBMODE_STANDARD" hasLocation="false" isDestination="false">
+        <description>This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
+                  </description>
+      </entry>
+      <entry value="4001" name="MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE" hasLocation="true" isDestination="false">
+        <description>This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
+                  </description>
+        <param index="1" label="Radius" units="m">Radius of desired circle in CIRCLE_MODE</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude" units="degE7">Target latitude of center of circle in CIRCLE_MODE</param>
+        <param index="6" label="Longitude" units="degE7">Target longitude of center of circle in CIRCLE_MODE</param>
+      </entry>
+      <entry value="4501" name="MAV_CMD_CONDITION_GATE" hasLocation="true" isDestination="true">
+        <wip/>
+        <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+        <description>Delay mission state machine until gate has been reached.</description>
+        <param index="1" label="Geometry" minValue="0" increment="1">Geometry: 0: orthogonal to path between previous and next waypoint.</param>
+        <param index="2" label="UseAltitude" enum="MAV_BOOL">Use altitude (MAV_BOOL_FALSE: ignore altitude). Values not equal to 0 or 1 are invalid.</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="5000" name="MAV_CMD_NAV_FENCE_RETURN_POINT" hasLocation="true" isDestination="true">
+        <description>Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.</description>
+        <param index="1">Reserved</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="5001" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION" hasLocation="true" isDestination="false">
+        <description>Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
+          The vertices for a polygon must be sent sequentially, each with param1 set to the total number of vertices in the polygon.
+        </description>
+        <param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count. This is the number of vertices in the current polygon (all vertices will have the same number).</param>
+        <param index="2" label="Inclusion Group" minValue="0" increment="1">Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygon</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="5002" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION" hasLocation="true" isDestination="false">
+        <description>Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
+          The vertices for a polygon must be sent sequentially, each with param1 set to the total number of vertices in the polygon.
+        </description>
+        <param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count. This is the number of vertices in the current polygon (all vertices will have the same number).</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="5003" name="MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION" hasLocation="true" isDestination="false">
+        <description>Circular fence area. The vehicle must stay inside this area.
+        </description>
+        <param index="1" label="Radius" units="m">Radius.</param>
+        <param index="2" label="Inclusion Group" minValue="0" increment="1">Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="5004" name="MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION" hasLocation="true" isDestination="false">
+        <description>Circular fence area. The vehicle must stay outside this area.
+        </description>
+        <param index="1" label="Radius" units="m">Radius.</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <entry value="5100" name="MAV_CMD_NAV_RALLY_POINT" hasLocation="true" isDestination="false">
+        <description>Rally point. You can have multiple rally points defined.
+        </description>
+        <param index="1">Reserved</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <!-- Values in the range [5200, 5210) should be reserved for UAVCAN.  -->
+      <!-- BEGIN UAVCAN range -->
+      <entry value="5200" name="MAV_CMD_UAVCAN_GET_NODE_INFO" hasLocation="false" isDestination="false">
+        <description>Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.</description>
+        <param index="1">Reserved (set to 0)</param>
+        <param index="2">Reserved (set to 0)</param>
+        <param index="3">Reserved (set to 0)</param>
+        <param index="4">Reserved (set to 0)</param>
+        <param index="5">Reserved (set to 0)</param>
+        <param index="6">Reserved (set to 0)</param>
+        <param index="7">Reserved (set to 0)</param>
+      </entry>
+      <!-- END of UAVCAN range -->
+      <entry value="5300" name="MAV_CMD_DO_SET_SAFETY_SWITCH_STATE" hasLocation="false" isDestination="false">
+        <description>Change state of safety switch.</description>
+        <param index="1" label="Desired State" enum="SAFETY_SWITCH_STATE">New safety switch state.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="10001" name="MAV_CMD_DO_ADSB_OUT_IDENT" hasLocation="false" isDestination="false">
+        <description>Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.</description>
+        <param index="1">Reserved (set to 0)</param>
+        <param index="2">Reserved (set to 0)</param>
+        <param index="3">Reserved (set to 0)</param>
+        <param index="4">Reserved (set to 0)</param>
+        <param index="5">Reserved (set to 0)</param>
+        <param index="6">Reserved (set to 0)</param>
+        <param index="7">Reserved (set to 0)</param>
+      </entry>
+      <!-- Entry 12900 reserved for MAV_CMD_ODID_SET_EMERGENCY in development.xml -->
+      <!-- VALUES FROM 0-40000 are reserved for the common message set. Values from 40000 to UINT16_MAX are available for dialects -->
+      <!-- BEGIN of payload range (30000 to 30999) -->
+      <entry value="30001" name="MAV_CMD_PAYLOAD_PREPARE_DEPLOY" hasLocation="true" isDestination="true">
+        <superseded since="2021-06" replaced_by=""/>
+        <description>Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.</description>
+        <param index="1" label="Operation Mode" minValue="0" maxValue="2" increment="1">Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.</param>
+        <param index="2" label="Approach Vector" units="deg" minValue="-1" maxValue="360">Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.</param>
+        <param index="3" label="Ground Speed" minValue="-1">Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.</param>
+        <param index="4" label="Altitude Clearance" units="m" minValue="-1">Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.</param>
+        <param index="5" label="Latitude" units="degE7">Latitude.</param>
+        <param index="6" label="Longitude" units="degE7">Longitude.</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="30002" name="MAV_CMD_PAYLOAD_CONTROL_DEPLOY" hasLocation="false" isDestination="false">
+        <superseded since="2021-06" replaced_by=""/>
+        <description>Control the payload deployment.</description>
+        <param index="1" label="Operation Mode" minValue="0" maxValue="101" increment="1">Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.</param>
+        <param index="2">Reserved</param>
+        <param index="3">Reserved</param>
+        <param index="4">Reserved</param>
+        <param index="5">Reserved</param>
+        <param index="6">Reserved</param>
+        <param index="7">Reserved</param>
+      </entry>
+      <!-- from ardupilotmega.xml (hence ID is in that range) -->
+      <entry value="42006" name="MAV_CMD_FIXED_MAG_CAL_YAW">
+        <description>Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.</description>
+        <param index="1" label="Yaw" units="deg">Yaw of vehicle in earth frame.</param>
+        <param index="2" label="CompassMask">CompassMask, 0 for all.</param>
+        <param index="3" label="Latitude" units="deg">Latitude.</param>
+        <param index="4" label="Longitude" units="deg">Longitude.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="42600" name="MAV_CMD_DO_WINCH" hasLocation="false" isDestination="false">
+        <description>Command to operate winch.</description>
+        <param index="1" label="Instance" minValue="1" increment="1">Winch instance number.</param>
+        <param index="2" label="Action" enum="WINCH_ACTIONS">Action to perform.</param>
+        <param index="3" label="Length" units="m">Length of line to release (negative to wind).</param>
+        <param index="4" label="Rate" units="m/s">Release rate (negative to wind).</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <!-- from ardupilotmega.xml (hence ID is in that range) -->
+      <entry value="43003" name="MAV_CMD_EXTERNAL_POSITION_ESTIMATE" hasLocation="true" isDestination="false">
+        <description>Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.</description>
+        <param index="1" label="transmission_time" units="s">Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.</param>
+        <param index="2" label="processing_time" units="s">The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.</param>
+        <param index="3" label="accuracy">estimated one standard deviation accuracy of the measurement. Set to NaN if not known.</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.</param>
+      </entry>
+      <!-- END of payload range (30000 to 30999) -->
+      <!-- BEGIN user defined range (31000 to 31999) -->
+      <entry value="31000" name="MAV_CMD_WAYPOINT_USER_1" hasLocation="true" isDestination="true">
+        <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31001" name="MAV_CMD_WAYPOINT_USER_2" hasLocation="true" isDestination="true">
+        <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31002" name="MAV_CMD_WAYPOINT_USER_3" hasLocation="true" isDestination="true">
+        <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31003" name="MAV_CMD_WAYPOINT_USER_4" hasLocation="true" isDestination="true">
+        <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31004" name="MAV_CMD_WAYPOINT_USER_5" hasLocation="true" isDestination="true">
+        <description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31005" name="MAV_CMD_SPATIAL_USER_1" hasLocation="true" isDestination="false">
+        <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31006" name="MAV_CMD_SPATIAL_USER_2" hasLocation="true" isDestination="false">
+        <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31007" name="MAV_CMD_SPATIAL_USER_3" hasLocation="true" isDestination="false">
+        <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31008" name="MAV_CMD_SPATIAL_USER_4" hasLocation="true" isDestination="false">
+        <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31009" name="MAV_CMD_SPATIAL_USER_5" hasLocation="true" isDestination="false">
+        <description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5" label="Latitude">Latitude unscaled</param>
+        <param index="6" label="Longitude">Longitude unscaled</param>
+        <param index="7" label="Altitude" units="m">Altitude (MSL)</param>
+      </entry>
+      <entry value="31010" name="MAV_CMD_USER_1" hasLocation="false" isDestination="false">
+        <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry value="31011" name="MAV_CMD_USER_2" hasLocation="false" isDestination="false">
+        <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry value="31012" name="MAV_CMD_USER_3" hasLocation="false" isDestination="false">
+        <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry value="31013" name="MAV_CMD_USER_4" hasLocation="false" isDestination="false">
+        <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry value="31014" name="MAV_CMD_USER_5" hasLocation="false" isDestination="false">
+        <description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <!-- END of user range (31000 to 31999) -->
+      <entry value="32000" name="MAV_CMD_CAN_FORWARD" hasLocation="false" isDestination="false">
+        <description>Request forwarding of CAN packets from the given CAN bus to this component via this mavlink channel. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages</description>
+        <param index="1" label="bus">Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+    </enum>
+    <enum name="MAV_DATA_STREAM">
+      <description>A data stream is not a fixed set of messages, but rather a
+     recommendation to the autopilot software. Individual autopilots may or may not obey
+     the recommended messages.</description>
+      <entry value="0" name="MAV_DATA_STREAM_ALL">
+        <description>Enable all data streams</description>
+      </entry>
+      <entry value="1" name="MAV_DATA_STREAM_RAW_SENSORS">
+        <description>Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.</description>
+      </entry>
+      <entry value="2" name="MAV_DATA_STREAM_EXTENDED_STATUS">
+        <description>Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS</description>
+      </entry>
+      <entry value="3" name="MAV_DATA_STREAM_RC_CHANNELS">
+        <description>Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW</description>
+      </entry>
+      <entry value="4" name="MAV_DATA_STREAM_RAW_CONTROLLER">
+        <description>Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.</description>
+      </entry>
+      <entry value="6" name="MAV_DATA_STREAM_POSITION">
+        <description>Enable LOCAL_POSITION, GLOBAL_POSITION_INT messages.</description>
+      </entry>
+      <entry value="10" name="MAV_DATA_STREAM_EXTRA1">
+        <description>Dependent on the autopilot</description>
+      </entry>
+      <entry value="11" name="MAV_DATA_STREAM_EXTRA2">
+        <description>Dependent on the autopilot</description>
+      </entry>
+      <entry value="12" name="MAV_DATA_STREAM_EXTRA3">
+        <description>Dependent on the autopilot</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ROI">
+      <superseded since="2018-01" replaced_by="`MAV_CMD_DO_SET_ROI_*`"/>
+      <description>The ROI (region of interest) for the vehicle. This can be
+                be used by the vehicle for camera/vehicle attitude alignment (see
+                MAV_CMD_NAV_ROI).</description>
+      <entry value="0" name="MAV_ROI_NONE">
+        <description>No region of interest.</description>
+      </entry>
+      <entry value="1" name="MAV_ROI_WPNEXT">
+        <description>Point toward next waypoint, with optional pitch/roll/yaw offset.</description>
+      </entry>
+      <entry value="2" name="MAV_ROI_WPINDEX">
+        <description>Point toward given waypoint.</description>
+      </entry>
+      <entry value="3" name="MAV_ROI_LOCATION">
+        <description>Point toward fixed location.</description>
+      </entry>
+      <entry value="4" name="MAV_ROI_TARGET">
+        <description>Point toward of given id.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_PARAM_TYPE">
+      <description>Specifies the datatype of a MAVLink parameter.</description>
+      <entry value="1" name="MAV_PARAM_TYPE_UINT8">
+        <description>8-bit unsigned integer</description>
+      </entry>
+      <entry value="2" name="MAV_PARAM_TYPE_INT8">
+        <description>8-bit signed integer</description>
+      </entry>
+      <entry value="3" name="MAV_PARAM_TYPE_UINT16">
+        <description>16-bit unsigned integer</description>
+      </entry>
+      <entry value="4" name="MAV_PARAM_TYPE_INT16">
+        <description>16-bit signed integer</description>
+      </entry>
+      <entry value="5" name="MAV_PARAM_TYPE_UINT32">
+        <description>32-bit unsigned integer</description>
+      </entry>
+      <entry value="6" name="MAV_PARAM_TYPE_INT32">
+        <description>32-bit signed integer</description>
+      </entry>
+      <entry value="7" name="MAV_PARAM_TYPE_UINT64">
+        <description>64-bit unsigned integer</description>
+      </entry>
+      <entry value="8" name="MAV_PARAM_TYPE_INT64">
+        <description>64-bit signed integer</description>
+      </entry>
+      <entry value="9" name="MAV_PARAM_TYPE_REAL32">
+        <description>32-bit floating-point</description>
+      </entry>
+      <entry value="10" name="MAV_PARAM_TYPE_REAL64">
+        <description>64-bit floating-point</description>
+      </entry>
+    </enum>
+    <enum name="MAV_PARAM_ERROR">
+      <wip/>
+      <!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Parameter protocol error types (see PARAM_ERROR).</description>
+      <entry value="0" name="MAV_PARAM_ERROR_NO_ERROR">
+        <description>No error occurred (not expected in PARAM_ERROR but may be used in future implementations.</description>
+      </entry>
+      <entry value="1" name="MAV_PARAM_ERROR_DOES_NOT_EXIST">
+        <description>Parameter does not exist</description>
+      </entry>
+      <entry value="2" name="MAV_PARAM_ERROR_VALUE_OUT_OF_RANGE">
+        <description>Parameter value does not fit within accepted range</description>
+      </entry>
+      <entry value="3" name="MAV_PARAM_ERROR_PERMISSION_DENIED">
+        <description>Caller is not permitted to set the value of this parameter</description>
+      </entry>
+      <entry value="4" name="MAV_PARAM_ERROR_COMPONENT_NOT_FOUND">
+        <description>Unknown component specified</description>
+      </entry>
+      <entry value="5" name="MAV_PARAM_ERROR_READ_ONLY">
+        <description>Parameter is read-only</description>
+      </entry>
+    </enum>
+    <enum name="MAV_PARAM_EXT_TYPE">
+      <description>Specifies the datatype of a MAVLink extended parameter.</description>
+      <entry value="1" name="MAV_PARAM_EXT_TYPE_UINT8">
+        <description>8-bit unsigned integer</description>
+      </entry>
+      <entry value="2" name="MAV_PARAM_EXT_TYPE_INT8">
+        <description>8-bit signed integer</description>
+      </entry>
+      <entry value="3" name="MAV_PARAM_EXT_TYPE_UINT16">
+        <description>16-bit unsigned integer</description>
+      </entry>
+      <entry value="4" name="MAV_PARAM_EXT_TYPE_INT16">
+        <description>16-bit signed integer</description>
+      </entry>
+      <entry value="5" name="MAV_PARAM_EXT_TYPE_UINT32">
+        <description>32-bit unsigned integer</description>
+      </entry>
+      <entry value="6" name="MAV_PARAM_EXT_TYPE_INT32">
+        <description>32-bit signed integer</description>
+      </entry>
+      <entry value="7" name="MAV_PARAM_EXT_TYPE_UINT64">
+        <description>64-bit unsigned integer</description>
+      </entry>
+      <entry value="8" name="MAV_PARAM_EXT_TYPE_INT64">
+        <description>64-bit signed integer</description>
+      </entry>
+      <entry value="9" name="MAV_PARAM_EXT_TYPE_REAL32">
+        <description>32-bit floating-point</description>
+      </entry>
+      <entry value="10" name="MAV_PARAM_EXT_TYPE_REAL64">
+        <description>64-bit floating-point</description>
+      </entry>
+      <entry value="11" name="MAV_PARAM_EXT_TYPE_CUSTOM">
+        <description>Custom Type</description>
+      </entry>
+    </enum>
+    <enum name="MAV_RESULT">
+      <description>Result from a MAVLink command (MAV_CMD)</description>
+      <entry value="0" name="MAV_RESULT_ACCEPTED">
+        <description>Command is valid (is supported and has valid parameters), and was executed.</description>
+      </entry>
+      <entry value="1" name="MAV_RESULT_TEMPORARILY_REJECTED">
+        <description>Command is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.</description>
+      </entry>
+      <entry value="2" name="MAV_RESULT_DENIED">
+        <description>Command is invalid; it is supported but one or more parameter values are invalid (i.e. parameter reserved, value allowed by spec but not supported by flight stack, and so on). Retrying the same command and parameters will not work.</description>
+      </entry>
+      <entry value="3" name="MAV_RESULT_UNSUPPORTED">
+        <description>Command is not supported (unknown).</description>
+      </entry>
+      <entry value="4" name="MAV_RESULT_FAILED">
+        <description>Command is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.</description>
+      </entry>
+      <entry value="5" name="MAV_RESULT_IN_PROGRESS">
+        <description>Command is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation. There is no need for the sender to retry the command, but if done during execution, the component will return MAV_RESULT_IN_PROGRESS with an updated progress.</description>
+      </entry>
+      <entry value="7" name="MAV_RESULT_COMMAND_LONG_ONLY">
+        <description>Command is only accepted when sent as a COMMAND_LONG.</description>
+      </entry>
+      <entry value="8" name="MAV_RESULT_COMMAND_INT_ONLY">
+        <description>Command is only accepted when sent as a COMMAND_INT.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MISSION_RESULT">
+      <description>Result of mission operation (in a MISSION_ACK message).</description>
+      <entry value="0" name="MAV_MISSION_ACCEPTED">
+        <description>mission accepted OK</description>
+      </entry>
+      <entry value="1" name="MAV_MISSION_ERROR">
+        <description>Generic error / not accepting mission commands at all right now.</description>
+      </entry>
+      <entry value="2" name="MAV_MISSION_UNSUPPORTED_FRAME">
+        <description>Coordinate frame is not supported.</description>
+      </entry>
+      <entry value="3" name="MAV_MISSION_UNSUPPORTED">
+        <description>Command is not supported.</description>
+      </entry>
+      <entry value="4" name="MAV_MISSION_NO_SPACE">
+        <description>Mission items exceed storage space.</description>
+      </entry>
+      <entry value="5" name="MAV_MISSION_INVALID">
+        <description>One of the parameters has an invalid value.</description>
+      </entry>
+      <entry value="6" name="MAV_MISSION_INVALID_PARAM1">
+        <description>param1 has an invalid value.</description>
+      </entry>
+      <entry value="7" name="MAV_MISSION_INVALID_PARAM2">
+        <description>param2 has an invalid value.</description>
+      </entry>
+      <entry value="8" name="MAV_MISSION_INVALID_PARAM3">
+        <description>param3 has an invalid value.</description>
+      </entry>
+      <entry value="9" name="MAV_MISSION_INVALID_PARAM4">
+        <description>param4 has an invalid value.</description>
+      </entry>
+      <entry value="10" name="MAV_MISSION_INVALID_PARAM5_X">
+        <description>x / param5 has an invalid value.</description>
+      </entry>
+      <entry value="11" name="MAV_MISSION_INVALID_PARAM6_Y">
+        <description>y / param6 has an invalid value.</description>
+      </entry>
+      <entry value="12" name="MAV_MISSION_INVALID_PARAM7">
+        <description>z / param7 has an invalid value.</description>
+      </entry>
+      <entry value="13" name="MAV_MISSION_INVALID_SEQUENCE">
+        <description>Mission item received out of sequence</description>
+      </entry>
+      <entry value="14" name="MAV_MISSION_DENIED">
+        <description>Not accepting any mission commands from this communication partner.</description>
+      </entry>
+      <entry value="15" name="MAV_MISSION_OPERATION_CANCELLED">
+        <description>Current mission operation cancelled (e.g. mission upload, mission download).</description>
+      </entry>
+    </enum>
+    <enum name="MAV_SEVERITY">
+      <description>Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.</description>
+      <entry value="0" name="MAV_SEVERITY_EMERGENCY">
+        <description>System is unusable. This is a "panic" condition.</description>
+      </entry>
+      <entry value="1" name="MAV_SEVERITY_ALERT">
+        <description>Action should be taken immediately. Indicates error in non-critical systems.</description>
+      </entry>
+      <entry value="2" name="MAV_SEVERITY_CRITICAL">
+        <description>Action must be taken immediately. Indicates failure in a primary system.</description>
+      </entry>
+      <entry value="3" name="MAV_SEVERITY_ERROR">
+        <description>Indicates an error in secondary/redundant systems.</description>
+      </entry>
+      <entry value="4" name="MAV_SEVERITY_WARNING">
+        <description>Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.</description>
+      </entry>
+      <entry value="5" name="MAV_SEVERITY_NOTICE">
+        <description>An unusual event has occurred, though not an error condition. This should be investigated for the root cause.</description>
+      </entry>
+      <entry value="6" name="MAV_SEVERITY_INFO">
+        <description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
+      </entry>
+      <entry value="7" name="MAV_SEVERITY_DEBUG">
+        <description>Useful non-operational messages that can assist in debugging. These should not occur during normal operation.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_POWER_STATUS" bitmask="true">
+      <description>Power supply status flags (bitmask)</description>
+      <entry value="1" name="MAV_POWER_STATUS_BRICK_VALID">
+        <description>main brick power supply valid</description>
+      </entry>
+      <entry value="2" name="MAV_POWER_STATUS_SERVO_VALID">
+        <description>main servo power supply valid for FMU</description>
+      </entry>
+      <entry value="4" name="MAV_POWER_STATUS_USB_CONNECTED">
+        <description>USB power is connected</description>
+      </entry>
+      <entry value="8" name="MAV_POWER_STATUS_PERIPH_OVERCURRENT">
+        <description>peripheral supply is in over-current state</description>
+      </entry>
+      <entry value="16" name="MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT">
+        <description>hi-power peripheral supply is in over-current state</description>
+      </entry>
+      <entry value="32" name="MAV_POWER_STATUS_CHANGED">
+        <description>Power status has changed since boot</description>
+      </entry>
+    </enum>
+    <enum name="SERIAL_CONTROL_DEV">
+      <description>SERIAL_CONTROL device types</description>
+      <entry value="0" name="SERIAL_CONTROL_DEV_TELEM1">
+        <description>First telemetry port</description>
+      </entry>
+      <entry value="1" name="SERIAL_CONTROL_DEV_TELEM2">
+        <description>Second telemetry port</description>
+      </entry>
+      <entry value="2" name="SERIAL_CONTROL_DEV_GPS1">
+        <description>First GPS port</description>
+      </entry>
+      <entry value="3" name="SERIAL_CONTROL_DEV_GPS2">
+        <description>Second GPS port</description>
+      </entry>
+      <entry value="10" name="SERIAL_CONTROL_DEV_SHELL">
+        <description>system shell</description>
+      </entry>
+      <entry value="100" name="SERIAL_CONTROL_SERIAL0">
+        <description>SERIAL0</description>
+      </entry>
+      <entry value="101" name="SERIAL_CONTROL_SERIAL1">
+        <description>SERIAL1</description>
+      </entry>
+      <entry value="102" name="SERIAL_CONTROL_SERIAL2">
+        <description>SERIAL2</description>
+      </entry>
+      <entry value="103" name="SERIAL_CONTROL_SERIAL3">
+        <description>SERIAL3</description>
+      </entry>
+      <entry value="104" name="SERIAL_CONTROL_SERIAL4">
+        <description>SERIAL4</description>
+      </entry>
+      <entry value="105" name="SERIAL_CONTROL_SERIAL5">
+        <description>SERIAL5</description>
+      </entry>
+      <entry value="106" name="SERIAL_CONTROL_SERIAL6">
+        <description>SERIAL6</description>
+      </entry>
+      <entry value="107" name="SERIAL_CONTROL_SERIAL7">
+        <description>SERIAL7</description>
+      </entry>
+      <entry value="108" name="SERIAL_CONTROL_SERIAL8">
+        <description>SERIAL8</description>
+      </entry>
+      <entry value="109" name="SERIAL_CONTROL_SERIAL9">
+        <description>SERIAL9</description>
+      </entry>
+    </enum>
+    <enum name="SERIAL_CONTROL_FLAG" bitmask="true">
+      <description>SERIAL_CONTROL flags (bitmask)</description>
+      <entry value="1" name="SERIAL_CONTROL_FLAG_REPLY">
+        <description>Set if this is a reply</description>
+      </entry>
+      <entry value="2" name="SERIAL_CONTROL_FLAG_RESPOND">
+        <description>Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message</description>
+      </entry>
+      <entry value="4" name="SERIAL_CONTROL_FLAG_EXCLUSIVE">
+        <description>Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set</description>
+      </entry>
+      <entry value="8" name="SERIAL_CONTROL_FLAG_BLOCKING">
+        <description>Block on writes to the serial port</description>
+      </entry>
+      <entry value="16" name="SERIAL_CONTROL_FLAG_MULTI">
+        <description>Send multiple replies until port is drained</description>
+      </entry>
+    </enum>
+    <enum name="MAV_DISTANCE_SENSOR">
+      <description>Enumeration of distance sensor types</description>
+      <entry value="0" name="MAV_DISTANCE_SENSOR_LASER">
+        <description>Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units</description>
+      </entry>
+      <entry value="1" name="MAV_DISTANCE_SENSOR_ULTRASOUND">
+        <description>Ultrasound rangefinder, e.g. MaxBotix units</description>
+      </entry>
+      <entry value="2" name="MAV_DISTANCE_SENSOR_INFRARED">
+        <description>Infrared rangefinder, e.g. Sharp units</description>
+      </entry>
+      <entry value="3" name="MAV_DISTANCE_SENSOR_RADAR">
+        <description>Radar type, e.g. uLanding units</description>
+      </entry>
+      <entry value="4" name="MAV_DISTANCE_SENSOR_UNKNOWN">
+        <description>Broken or unknown type, e.g. analog units</description>
+      </entry>
+    </enum>
+    <enum name="MAV_SENSOR_ORIENTATION">
+      <description>Enumeration of sensor orientation, according to its rotations</description>
+      <entry value="0" name="MAV_SENSOR_ROTATION_NONE">
+        <description>Roll: 0, Pitch: 0, Yaw: 0</description>
+      </entry>
+      <entry value="1" name="MAV_SENSOR_ROTATION_YAW_45">
+        <description>Roll: 0, Pitch: 0, Yaw: 45</description>
+      </entry>
+      <entry value="2" name="MAV_SENSOR_ROTATION_YAW_90">
+        <description>Roll: 0, Pitch: 0, Yaw: 90</description>
+      </entry>
+      <entry value="3" name="MAV_SENSOR_ROTATION_YAW_135">
+        <description>Roll: 0, Pitch: 0, Yaw: 135</description>
+      </entry>
+      <entry value="4" name="MAV_SENSOR_ROTATION_YAW_180">
+        <description>Roll: 0, Pitch: 0, Yaw: 180</description>
+      </entry>
+      <entry value="5" name="MAV_SENSOR_ROTATION_YAW_225">
+        <description>Roll: 0, Pitch: 0, Yaw: 225</description>
+      </entry>
+      <entry value="6" name="MAV_SENSOR_ROTATION_YAW_270">
+        <description>Roll: 0, Pitch: 0, Yaw: 270</description>
+      </entry>
+      <entry value="7" name="MAV_SENSOR_ROTATION_YAW_315">
+        <description>Roll: 0, Pitch: 0, Yaw: 315</description>
+      </entry>
+      <entry value="8" name="MAV_SENSOR_ROTATION_ROLL_180">
+        <description>Roll: 180, Pitch: 0, Yaw: 0</description>
+      </entry>
+      <entry value="9" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_45">
+        <description>Roll: 180, Pitch: 0, Yaw: 45</description>
+      </entry>
+      <entry value="10" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_90">
+        <description>Roll: 180, Pitch: 0, Yaw: 90</description>
+      </entry>
+      <entry value="11" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_135">
+        <description>Roll: 180, Pitch: 0, Yaw: 135</description>
+      </entry>
+      <entry value="12" name="MAV_SENSOR_ROTATION_PITCH_180">
+        <description>Roll: 0, Pitch: 180, Yaw: 0</description>
+      </entry>
+      <entry value="13" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_225">
+        <description>Roll: 180, Pitch: 0, Yaw: 225</description>
+      </entry>
+      <entry value="14" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_270">
+        <description>Roll: 180, Pitch: 0, Yaw: 270</description>
+      </entry>
+      <entry value="15" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_315">
+        <description>Roll: 180, Pitch: 0, Yaw: 315</description>
+      </entry>
+      <entry value="16" name="MAV_SENSOR_ROTATION_ROLL_90">
+        <description>Roll: 90, Pitch: 0, Yaw: 0</description>
+      </entry>
+      <entry value="17" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_45">
+        <description>Roll: 90, Pitch: 0, Yaw: 45</description>
+      </entry>
+      <entry value="18" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_90">
+        <description>Roll: 90, Pitch: 0, Yaw: 90</description>
+      </entry>
+      <entry value="19" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_135">
+        <description>Roll: 90, Pitch: 0, Yaw: 135</description>
+      </entry>
+      <entry value="20" name="MAV_SENSOR_ROTATION_ROLL_270">
+        <description>Roll: 270, Pitch: 0, Yaw: 0</description>
+      </entry>
+      <entry value="21" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_45">
+        <description>Roll: 270, Pitch: 0, Yaw: 45</description>
+      </entry>
+      <entry value="22" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_90">
+        <description>Roll: 270, Pitch: 0, Yaw: 90</description>
+      </entry>
+      <entry value="23" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_135">
+        <description>Roll: 270, Pitch: 0, Yaw: 135</description>
+      </entry>
+      <entry value="24" name="MAV_SENSOR_ROTATION_PITCH_90">
+        <description>Roll: 0, Pitch: 90, Yaw: 0</description>
+      </entry>
+      <entry value="25" name="MAV_SENSOR_ROTATION_PITCH_270">
+        <description>Roll: 0, Pitch: 270, Yaw: 0</description>
+      </entry>
+      <entry value="26" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_90">
+        <description>Roll: 0, Pitch: 180, Yaw: 90</description>
+      </entry>
+      <entry value="27" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_270">
+        <description>Roll: 0, Pitch: 180, Yaw: 270</description>
+      </entry>
+      <entry value="28" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_90">
+        <description>Roll: 90, Pitch: 90, Yaw: 0</description>
+      </entry>
+      <entry value="29" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_90">
+        <description>Roll: 180, Pitch: 90, Yaw: 0</description>
+      </entry>
+      <entry value="30" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_90">
+        <description>Roll: 270, Pitch: 90, Yaw: 0</description>
+      </entry>
+      <entry value="31" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180">
+        <description>Roll: 90, Pitch: 180, Yaw: 0</description>
+      </entry>
+      <entry value="32" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_180">
+        <description>Roll: 270, Pitch: 180, Yaw: 0</description>
+      </entry>
+      <entry value="33" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_270">
+        <description>Roll: 90, Pitch: 270, Yaw: 0</description>
+      </entry>
+      <entry value="34" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_270">
+        <description>Roll: 180, Pitch: 270, Yaw: 0</description>
+      </entry>
+      <entry value="35" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_270">
+        <description>Roll: 270, Pitch: 270, Yaw: 0</description>
+      </entry>
+      <entry value="36" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90">
+        <description>Roll: 90, Pitch: 180, Yaw: 90</description>
+      </entry>
+      <entry value="37" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_270">
+        <description>Roll: 90, Pitch: 0, Yaw: 270</description>
+      </entry>
+      <entry value="38" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293">
+        <description>Roll: 90, Pitch: 68, Yaw: 293</description>
+      </entry>
+      <entry value="39" name="MAV_SENSOR_ROTATION_PITCH_315">
+        <description>Pitch: 315</description>
+      </entry>
+      <entry value="40" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_315">
+        <description>Roll: 90, Pitch: 315</description>
+      </entry>
+      <entry value="100" name="MAV_SENSOR_ROTATION_CUSTOM">
+        <description>Custom orientation</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MISSION_TYPE">
+      <description>Type of mission items being requested/sent in mission protocol.</description>
+      <entry value="0" name="MAV_MISSION_TYPE_MISSION">
+        <description>Items are mission commands for main mission.</description>
+      </entry>
+      <entry value="1" name="MAV_MISSION_TYPE_FENCE">
+        <description>Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.</description>
+      </entry>
+      <entry value="2" name="MAV_MISSION_TYPE_RALLY">
+        <description>Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.</description>
+      </entry>
+      <entry value="255" name="MAV_MISSION_TYPE_ALL">
+        <description>Only used in MISSION_CLEAR_ALL to clear all mission types.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ESTIMATOR_TYPE">
+      <description>Enumeration of estimator types</description>
+      <entry value="0" name="MAV_ESTIMATOR_TYPE_UNKNOWN">
+        <description>Unknown type of the estimator.</description>
+      </entry>
+      <entry value="1" name="MAV_ESTIMATOR_TYPE_NAIVE">
+        <description>This is a naive estimator without any real covariance feedback.</description>
+      </entry>
+      <entry value="2" name="MAV_ESTIMATOR_TYPE_VISION">
+        <description>Computer vision based estimate. Might be up to scale.</description>
+      </entry>
+      <entry value="3" name="MAV_ESTIMATOR_TYPE_VIO">
+        <description>Visual-inertial estimate.</description>
+      </entry>
+      <entry value="4" name="MAV_ESTIMATOR_TYPE_GPS">
+        <description>Plain GPS estimate.</description>
+      </entry>
+      <entry value="5" name="MAV_ESTIMATOR_TYPE_GPS_INS">
+        <description>Estimator integrating GPS and inertial sensing.</description>
+      </entry>
+      <entry value="6" name="MAV_ESTIMATOR_TYPE_MOCAP">
+        <description>Estimate from external motion capturing system.</description>
+      </entry>
+      <entry value="7" name="MAV_ESTIMATOR_TYPE_LIDAR">
+        <description>Estimator based on lidar sensor input.</description>
+      </entry>
+      <entry value="8" name="MAV_ESTIMATOR_TYPE_AUTOPILOT">
+        <description>Estimator on autopilot.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_BATTERY_TYPE">
+      <description>Enumeration of battery types</description>
+      <entry value="0" name="MAV_BATTERY_TYPE_UNKNOWN">
+        <description>Not specified.</description>
+      </entry>
+      <entry value="1" name="MAV_BATTERY_TYPE_LIPO">
+        <description>Lithium polymer battery</description>
+      </entry>
+      <entry value="2" name="MAV_BATTERY_TYPE_LIFE">
+        <description>Lithium-iron-phosphate battery</description>
+      </entry>
+      <entry value="3" name="MAV_BATTERY_TYPE_LION">
+        <description>Lithium-ION battery</description>
+      </entry>
+      <entry value="4" name="MAV_BATTERY_TYPE_NIMH">
+        <description>Nickel metal hydride battery</description>
+      </entry>
+    </enum>
+    <enum name="MAV_BATTERY_FUNCTION">
+      <description>Enumeration of battery functions</description>
+      <entry value="0" name="MAV_BATTERY_FUNCTION_UNKNOWN">
+        <description>Battery function is unknown</description>
+      </entry>
+      <entry value="1" name="MAV_BATTERY_FUNCTION_ALL">
+        <description>Battery supports all flight systems</description>
+      </entry>
+      <entry value="2" name="MAV_BATTERY_FUNCTION_PROPULSION">
+        <description>Battery for the propulsion system</description>
+      </entry>
+      <entry value="3" name="MAV_BATTERY_FUNCTION_AVIONICS">
+        <description>Avionics battery</description>
+      </entry>
+      <entry value="4" name="MAV_BATTERY_FUNCTION_PAYLOAD">
+        <description>Payload battery</description>
+      </entry>
+    </enum>
+    <enum name="MAV_BATTERY_CHARGE_STATE">
+      <description>Enumeration for battery charge states.</description>
+      <entry value="0" name="MAV_BATTERY_CHARGE_STATE_UNDEFINED">
+        <description>Low battery state is not provided</description>
+      </entry>
+      <entry value="1" name="MAV_BATTERY_CHARGE_STATE_OK">
+        <description>Battery is not in low state. Normal operation.</description>
+      </entry>
+      <entry value="2" name="MAV_BATTERY_CHARGE_STATE_LOW">
+        <description>Battery state is low, warn and monitor close.</description>
+      </entry>
+      <entry value="3" name="MAV_BATTERY_CHARGE_STATE_CRITICAL">
+        <description>Battery state is critical, return or abort immediately.</description>
+      </entry>
+      <entry value="4" name="MAV_BATTERY_CHARGE_STATE_EMERGENCY">
+        <description>Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.</description>
+      </entry>
+      <entry value="5" name="MAV_BATTERY_CHARGE_STATE_FAILED">
+        <description>Battery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.</description>
+      </entry>
+      <entry value="6" name="MAV_BATTERY_CHARGE_STATE_UNHEALTHY">
+        <description>Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.</description>
+      </entry>
+      <entry value="7" name="MAV_BATTERY_CHARGE_STATE_CHARGING">
+        <description>Battery is charging.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_BATTERY_MODE">
+      <description>Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.</description>
+      <entry value="0" name="MAV_BATTERY_MODE_UNKNOWN">
+        <description>Battery mode not supported/unknown battery mode/normal operation.</description>
+      </entry>
+      <entry value="1" name="MAV_BATTERY_MODE_AUTO_DISCHARGING">
+        <description>Battery is auto discharging (towards storage level).</description>
+      </entry>
+      <entry value="2" name="MAV_BATTERY_MODE_HOT_SWAP">
+        <description>Battery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).</description>
+      </entry>
+    </enum>
+    <enum name="MAV_BATTERY_FAULT" bitmask="true">
+      <description>Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.</description>
+      <entry value="1" name="MAV_BATTERY_FAULT_DEEP_DISCHARGE">
+        <description>Battery has deep discharged.</description>
+      </entry>
+      <entry value="2" name="MAV_BATTERY_FAULT_SPIKES">
+        <description>Voltage spikes.</description>
+      </entry>
+      <entry value="4" name="MAV_BATTERY_FAULT_CELL_FAIL">
+        <description>One or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).</description>
+      </entry>
+      <entry value="8" name="MAV_BATTERY_FAULT_OVER_CURRENT">
+        <description>Over-current fault.</description>
+      </entry>
+      <entry value="16" name="MAV_BATTERY_FAULT_OVER_TEMPERATURE">
+        <description>Over-temperature fault.</description>
+      </entry>
+      <entry value="32" name="MAV_BATTERY_FAULT_UNDER_TEMPERATURE">
+        <description>Under-temperature fault.</description>
+      </entry>
+      <entry value="64" name="MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGE">
+        <description>Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).</description>
+      </entry>
+      <entry value="128" name="MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWARE">
+        <description>Battery firmware is not compatible with current autopilot firmware.</description>
+      </entry>
+      <entry value="256" name="BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATION">
+        <description>Battery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).</description>
+      </entry>
+    </enum>
+    <enum name="MAV_GENERATOR_STATUS_FLAG" bitmask="true">
+      <description>Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).</description>
+      <entry value="1" name="MAV_GENERATOR_STATUS_FLAG_OFF">
+        <description>Generator is off.</description>
+      </entry>
+      <entry value="2" name="MAV_GENERATOR_STATUS_FLAG_READY">
+        <description>Generator is ready to start generating power.</description>
+      </entry>
+      <entry value="4" name="MAV_GENERATOR_STATUS_FLAG_GENERATING">
+        <description>Generator is generating power.</description>
+      </entry>
+      <entry value="8" name="MAV_GENERATOR_STATUS_FLAG_CHARGING">
+        <description>Generator is charging the batteries (generating enough power to charge and provide the load).</description>
+      </entry>
+      <entry value="16" name="MAV_GENERATOR_STATUS_FLAG_REDUCED_POWER">
+        <description>Generator is operating at a reduced maximum power.</description>
+      </entry>
+      <entry value="32" name="MAV_GENERATOR_STATUS_FLAG_MAXPOWER">
+        <description>Generator is providing the maximum output.</description>
+      </entry>
+      <entry value="64" name="MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNING">
+        <description>Generator is near the maximum operating temperature, cooling is insufficient.</description>
+      </entry>
+      <entry value="128" name="MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULT">
+        <description>Generator hit the maximum operating temperature and shutdown.</description>
+      </entry>
+      <entry value="256" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING">
+        <description>Power electronics are near the maximum operating temperature, cooling is insufficient.</description>
+      </entry>
+      <entry value="512" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT">
+        <description>Power electronics hit the maximum operating temperature and shutdown.</description>
+      </entry>
+      <entry value="1024" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULT">
+        <description>Power electronics experienced a fault and shutdown.</description>
+      </entry>
+      <entry value="2048" name="MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULT">
+        <description>The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.</description>
+      </entry>
+      <entry value="4096" name="MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNING">
+        <description>Generator controller having communication problems.</description>
+      </entry>
+      <entry value="8192" name="MAV_GENERATOR_STATUS_FLAG_COOLING_WARNING">
+        <description>Power electronic or generator cooling system error.</description>
+      </entry>
+      <entry value="16384" name="MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULT">
+        <description>Generator controller power rail experienced a fault.</description>
+      </entry>
+      <entry value="32768" name="MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULT">
+        <description>Generator controller exceeded the overcurrent threshold and shutdown to prevent damage.</description>
+      </entry>
+      <entry value="65536" name="MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT">
+        <description>Generator controller detected a high current going into the batteries and shutdown to prevent battery damage.</description>
+      </entry>
+      <entry value="131072" name="MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULT">
+        <description>Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.</description>
+      </entry>
+      <entry value="262144" name="MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULT">
+        <description>Batteries are under voltage (generator will not start).</description>
+      </entry>
+      <entry value="524288" name="MAV_GENERATOR_STATUS_FLAG_START_INHIBITED">
+        <description>Generator start is inhibited by e.g. a safety switch.</description>
+      </entry>
+      <entry value="1048576" name="MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIRED">
+        <description>Generator requires maintenance.</description>
+      </entry>
+      <entry value="2097152" name="MAV_GENERATOR_STATUS_FLAG_WARMING_UP">
+        <description>Generator is not ready to generate yet.</description>
+      </entry>
+      <entry value="4194304" name="MAV_GENERATOR_STATUS_FLAG_IDLE">
+        <description>Generator is idle.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_VTOL_STATE">
+      <description>Enumeration of VTOL states</description>
+      <entry value="0" name="MAV_VTOL_STATE_UNDEFINED">
+        <description>MAV is not configured as VTOL</description>
+      </entry>
+      <entry value="1" name="MAV_VTOL_STATE_TRANSITION_TO_FW">
+        <description>VTOL is in transition from multicopter to fixed-wing</description>
+      </entry>
+      <entry value="2" name="MAV_VTOL_STATE_TRANSITION_TO_MC">
+        <description>VTOL is in transition from fixed-wing to multicopter</description>
+      </entry>
+      <entry value="3" name="MAV_VTOL_STATE_MC">
+        <description>VTOL is in multicopter state</description>
+      </entry>
+      <entry value="4" name="MAV_VTOL_STATE_FW">
+        <description>VTOL is in fixed-wing state</description>
+      </entry>
+    </enum>
+    <enum name="MAV_LANDED_STATE">
+      <description>Enumeration of landed detector states</description>
+      <entry value="0" name="MAV_LANDED_STATE_UNDEFINED">
+        <description>MAV landed state is unknown</description>
+      </entry>
+      <entry value="1" name="MAV_LANDED_STATE_ON_GROUND">
+        <description>MAV is landed (on ground)</description>
+      </entry>
+      <entry value="2" name="MAV_LANDED_STATE_IN_AIR">
+        <description>MAV is in air</description>
+      </entry>
+      <entry value="3" name="MAV_LANDED_STATE_TAKEOFF">
+        <description>MAV currently taking off</description>
+      </entry>
+      <entry value="4" name="MAV_LANDED_STATE_LANDING">
+        <description>MAV currently landing</description>
+      </entry>
+    </enum>
+    <enum name="ADSB_ALTITUDE_TYPE">
+      <description>Enumeration of the ADSB altimeter types</description>
+      <entry value="0" name="ADSB_ALTITUDE_TYPE_PRESSURE_QNH">
+        <description>Altitude reported from a Baro source using QNH reference</description>
+      </entry>
+      <entry value="1" name="ADSB_ALTITUDE_TYPE_GEOMETRIC">
+        <description>Altitude reported from a GNSS source</description>
+      </entry>
+    </enum>
+    <enum name="ADSB_EMITTER_TYPE">
+      <description>ADSB classification for the type of vehicle emitting the transponder signal</description>
+      <entry value="0" name="ADSB_EMITTER_TYPE_NO_INFO"/>
+      <entry value="1" name="ADSB_EMITTER_TYPE_LIGHT"/>
+      <entry value="2" name="ADSB_EMITTER_TYPE_SMALL"/>
+      <entry value="3" name="ADSB_EMITTER_TYPE_LARGE"/>
+      <entry value="4" name="ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE"/>
+      <entry value="5" name="ADSB_EMITTER_TYPE_HEAVY"/>
+      <entry value="6" name="ADSB_EMITTER_TYPE_HIGHLY_MANUV"/>
+      <entry value="7" name="ADSB_EMITTER_TYPE_ROTOCRAFT"/>
+      <entry value="8" name="ADSB_EMITTER_TYPE_UNASSIGNED"/>
+      <entry value="9" name="ADSB_EMITTER_TYPE_GLIDER"/>
+      <entry value="10" name="ADSB_EMITTER_TYPE_LIGHTER_AIR"/>
+      <entry value="11" name="ADSB_EMITTER_TYPE_PARACHUTE"/>
+      <entry value="12" name="ADSB_EMITTER_TYPE_ULTRA_LIGHT"/>
+      <entry value="13" name="ADSB_EMITTER_TYPE_UNASSIGNED2"/>
+      <entry value="14" name="ADSB_EMITTER_TYPE_UAV"/>
+      <entry value="15" name="ADSB_EMITTER_TYPE_SPACE"/>
+      <entry value="16" name="ADSB_EMITTER_TYPE_UNASSGINED3"/>
+      <entry value="17" name="ADSB_EMITTER_TYPE_EMERGENCY_SURFACE"/>
+      <entry value="18" name="ADSB_EMITTER_TYPE_SERVICE_SURFACE"/>
+      <entry value="19" name="ADSB_EMITTER_TYPE_POINT_OBSTACLE"/>
+    </enum>
+    <enum name="ADSB_FLAGS" bitmask="true">
+      <description>These flags indicate status such as data validity of each data source. Set = data valid</description>
+      <entry value="1" name="ADSB_FLAGS_VALID_COORDS"/>
+      <entry value="2" name="ADSB_FLAGS_VALID_ALTITUDE"/>
+      <entry value="4" name="ADSB_FLAGS_VALID_HEADING"/>
+      <entry value="8" name="ADSB_FLAGS_VALID_VELOCITY"/>
+      <entry value="16" name="ADSB_FLAGS_VALID_CALLSIGN"/>
+      <entry value="32" name="ADSB_FLAGS_VALID_SQUAWK"/>
+      <entry value="64" name="ADSB_FLAGS_SIMULATED"/>
+      <entry value="128" name="ADSB_FLAGS_VERTICAL_VELOCITY_VALID"/>
+      <entry value="256" name="ADSB_FLAGS_BARO_VALID"/>
+      <entry value="32768" name="ADSB_FLAGS_SOURCE_UAT"/>
+    </enum>
+    <enum name="MAV_DO_REPOSITION_FLAGS" bitmask="true">
+      <description>Bitmap of options for the MAV_CMD_DO_REPOSITION</description>
+      <entry value="1" name="MAV_DO_REPOSITION_FLAGS_CHANGE_MODE">
+        <description>The aircraft should immediately transition into guided. This should not be set for follow me applications</description>
+      </entry>
+      <entry value="2" name="MAV_DO_REPOSITION_FLAGS_RELATIVE_YAW">
+        <description>Yaw relative to the vehicle current heading (if not set, relative to North).</description>
+      </entry>
+    </enum>
+    <enum name="SPEED_TYPE">
+      <description>Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED</description>
+      <entry value="0" name="SPEED_TYPE_AIRSPEED">
+        <description>Airspeed</description>
+      </entry>
+      <entry value="1" name="SPEED_TYPE_GROUNDSPEED">
+        <description>Groundspeed</description>
+      </entry>
+      <entry value="2" name="SPEED_TYPE_CLIMB_SPEED">
+        <description>Climb speed</description>
+      </entry>
+      <entry value="3" name="SPEED_TYPE_DESCENT_SPEED">
+        <description>Descent speed</description>
+      </entry>
+    </enum>
+    <!-- ESTIMATOR_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
+    <enum name="ESTIMATOR_STATUS_FLAGS" bitmask="true">
+      <description>Flags in ESTIMATOR_STATUS message</description>
+      <entry value="1" name="ESTIMATOR_ATTITUDE">
+        <description>True if the attitude estimate is good</description>
+      </entry>
+      <entry value="2" name="ESTIMATOR_VELOCITY_HORIZ">
+        <description>True if the horizontal velocity estimate is good</description>
+      </entry>
+      <entry value="4" name="ESTIMATOR_VELOCITY_VERT">
+        <description>True if the  vertical velocity estimate is good</description>
+      </entry>
+      <entry value="8" name="ESTIMATOR_POS_HORIZ_REL">
+        <description>True if the horizontal position (relative) estimate is good</description>
+      </entry>
+      <entry value="16" name="ESTIMATOR_POS_HORIZ_ABS">
+        <description>True if the horizontal position (absolute) estimate is good</description>
+      </entry>
+      <entry value="32" name="ESTIMATOR_POS_VERT_ABS">
+        <description>True if the vertical position (absolute) estimate is good</description>
+      </entry>
+      <entry value="64" name="ESTIMATOR_POS_VERT_AGL">
+        <description>True if the vertical position (above ground) estimate is good</description>
+      </entry>
+      <entry value="128" name="ESTIMATOR_CONST_POS_MODE">
+        <description>True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)</description>
+      </entry>
+      <entry value="256" name="ESTIMATOR_PRED_POS_HORIZ_REL">
+        <description>True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate</description>
+      </entry>
+      <entry value="512" name="ESTIMATOR_PRED_POS_HORIZ_ABS">
+        <description>True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate</description>
+      </entry>
+      <entry value="1024" name="ESTIMATOR_GPS_GLITCH">
+        <description>True if the EKF has detected a GPS glitch</description>
+      </entry>
+      <entry value="2048" name="ESTIMATOR_ACCEL_ERROR">
+        <description>True if the EKF has detected bad accelerometer data</description>
+      </entry>
+    </enum>
+    <!-- motor test type enum -->
+    <enum name="MOTOR_TEST_ORDER">
+      <description>Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.</description>
+      <entry name="MOTOR_TEST_ORDER_DEFAULT" value="0">
+        <description>Default autopilot motor test method.</description>
+      </entry>
+      <entry name="MOTOR_TEST_ORDER_SEQUENCE" value="1">
+        <description>Motor numbers are specified as their index in a predefined vehicle-specific sequence.</description>
+      </entry>
+      <entry name="MOTOR_TEST_ORDER_BOARD" value="2">
+        <description>Motor numbers are specified as the output as labeled on the board.</description>
+      </entry>
+    </enum>
+    <!-- motor test throttle type enum -->
+    <enum name="MOTOR_TEST_THROTTLE_TYPE">
+      <description>Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.</description>
+      <entry value="0" name="MOTOR_TEST_THROTTLE_PERCENT">
+        <description>Throttle as a percentage (0 ~ 100)</description>
+      </entry>
+      <entry value="1" name="MOTOR_TEST_THROTTLE_PWM">
+        <description>Throttle as an absolute PWM value (normally in range of 1000~2000).</description>
+      </entry>
+      <entry value="2" name="MOTOR_TEST_THROTTLE_PILOT">
+        <description>Throttle pass-through from pilot's transmitter.</description>
+      </entry>
+      <entry value="3" name="MOTOR_TEST_COMPASS_CAL">
+        <description>Per-motor compass calibration test.</description>
+      </entry>
+    </enum>
+    <!-- GPS_INPUT ignore flags enum -->
+    <enum name="GPS_INPUT_IGNORE_FLAGS" bitmask="true">
+      <entry value="1" name="GPS_INPUT_IGNORE_FLAG_ALT">
+        <description>ignore altitude field</description>
+      </entry>
+      <entry value="2" name="GPS_INPUT_IGNORE_FLAG_HDOP">
+        <description>ignore hdop field</description>
+      </entry>
+      <entry value="4" name="GPS_INPUT_IGNORE_FLAG_VDOP">
+        <description>ignore vdop field</description>
+      </entry>
+      <entry value="8" name="GPS_INPUT_IGNORE_FLAG_VEL_HORIZ">
+        <description>ignore horizontal velocity field (vn and ve)</description>
+      </entry>
+      <entry value="16" name="GPS_INPUT_IGNORE_FLAG_VEL_VERT">
+        <description>ignore vertical velocity field (vd)</description>
+      </entry>
+      <entry value="32" name="GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY">
+        <description>ignore speed accuracy field</description>
+      </entry>
+      <entry value="64" name="GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY">
+        <description>ignore horizontal accuracy field</description>
+      </entry>
+      <entry value="128" name="GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY">
+        <description>ignore vertical accuracy field</description>
+      </entry>
+    </enum>
+    <enum name="MAV_COLLISION_ACTION">
+      <description>Possible actions an aircraft can take to avoid a collision.</description>
+      <entry value="0" name="MAV_COLLISION_ACTION_NONE">
+        <description>Ignore any potential collisions</description>
+      </entry>
+      <entry value="1" name="MAV_COLLISION_ACTION_REPORT">
+        <description>Report potential collision</description>
+      </entry>
+      <entry value="2" name="MAV_COLLISION_ACTION_ASCEND_OR_DESCEND">
+        <description>Ascend or Descend to avoid threat</description>
+      </entry>
+      <entry value="3" name="MAV_COLLISION_ACTION_MOVE_HORIZONTALLY">
+        <description>Move horizontally to avoid threat</description>
+      </entry>
+      <entry value="4" name="MAV_COLLISION_ACTION_MOVE_PERPENDICULAR">
+        <description>Aircraft to move perpendicular to the collision's velocity vector</description>
+      </entry>
+      <entry value="5" name="MAV_COLLISION_ACTION_RTL">
+        <description>Aircraft to fly directly back to its launch point</description>
+      </entry>
+      <entry value="6" name="MAV_COLLISION_ACTION_HOVER">
+        <description>Aircraft to stop in place</description>
+      </entry>
+    </enum>
+    <enum name="MAV_COLLISION_THREAT_LEVEL">
+      <description>Aircraft-rated danger from this threat.</description>
+      <entry value="0" name="MAV_COLLISION_THREAT_LEVEL_NONE">
+        <description>Not a threat</description>
+      </entry>
+      <entry value="1" name="MAV_COLLISION_THREAT_LEVEL_LOW">
+        <description>Craft is mildly concerned about this threat</description>
+      </entry>
+      <entry value="2" name="MAV_COLLISION_THREAT_LEVEL_HIGH">
+        <description>Craft is panicking, and may take actions to avoid threat</description>
+      </entry>
+    </enum>
+    <enum name="MAV_COLLISION_SRC">
+      <description>Source of information about this collision.</description>
+      <entry value="0" name="MAV_COLLISION_SRC_ADSB">
+        <description>ID field references ADSB_VEHICLE packets</description>
+      </entry>
+      <entry value="1" name="MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INT">
+        <description>ID field references MAVLink SRC ID</description>
+      </entry>
+    </enum>
+    <enum name="GPS_FIX_TYPE">
+      <description>Type of GPS fix</description>
+      <entry value="0" name="GPS_FIX_TYPE_NO_GPS">
+        <description>No GPS connected</description>
+      </entry>
+      <entry value="1" name="GPS_FIX_TYPE_NO_FIX">
+        <description>No position information, GPS is connected</description>
+      </entry>
+      <entry value="2" name="GPS_FIX_TYPE_2D_FIX">
+        <description>2D position</description>
+      </entry>
+      <entry value="3" name="GPS_FIX_TYPE_3D_FIX">
+        <description>3D position</description>
+      </entry>
+      <entry value="4" name="GPS_FIX_TYPE_DGPS">
+        <description>DGPS/SBAS aided 3D position</description>
+      </entry>
+      <entry value="5" name="GPS_FIX_TYPE_RTK_FLOAT">
+        <description>RTK float, 3D position</description>
+      </entry>
+      <entry value="6" name="GPS_FIX_TYPE_RTK_FIXED">
+        <description>RTK Fixed, 3D position</description>
+      </entry>
+      <entry value="7" name="GPS_FIX_TYPE_STATIC">
+        <description>Static fixed, typically used for base stations</description>
+      </entry>
+      <entry value="8" name="GPS_FIX_TYPE_PPP">
+        <description>PPP, 3D position.</description>
+      </entry>
+    </enum>
+    <enum name="RTK_BASELINE_COORDINATE_SYSTEM">
+      <description>RTK GPS baseline coordinate system, used for RTK corrections</description>
+      <entry value="0" name="RTK_BASELINE_COORDINATE_SYSTEM_ECEF">
+        <description>Earth-centered, Earth-fixed</description>
+      </entry>
+      <entry value="1" name="RTK_BASELINE_COORDINATE_SYSTEM_NED">
+        <description>RTK basestation centered, north, east, down</description>
+      </entry>
+    </enum>
+    <enum name="LANDING_TARGET_TYPE">
+      <description>Type of landing target</description>
+      <entry value="0" name="LANDING_TARGET_TYPE_LIGHT_BEACON">
+        <description>Landing target signaled by light beacon (ex: IR-LOCK)</description>
+      </entry>
+      <entry value="1" name="LANDING_TARGET_TYPE_RADIO_BEACON">
+        <description>Landing target signaled by radio beacon (ex: ILS, NDB)</description>
+      </entry>
+      <entry value="2" name="LANDING_TARGET_TYPE_VISION_FIDUCIAL">
+        <description>Landing target represented by a fiducial marker (ex: ARTag)</description>
+      </entry>
+      <entry value="3" name="LANDING_TARGET_TYPE_VISION_OTHER">
+        <description>Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)</description>
+      </entry>
+    </enum>
+    <enum name="VTOL_TRANSITION_HEADING">
+      <description>Direction of VTOL transition</description>
+      <entry value="0" name="VTOL_TRANSITION_HEADING_VEHICLE_DEFAULT">
+        <description>Respect the heading configuration of the vehicle.</description>
+      </entry>
+      <entry value="1" name="VTOL_TRANSITION_HEADING_NEXT_WAYPOINT">
+        <description>Use the heading pointing towards the next waypoint.</description>
+      </entry>
+      <entry value="2" name="VTOL_TRANSITION_HEADING_TAKEOFF">
+        <description>Use the heading on takeoff (while sitting on the ground).</description>
+      </entry>
+      <entry value="3" name="VTOL_TRANSITION_HEADING_SPECIFIED">
+        <description>Use the specified heading in parameter 4.</description>
+      </entry>
+      <entry value="4" name="VTOL_TRANSITION_HEADING_ANY">
+        <description>Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_CAP_FLAGS" bitmask="true">
+      <description>Camera capability flags (Bitmap)</description>
+      <entry value="1" name="CAMERA_CAP_FLAGS_CAPTURE_VIDEO">
+        <description>Camera is able to record video</description>
+      </entry>
+      <entry value="2" name="CAMERA_CAP_FLAGS_CAPTURE_IMAGE">
+        <description>Camera is able to capture images</description>
+      </entry>
+      <entry value="4" name="CAMERA_CAP_FLAGS_HAS_MODES">
+        <description>Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)</description>
+      </entry>
+      <entry value="8" name="CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE">
+        <description>Camera can capture images while in video mode</description>
+      </entry>
+      <entry value="16" name="CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE">
+        <description>Camera can capture videos while in Photo/Image mode</description>
+      </entry>
+      <entry value="32" name="CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE">
+        <description>Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)</description>
+      </entry>
+      <entry value="64" name="CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM">
+        <description>Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)</description>
+      </entry>
+      <entry value="128" name="CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS">
+        <description>Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)</description>
+      </entry>
+      <entry value="256" name="CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM">
+        <description>Camera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)</description>
+      </entry>
+      <entry value="512" name="CAMERA_CAP_FLAGS_HAS_TRACKING_POINT">
+        <description>Camera supports tracking of a point on the camera view.</description>
+      </entry>
+      <entry value="1024" name="CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE">
+        <description>Camera supports tracking of a selection rectangle on the camera view.</description>
+      </entry>
+      <entry value="2048" name="CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS">
+        <description>Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).</description>
+      </entry>
+      <entry value="4096" name="CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE">
+        <description>Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE).</description>
+      </entry>
+      <entry value="8192" name="CAMERA_CAP_FLAGS_HAS_MTI">
+        <wip/>
+        <description>Camera supports Moving Target Indicators (MTI) on the camera view (using MAV_CMD_CAMERA_START_MTI).</description>
+      </entry>
+    </enum>
+    <enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
+      <description>Stream status flags (Bitmap)</description>
+      <entry value="1" name="VIDEO_STREAM_STATUS_FLAGS_RUNNING">
+        <description>Stream is active (running)</description>
+      </entry>
+      <entry value="2" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL">
+        <description>Stream is thermal imaging</description>
+      </entry>
+      <entry value="4" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED">
+        <description>Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE).</description>
+      </entry>
+    </enum>
+    <enum name="VIDEO_STREAM_TYPE">
+      <description>Video stream types</description>
+      <entry value="0" name="VIDEO_STREAM_TYPE_RTSP">
+        <description>Stream is RTSP</description>
+      </entry>
+      <entry value="1" name="VIDEO_STREAM_TYPE_RTPUDP">
+        <description>Stream is RTP UDP (URI gives the port number)</description>
+      </entry>
+      <entry value="2" name="VIDEO_STREAM_TYPE_TCP_MPEG">
+        <description>Stream is MPEG on TCP</description>
+      </entry>
+      <entry value="3" name="VIDEO_STREAM_TYPE_MPEG_TS">
+        <description>Stream is MPEG TS (URI gives the port number)</description>
+      </entry>
+    </enum>
+    <enum name="VIDEO_STREAM_ENCODING">
+      <description>Video stream encodings</description>
+      <entry value="0" name="VIDEO_STREAM_ENCODING_UNKNOWN">
+        <description>Stream encoding is unknown</description>
+      </entry>
+      <entry value="1" name="VIDEO_STREAM_ENCODING_H264">
+        <description>Stream encoding is H.264</description>
+      </entry>
+      <entry value="2" name="VIDEO_STREAM_ENCODING_H265">
+        <description>Stream encoding is H.265</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_TRACKING_STATUS_FLAGS" bitmask="true">
+      <description>Camera tracking status flags</description>
+      <entry value="0" name="CAMERA_TRACKING_STATUS_FLAGS_IDLE">
+        <description>Camera is not tracking</description>
+      </entry>
+      <entry value="1" name="CAMERA_TRACKING_STATUS_FLAGS_ACTIVE">
+        <description>Camera is tracking</description>
+      </entry>
+      <entry value="2" name="CAMERA_TRACKING_STATUS_FLAGS_ERROR">
+        <description>Camera tracking in error state</description>
+      </entry>
+      <entry value="4" name="CAMERA_TRACKING_STATUS_FLAGS_MTI">
+        <wip/>
+        <description>Camera Moving Target Indicators (MTI) are active</description>
+      </entry>
+      <entry value="8" name="CAMERA_TRACKING_STATUS_FLAGS_COASTING">
+        <wip/>
+        <description>Camera tracking target is obscured and is being predicted</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_TRACKING_MODE">
+      <description>Camera tracking modes</description>
+      <entry value="0" name="CAMERA_TRACKING_MODE_NONE">
+        <description>Not tracking</description>
+      </entry>
+      <entry value="1" name="CAMERA_TRACKING_MODE_POINT">
+        <description>Target is a point</description>
+      </entry>
+      <entry value="2" name="CAMERA_TRACKING_MODE_RECTANGLE">
+        <description>Target is a rectangle</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_TRACKING_TARGET_DATA" bitmask="true">
+      <description>Camera tracking target data (shows where tracked target is within image)</description>
+      <entry value="1" name="CAMERA_TRACKING_TARGET_DATA_EMBEDDED">
+        <description>Target data embedded in image data (proprietary)</description>
+      </entry>
+      <entry value="2" name="CAMERA_TRACKING_TARGET_DATA_RENDERED">
+        <description>Target data rendered in image</description>
+      </entry>
+      <entry value="4" name="CAMERA_TRACKING_TARGET_DATA_IN_STATUS">
+        <description>Target data within status message (Point or Rectangle)</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_ZOOM_TYPE">
+      <description>Zoom types for MAV_CMD_SET_CAMERA_ZOOM</description>
+      <entry value="0" name="ZOOM_TYPE_STEP">
+        <description>Zoom one step increment (-1 for wide, 1 for tele)</description>
+      </entry>
+      <entry value="1" name="ZOOM_TYPE_CONTINUOUS">
+        <description>Continuous normalized zoom in/out rate until stopped. Range -1..1, negative: wide, positive: narrow/tele, 0 to stop zooming. Other values should be clipped to the range.</description>
+      </entry>
+      <entry value="2" name="ZOOM_TYPE_RANGE">
+        <description>Zoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)</description>
+      </entry>
+      <entry value="3" name="ZOOM_TYPE_FOCAL_LENGTH">
+        <description>Zoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)</description>
+      </entry>
+      <entry value="4" name="ZOOM_TYPE_HORIZONTAL_FOV">
+        <description>Zoom value as horizontal field of view in degrees.</description>
+      </entry>
+    </enum>
+    <enum name="SET_FOCUS_TYPE">
+      <description>Focus types for MAV_CMD_SET_CAMERA_FOCUS</description>
+      <entry value="0" name="FOCUS_TYPE_STEP">
+        <description>Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).</description>
+      </entry>
+      <entry value="1" name="FOCUS_TYPE_CONTINUOUS">
+        <description>Continuous normalized focus in/out rate until stopped. Range -1..1, negative: in, positive: out towards infinity, 0 to stop focusing. Other values should be clipped to the range.</description>
+      </entry>
+      <entry value="2" name="FOCUS_TYPE_RANGE">
+        <description>Focus value as proportion of full camera focus range (a value between 0.0 and 100.0)</description>
+      </entry>
+      <entry value="3" name="FOCUS_TYPE_METERS">
+        <description>Focus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).</description>
+      </entry>
+      <entry value="4" name="FOCUS_TYPE_AUTO">
+        <description>Focus automatically.</description>
+      </entry>
+      <entry value="5" name="FOCUS_TYPE_AUTO_SINGLE">
+        <description>Single auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.</description>
+      </entry>
+      <entry value="6" name="FOCUS_TYPE_AUTO_CONTINUOUS">
+        <description>Continuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_SOURCE">
+      <description>Camera sources for MAV_CMD_SET_CAMERA_SOURCE</description>
+      <entry value="0" name="CAMERA_SOURCE_DEFAULT">
+        <description>Default camera source.</description>
+      </entry>
+      <entry value="1" name="CAMERA_SOURCE_RGB">
+        <description>RGB camera source.</description>
+      </entry>
+      <entry value="2" name="CAMERA_SOURCE_IR">
+        <description>IR camera source.</description>
+      </entry>
+      <entry value="3" name="CAMERA_SOURCE_NDVI">
+        <description>NDVI camera source.</description>
+      </entry>
+    </enum>
+    <enum name="PARAM_ACK">
+      <description>Result from PARAM_EXT_SET message.</description>
+      <entry value="0" name="PARAM_ACK_ACCEPTED">
+        <description>Parameter value ACCEPTED and SET</description>
+      </entry>
+      <entry value="1" name="PARAM_ACK_VALUE_UNSUPPORTED">
+        <description>Parameter value UNKNOWN/UNSUPPORTED</description>
+      </entry>
+      <entry value="2" name="PARAM_ACK_FAILED">
+        <description>Parameter failed to set</description>
+      </entry>
+      <entry value="3" name="PARAM_ACK_IN_PROGRESS">
+        <description>Parameter value received but not yet set/accepted. A subsequent PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.</description>
+      </entry>
+    </enum>
+    <enum name="CAMERA_MODE">
+      <description>Camera Modes.</description>
+      <entry value="0" name="CAMERA_MODE_IMAGE">
+        <description>Camera is in image/photo capture mode.</description>
+      </entry>
+      <entry value="1" name="CAMERA_MODE_VIDEO">
+        <description>Camera is in video capture mode.</description>
+      </entry>
+      <entry value="2" name="CAMERA_MODE_IMAGE_SURVEY">
+        <description>Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ARM_AUTH_DENIED_REASON">
+      <entry value="0" name="MAV_ARM_AUTH_DENIED_REASON_GENERIC">
+        <description>Not a specific reason</description>
+      </entry>
+      <entry value="1" name="MAV_ARM_AUTH_DENIED_REASON_NONE">
+        <description>Authorizer will send the error as string to GCS</description>
+      </entry>
+      <entry value="2" name="MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT">
+        <description>At least one waypoint have a invalid value</description>
+      </entry>
+      <entry value="3" name="MAV_ARM_AUTH_DENIED_REASON_TIMEOUT">
+        <description>Timeout in the authorizer process(in case it depends on network)</description>
+      </entry>
+      <entry value="4" name="MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE">
+        <description>Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.</description>
+      </entry>
+      <entry value="5" name="MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHER">
+        <description>Weather is not good to fly</description>
+      </entry>
+    </enum>
+    <enum name="RC_TYPE">
+      <description>RC type. Used in MAV_CMD_START_RX_PAIR.</description>
+      <entry value="0" name="RC_TYPE_SPEKTRUM">
+        <description>Spektrum</description>
+      </entry>
+      <entry value="1" name="RC_TYPE_CRSF">
+        <description>CRSF</description>
+      </entry>
+    </enum>
+    <enum name="RC_SUB_TYPE">
+      <description>RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.</description>
+      <entry value="0" name="RC_SUB_TYPE_SPEKTRUM_DSM2">
+        <description>Spektrum DSM2</description>
+      </entry>
+      <entry value="1" name="RC_SUB_TYPE_SPEKTRUM_DSMX">
+        <description>Spektrum DSMX</description>
+      </entry>
+      <entry value="2" name="RC_SUB_TYPE_SPEKTRUM_DSMX8">
+        <description>Spektrum DSMX8</description>
+      </entry>
+    </enum>
+    <enum name="ENGINE_CONTROL_OPTIONS" bitmask="true">
+      <description>Engine control options</description>
+      <entry value="1" name="ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED">
+        <description>Allow starting the engine while disarmed (without changing the vehicle's armed state). This effectively arms just the ICE, without arming the vehicle to start other motors or propellers.</description>
+      </entry>
+    </enum>
+    <enum name="POSITION_TARGET_TYPEMASK" bitmask="true">
+      <description>Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.</description>
+      <entry value="1" name="POSITION_TARGET_TYPEMASK_X_IGNORE">
+        <description>Ignore position x</description>
+      </entry>
+      <entry value="2" name="POSITION_TARGET_TYPEMASK_Y_IGNORE">
+        <description>Ignore position y</description>
+      </entry>
+      <entry value="4" name="POSITION_TARGET_TYPEMASK_Z_IGNORE">
+        <description>Ignore position z</description>
+      </entry>
+      <entry value="8" name="POSITION_TARGET_TYPEMASK_VX_IGNORE">
+        <description>Ignore velocity x</description>
+      </entry>
+      <entry value="16" name="POSITION_TARGET_TYPEMASK_VY_IGNORE">
+        <description>Ignore velocity y</description>
+      </entry>
+      <entry value="32" name="POSITION_TARGET_TYPEMASK_VZ_IGNORE">
+        <description>Ignore velocity z</description>
+      </entry>
+      <entry value="64" name="POSITION_TARGET_TYPEMASK_AX_IGNORE">
+        <description>Ignore acceleration x</description>
+      </entry>
+      <entry value="128" name="POSITION_TARGET_TYPEMASK_AY_IGNORE">
+        <description>Ignore acceleration y</description>
+      </entry>
+      <entry value="256" name="POSITION_TARGET_TYPEMASK_AZ_IGNORE">
+        <description>Ignore acceleration z</description>
+      </entry>
+      <entry value="512" name="POSITION_TARGET_TYPEMASK_FORCE_SET">
+        <description>Use force instead of acceleration</description>
+      </entry>
+      <entry value="1024" name="POSITION_TARGET_TYPEMASK_YAW_IGNORE">
+        <description>Ignore yaw</description>
+      </entry>
+      <entry value="2048" name="POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE">
+        <description>Ignore yaw rate</description>
+      </entry>
+    </enum>
+    <enum name="ATTITUDE_TARGET_TYPEMASK" bitmask="true">
+      <description>Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.</description>
+      <entry value="1" name="ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE">
+        <description>Ignore body roll rate</description>
+      </entry>
+      <entry value="2" name="ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE">
+        <description>Ignore body pitch rate</description>
+      </entry>
+      <entry value="4" name="ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE">
+        <description>Ignore body yaw rate</description>
+      </entry>
+      <entry value="64" name="ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE">
+        <description>Ignore throttle</description>
+      </entry>
+      <entry value="128" name="ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE">
+        <description>Ignore attitude</description>
+      </entry>
+    </enum>
+    <enum name="UTM_FLIGHT_STATE">
+      <description>Airborne status of UAS.</description>
+      <entry value="1" name="UTM_FLIGHT_STATE_UNKNOWN">
+        <description>The flight state can't be determined.</description>
+      </entry>
+      <entry value="2" name="UTM_FLIGHT_STATE_GROUND">
+        <description>UAS on ground.</description>
+      </entry>
+      <entry value="3" name="UTM_FLIGHT_STATE_AIRBORNE">
+        <description>UAS airborne.</description>
+      </entry>
+      <entry value="16" name="UTM_FLIGHT_STATE_EMERGENCY">
+        <description>UAS is in an emergency flight state.</description>
+      </entry>
+      <entry value="32" name="UTM_FLIGHT_STATE_NOCTRL">
+        <description>UAS has no active controls.</description>
+      </entry>
+    </enum>
+    <enum name="UTM_DATA_AVAIL_FLAGS" bitmask="true">
+      <description>Flags for the global position report.</description>
+      <entry value="1" name="UTM_DATA_AVAIL_FLAGS_TIME_VALID">
+        <description>The field time contains valid data.</description>
+      </entry>
+      <entry value="2" name="UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE">
+        <description>The field uas_id contains valid data.</description>
+      </entry>
+      <entry value="4" name="UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE">
+        <description>The fields lat, lon and h_acc contain valid data.</description>
+      </entry>
+      <entry value="8" name="UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE">
+        <description>The fields alt and v_acc contain valid data.</description>
+      </entry>
+      <entry value="16" name="UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE">
+        <description>The field relative_alt contains valid data.</description>
+      </entry>
+      <entry value="32" name="UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE">
+        <description>The fields vx and vy contain valid data.</description>
+      </entry>
+      <entry value="64" name="UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE">
+        <description>The field vz contains valid data.</description>
+      </entry>
+      <entry value="128" name="UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE">
+        <description>The fields next_lat, next_lon and next_alt contain valid data.</description>
+      </entry>
+    </enum>
+    <enum name="PRECISION_LAND_MODE">
+      <description>Precision land modes (used in MAV_CMD_NAV_LAND).</description>
+      <entry value="0" name="PRECISION_LAND_MODE_DISABLED">
+        <description>Normal (non-precision) landing.</description>
+      </entry>
+      <entry value="1" name="PRECISION_LAND_MODE_OPPORTUNISTIC">
+        <description>Use precision landing if beacon detected when land command accepted, otherwise land normally.</description>
+      </entry>
+      <entry value="2" name="PRECISION_LAND_MODE_REQUIRED">
+        <description>Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).</description>
+      </entry>
+    </enum>
+    <!-- parachute action enum -->
+    <enum name="PARACHUTE_ACTION">
+      <description>Parachute actions. Trigger release and enable/disable auto-release.</description>
+      <entry value="0" name="PARACHUTE_DISABLE">
+        <description>Disable auto-release of parachute (i.e. release triggered by crash detectors).</description>
+      </entry>
+      <entry value="1" name="PARACHUTE_ENABLE">
+        <description>Enable auto-release of parachute.</description>
+      </entry>
+      <entry value="2" name="PARACHUTE_RELEASE">
+        <description>Release parachute and kill motors.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_TUNNEL_PAYLOAD_TYPE">
+      <entry value="0" name="MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN">
+        <description>Encoding of payload unknown.</description>
+      </entry>
+      <entry value="200" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="201" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="202" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="203" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="204" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="205" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="206" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="207" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="208" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="209" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9">
+        <description>Registered for STorM32 gimbal controller.</description>
+      </entry>
+      <entry value="210" name="MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_REMOTE_OSD">
+        <description>Registered for ModalAI remote OSD protocol.</description>
+      </entry>
+      <entry value="211" name="MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_ESC_UART_PASSTHRU">
+        <description>Registered for ModalAI ESC UART passthru protocol.</description>
+      </entry>
+      <entry value="212" name="MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_IO_UART_PASSTHRU">
+        <description>Registered for ModalAI vendor use.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_ID_TYPE">
+      <entry value="0" name="MAV_ODID_ID_TYPE_NONE">
+        <description>No type defined.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_ID_TYPE_SERIAL_NUMBER">
+        <description>Manufacturer Serial Number (ANSI/CTA-2063 format).</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_ID_TYPE_CAA_REGISTRATION_ID">
+        <description>CAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUID">
+        <description>UTM (Unmanned Traffic Management) assigned UUID (RFC4122).</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_ID_TYPE_SPECIFIC_SESSION_ID">
+        <description>A 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_UA_TYPE">
+      <entry value="0" name="MAV_ODID_UA_TYPE_NONE">
+        <description>No UA (Unmanned Aircraft) type defined.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_UA_TYPE_AEROPLANE">
+        <description>Aeroplane/Airplane. Fixed wing.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR">
+        <description>Helicopter or multirotor.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_UA_TYPE_GYROPLANE">
+        <description>Gyroplane.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_UA_TYPE_HYBRID_LIFT">
+        <description>VTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_UA_TYPE_ORNITHOPTER">
+        <description>Ornithopter.</description>
+      </entry>
+      <entry value="6" name="MAV_ODID_UA_TYPE_GLIDER">
+        <description>Glider.</description>
+      </entry>
+      <entry value="7" name="MAV_ODID_UA_TYPE_KITE">
+        <description>Kite.</description>
+      </entry>
+      <entry value="8" name="MAV_ODID_UA_TYPE_FREE_BALLOON">
+        <description>Free Balloon.</description>
+      </entry>
+      <entry value="9" name="MAV_ODID_UA_TYPE_CAPTIVE_BALLOON">
+        <description>Captive Balloon.</description>
+      </entry>
+      <entry value="10" name="MAV_ODID_UA_TYPE_AIRSHIP">
+        <description>Airship. E.g. a blimp.</description>
+      </entry>
+      <entry value="11" name="MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE">
+        <description>Free Fall/Parachute (unpowered).</description>
+      </entry>
+      <entry value="12" name="MAV_ODID_UA_TYPE_ROCKET">
+        <description>Rocket.</description>
+      </entry>
+      <entry value="13" name="MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFT">
+        <description>Tethered powered aircraft.</description>
+      </entry>
+      <entry value="14" name="MAV_ODID_UA_TYPE_GROUND_OBSTACLE">
+        <description>Ground Obstacle.</description>
+      </entry>
+      <entry value="15" name="MAV_ODID_UA_TYPE_OTHER">
+        <description>Other type of aircraft not listed earlier.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_STATUS">
+      <entry value="0" name="MAV_ODID_STATUS_UNDECLARED">
+        <description>The status of the (UA) Unmanned Aircraft is undefined.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_STATUS_GROUND">
+        <description>The UA is on the ground.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_STATUS_AIRBORNE">
+        <description>The UA is in the air.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_STATUS_EMERGENCY">
+        <description>The UA is having an emergency.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILURE">
+        <description>The remote ID system is failing or unreliable in some way.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_HEIGHT_REF">
+      <entry value="0" name="MAV_ODID_HEIGHT_REF_OVER_TAKEOFF">
+        <description>The height field is relative to the take-off location.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_HEIGHT_REF_OVER_GROUND">
+        <description>The height field is relative to ground.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_HOR_ACC">
+      <entry value="0" name="MAV_ODID_HOR_ACC_UNKNOWN">
+        <description>The horizontal accuracy is unknown.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_HOR_ACC_10NM">
+        <description>The horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_HOR_ACC_4NM">
+        <description>The horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_HOR_ACC_2NM">
+        <description>The horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_HOR_ACC_1NM">
+        <description>The horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_HOR_ACC_0_5NM">
+        <description>The horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.</description>
+      </entry>
+      <entry value="6" name="MAV_ODID_HOR_ACC_0_3NM">
+        <description>The horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.</description>
+      </entry>
+      <entry value="7" name="MAV_ODID_HOR_ACC_0_1NM">
+        <description>The horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.</description>
+      </entry>
+      <entry value="8" name="MAV_ODID_HOR_ACC_0_05NM">
+        <description>The horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.</description>
+      </entry>
+      <entry value="9" name="MAV_ODID_HOR_ACC_30_METER">
+        <description>The horizontal accuracy is smaller than 30 meter.</description>
+      </entry>
+      <entry value="10" name="MAV_ODID_HOR_ACC_10_METER">
+        <description>The horizontal accuracy is smaller than 10 meter.</description>
+      </entry>
+      <entry value="11" name="MAV_ODID_HOR_ACC_3_METER">
+        <description>The horizontal accuracy is smaller than 3 meter.</description>
+      </entry>
+      <entry value="12" name="MAV_ODID_HOR_ACC_1_METER">
+        <description>The horizontal accuracy is smaller than 1 meter.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_VER_ACC">
+      <entry value="0" name="MAV_ODID_VER_ACC_UNKNOWN">
+        <description>The vertical accuracy is unknown.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_VER_ACC_150_METER">
+        <description>The vertical accuracy is smaller than 150 meter.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_VER_ACC_45_METER">
+        <description>The vertical accuracy is smaller than 45 meter.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_VER_ACC_25_METER">
+        <description>The vertical accuracy is smaller than 25 meter.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_VER_ACC_10_METER">
+        <description>The vertical accuracy is smaller than 10 meter.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_VER_ACC_3_METER">
+        <description>The vertical accuracy is smaller than 3 meter.</description>
+      </entry>
+      <entry value="6" name="MAV_ODID_VER_ACC_1_METER">
+        <description>The vertical accuracy is smaller than 1 meter.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_SPEED_ACC">
+      <entry value="0" name="MAV_ODID_SPEED_ACC_UNKNOWN">
+        <description>The speed accuracy is unknown.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_SPEED_ACC_10_METERS_PER_SECOND">
+        <description>The speed accuracy is smaller than 10 meters per second.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_SPEED_ACC_3_METERS_PER_SECOND">
+        <description>The speed accuracy is smaller than 3 meters per second.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_SPEED_ACC_1_METERS_PER_SECOND">
+        <description>The speed accuracy is smaller than 1 meters per second.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECOND">
+        <description>The speed accuracy is smaller than 0.3 meters per second.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_TIME_ACC">
+      <entry value="0" name="MAV_ODID_TIME_ACC_UNKNOWN">
+        <description>The timestamp accuracy is unknown.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_TIME_ACC_0_1_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.1 second.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_TIME_ACC_0_2_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.2 second.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_TIME_ACC_0_3_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.3 second.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_TIME_ACC_0_4_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.4 second.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_TIME_ACC_0_5_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.5 second.</description>
+      </entry>
+      <entry value="6" name="MAV_ODID_TIME_ACC_0_6_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.6 second.</description>
+      </entry>
+      <entry value="7" name="MAV_ODID_TIME_ACC_0_7_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.7 second.</description>
+      </entry>
+      <entry value="8" name="MAV_ODID_TIME_ACC_0_8_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.8 second.</description>
+      </entry>
+      <entry value="9" name="MAV_ODID_TIME_ACC_0_9_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 0.9 second.</description>
+      </entry>
+      <entry value="10" name="MAV_ODID_TIME_ACC_1_0_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.0 second.</description>
+      </entry>
+      <entry value="11" name="MAV_ODID_TIME_ACC_1_1_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.1 second.</description>
+      </entry>
+      <entry value="12" name="MAV_ODID_TIME_ACC_1_2_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.2 second.</description>
+      </entry>
+      <entry value="13" name="MAV_ODID_TIME_ACC_1_3_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.3 second.</description>
+      </entry>
+      <entry value="14" name="MAV_ODID_TIME_ACC_1_4_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.4 second.</description>
+      </entry>
+      <entry value="15" name="MAV_ODID_TIME_ACC_1_5_SECOND">
+        <description>The timestamp accuracy is smaller than or equal to 1.5 second.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_AUTH_TYPE">
+      <entry value="0" name="MAV_ODID_AUTH_TYPE_NONE">
+        <description>No authentication type is specified.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURE">
+        <description>Signature for the UAS (Unmanned Aircraft System) ID.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURE">
+        <description>Signature for the Operator ID.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURE">
+        <description>Signature for the entire message set.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_ID">
+        <description>Authentication is provided by Network Remote ID.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATION">
+        <description>The exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_DESC_TYPE">
+      <entry value="0" name="MAV_ODID_DESC_TYPE_TEXT">
+        <description>Optional free-form text description of the purpose of the flight.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_DESC_TYPE_EMERGENCY">
+        <description>Optional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_DESC_TYPE_EXTENDED_STATUS">
+        <description>Optional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_OPERATOR_LOCATION_TYPE">
+      <entry value="0" name="MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFF">
+        <description>The location/altitude of the operator is the same as the take-off location.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSS">
+        <description>The location/altitude of the operator is dynamic. E.g. based on live GNSS data.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_OPERATOR_LOCATION_TYPE_FIXED">
+        <description>The location/altitude of the operator are fixed values.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_CLASSIFICATION_TYPE">
+      <entry value="0" name="MAV_ODID_CLASSIFICATION_TYPE_UNDECLARED">
+        <description>The classification type for the UA is undeclared.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_CLASSIFICATION_TYPE_EU">
+        <description>The classification type for the UA follows EU (European Union) specifications.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_CATEGORY_EU">
+      <entry value="0" name="MAV_ODID_CATEGORY_EU_UNDECLARED">
+        <description>The category for the UA, according to the EU specification, is undeclared.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_CATEGORY_EU_OPEN">
+        <description>The category for the UA, according to the EU specification, is the Open category.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_CATEGORY_EU_SPECIFIC">
+        <description>The category for the UA, according to the EU specification, is the Specific category.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_CATEGORY_EU_CERTIFIED">
+        <description>The category for the UA, according to the EU specification, is the Certified category.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_CLASS_EU">
+      <entry value="0" name="MAV_ODID_CLASS_EU_UNDECLARED">
+        <description>The class for the UA, according to the EU specification, is undeclared.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_CLASS_EU_CLASS_0">
+        <description>The class for the UA, according to the EU specification, is Class 0.</description>
+      </entry>
+      <entry value="2" name="MAV_ODID_CLASS_EU_CLASS_1">
+        <description>The class for the UA, according to the EU specification, is Class 1.</description>
+      </entry>
+      <entry value="3" name="MAV_ODID_CLASS_EU_CLASS_2">
+        <description>The class for the UA, according to the EU specification, is Class 2.</description>
+      </entry>
+      <entry value="4" name="MAV_ODID_CLASS_EU_CLASS_3">
+        <description>The class for the UA, according to the EU specification, is Class 3.</description>
+      </entry>
+      <entry value="5" name="MAV_ODID_CLASS_EU_CLASS_4">
+        <description>The class for the UA, according to the EU specification, is Class 4.</description>
+      </entry>
+      <entry value="6" name="MAV_ODID_CLASS_EU_CLASS_5">
+        <description>The class for the UA, according to the EU specification, is Class 5.</description>
+      </entry>
+      <entry value="7" name="MAV_ODID_CLASS_EU_CLASS_6">
+        <description>The class for the UA, according to the EU specification, is Class 6.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_OPERATOR_ID_TYPE">
+      <entry value="0" name="MAV_ODID_OPERATOR_ID_TYPE_CAA">
+        <description>CAA (Civil Aviation Authority) registered operator ID.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_ODID_ARM_STATUS">
+      <entry value="0" name="MAV_ODID_ARM_STATUS_GOOD_TO_ARM">
+        <description>Passing arming checks.</description>
+      </entry>
+      <entry value="1" name="MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERIC">
+        <description>Generic arming failure, see error string for details.</description>
+      </entry>
+    </enum>
+    <!-- AIS related enums-->
+    <enum name="AIS_TYPE">
+      <description>Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html</description>
+      <entry value="0" name="AIS_TYPE_UNKNOWN">
+        <description>Not available (default).</description>
+      </entry>
+      <entry value="1" name="AIS_TYPE_RESERVED_1"/>
+      <entry value="2" name="AIS_TYPE_RESERVED_2"/>
+      <entry value="3" name="AIS_TYPE_RESERVED_3"/>
+      <entry value="4" name="AIS_TYPE_RESERVED_4"/>
+      <entry value="5" name="AIS_TYPE_RESERVED_5"/>
+      <entry value="6" name="AIS_TYPE_RESERVED_6"/>
+      <entry value="7" name="AIS_TYPE_RESERVED_7"/>
+      <entry value="8" name="AIS_TYPE_RESERVED_8"/>
+      <entry value="9" name="AIS_TYPE_RESERVED_9"/>
+      <entry value="10" name="AIS_TYPE_RESERVED_10"/>
+      <entry value="11" name="AIS_TYPE_RESERVED_11"/>
+      <entry value="12" name="AIS_TYPE_RESERVED_12"/>
+      <entry value="13" name="AIS_TYPE_RESERVED_13"/>
+      <entry value="14" name="AIS_TYPE_RESERVED_14"/>
+      <entry value="15" name="AIS_TYPE_RESERVED_15"/>
+      <entry value="16" name="AIS_TYPE_RESERVED_16"/>
+      <entry value="17" name="AIS_TYPE_RESERVED_17"/>
+      <entry value="18" name="AIS_TYPE_RESERVED_18"/>
+      <entry value="19" name="AIS_TYPE_RESERVED_19"/>
+      <entry value="20" name="AIS_TYPE_WIG">
+        <description>Wing In Ground effect.</description>
+      </entry>
+      <entry value="21" name="AIS_TYPE_WIG_HAZARDOUS_A"/>
+      <entry value="22" name="AIS_TYPE_WIG_HAZARDOUS_B"/>
+      <entry value="23" name="AIS_TYPE_WIG_HAZARDOUS_C"/>
+      <entry value="24" name="AIS_TYPE_WIG_HAZARDOUS_D"/>
+      <entry value="25" name="AIS_TYPE_WIG_RESERVED_1"/>
+      <entry value="26" name="AIS_TYPE_WIG_RESERVED_2"/>
+      <entry value="27" name="AIS_TYPE_WIG_RESERVED_3"/>
+      <entry value="28" name="AIS_TYPE_WIG_RESERVED_4"/>
+      <entry value="29" name="AIS_TYPE_WIG_RESERVED_5"/>
+      <entry value="30" name="AIS_TYPE_FISHING"/>
+      <entry value="31" name="AIS_TYPE_TOWING"/>
+      <entry value="32" name="AIS_TYPE_TOWING_LARGE">
+        <description>Towing: length exceeds 200m or breadth exceeds 25m.</description>
+      </entry>
+      <entry value="33" name="AIS_TYPE_DREDGING">
+        <description>Dredging or other underwater ops.</description>
+      </entry>
+      <entry value="34" name="AIS_TYPE_DIVING"/>
+      <entry value="35" name="AIS_TYPE_MILITARY"/>
+      <entry value="36" name="AIS_TYPE_SAILING"/>
+      <entry value="37" name="AIS_TYPE_PLEASURE"/>
+      <entry value="38" name="AIS_TYPE_RESERVED_20"/>
+      <entry value="39" name="AIS_TYPE_RESERVED_21"/>
+      <entry value="40" name="AIS_TYPE_HSC">
+        <description>High Speed Craft.</description>
+      </entry>
+      <entry value="41" name="AIS_TYPE_HSC_HAZARDOUS_A"/>
+      <entry value="42" name="AIS_TYPE_HSC_HAZARDOUS_B"/>
+      <entry value="43" name="AIS_TYPE_HSC_HAZARDOUS_C"/>
+      <entry value="44" name="AIS_TYPE_HSC_HAZARDOUS_D"/>
+      <entry value="45" name="AIS_TYPE_HSC_RESERVED_1"/>
+      <entry value="46" name="AIS_TYPE_HSC_RESERVED_2"/>
+      <entry value="47" name="AIS_TYPE_HSC_RESERVED_3"/>
+      <entry value="48" name="AIS_TYPE_HSC_RESERVED_4"/>
+      <entry value="49" name="AIS_TYPE_HSC_UNKNOWN"/>
+      <entry value="50" name="AIS_TYPE_PILOT"/>
+      <entry value="51" name="AIS_TYPE_SAR">
+        <description>Search And Rescue vessel.</description>
+      </entry>
+      <entry value="52" name="AIS_TYPE_TUG"/>
+      <entry value="53" name="AIS_TYPE_PORT_TENDER"/>
+      <entry value="54" name="AIS_TYPE_ANTI_POLLUTION">
+        <description>Anti-pollution equipment.</description>
+      </entry>
+      <entry value="55" name="AIS_TYPE_LAW_ENFORCEMENT"/>
+      <entry value="56" name="AIS_TYPE_SPARE_LOCAL_1"/>
+      <entry value="57" name="AIS_TYPE_SPARE_LOCAL_2"/>
+      <entry value="58" name="AIS_TYPE_MEDICAL_TRANSPORT"/>
+      <entry value="59" name="AIS_TYPE_NONECOMBATANT">
+        <description>Noncombatant ship according to RR Resolution No. 18.</description>
+      </entry>
+      <entry value="60" name="AIS_TYPE_PASSENGER"/>
+      <entry value="61" name="AIS_TYPE_PASSENGER_HAZARDOUS_A"/>
+      <entry value="62" name="AIS_TYPE_PASSENGER_HAZARDOUS_B"/>
+      <entry value="63" name="AIS_TYPE_PASSENGER_HAZARDOUS_C"/>
+      <entry value="64" name="AIS_TYPE_PASSENGER_HAZARDOUS_D"/>
+      <entry value="65" name="AIS_TYPE_PASSENGER_RESERVED_1"/>
+      <entry value="66" name="AIS_TYPE_PASSENGER_RESERVED_2"/>
+      <entry value="67" name="AIS_TYPE_PASSENGER_RESERVED_3"/>
+      <entry value="68" name="AIS_TYPE_PASSENGER_RESERVED_4"/>
+      <entry value="69" name="AIS_TYPE_PASSENGER_UNKNOWN"/>
+      <entry value="70" name="AIS_TYPE_CARGO"/>
+      <entry value="71" name="AIS_TYPE_CARGO_HAZARDOUS_A"/>
+      <entry value="72" name="AIS_TYPE_CARGO_HAZARDOUS_B"/>
+      <entry value="73" name="AIS_TYPE_CARGO_HAZARDOUS_C"/>
+      <entry value="74" name="AIS_TYPE_CARGO_HAZARDOUS_D"/>
+      <entry value="75" name="AIS_TYPE_CARGO_RESERVED_1"/>
+      <entry value="76" name="AIS_TYPE_CARGO_RESERVED_2"/>
+      <entry value="77" name="AIS_TYPE_CARGO_RESERVED_3"/>
+      <entry value="78" name="AIS_TYPE_CARGO_RESERVED_4"/>
+      <entry value="79" name="AIS_TYPE_CARGO_UNKNOWN"/>
+      <entry value="80" name="AIS_TYPE_TANKER"/>
+      <entry value="81" name="AIS_TYPE_TANKER_HAZARDOUS_A"/>
+      <entry value="82" name="AIS_TYPE_TANKER_HAZARDOUS_B"/>
+      <entry value="83" name="AIS_TYPE_TANKER_HAZARDOUS_C"/>
+      <entry value="84" name="AIS_TYPE_TANKER_HAZARDOUS_D"/>
+      <entry value="85" name="AIS_TYPE_TANKER_RESERVED_1"/>
+      <entry value="86" name="AIS_TYPE_TANKER_RESERVED_2"/>
+      <entry value="87" name="AIS_TYPE_TANKER_RESERVED_3"/>
+      <entry value="88" name="AIS_TYPE_TANKER_RESERVED_4"/>
+      <entry value="89" name="AIS_TYPE_TANKER_UNKNOWN"/>
+      <entry value="90" name="AIS_TYPE_OTHER"/>
+      <entry value="91" name="AIS_TYPE_OTHER_HAZARDOUS_A"/>
+      <entry value="92" name="AIS_TYPE_OTHER_HAZARDOUS_B"/>
+      <entry value="93" name="AIS_TYPE_OTHER_HAZARDOUS_C"/>
+      <entry value="94" name="AIS_TYPE_OTHER_HAZARDOUS_D"/>
+      <entry value="95" name="AIS_TYPE_OTHER_RESERVED_1"/>
+      <entry value="96" name="AIS_TYPE_OTHER_RESERVED_2"/>
+      <entry value="97" name="AIS_TYPE_OTHER_RESERVED_3"/>
+      <entry value="98" name="AIS_TYPE_OTHER_RESERVED_4"/>
+      <entry value="99" name="AIS_TYPE_OTHER_UNKNOWN"/>
+    </enum>
+    <enum name="AIS_NAV_STATUS">
+      <description>Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html</description>
+      <entry value="0" name="AIS_NAV_STATUS_UNDER_WAY">
+        <description>Under way using engine.</description>
+      </entry>
+      <entry value="1" name="AIS_NAV_STATUS_ANCHORED"/>
+      <entry value="2" name="AIS_NAV_STATUS_UN_COMMANDED"/>
+      <entry value="3" name="AIS_NAV_STATUS_RESTRICTED_MANOEUVERABILITY"/>
+      <entry value="4" name="AIS_NAV_STATUS_DRAUGHT_CONSTRAINED"/>
+      <entry value="5" name="AIS_NAV_STATUS_MOORED"/>
+      <entry value="6" name="AIS_NAV_STATUS_AGROUND"/>
+      <entry value="7" name="AIS_NAV_STATUS_FISHING"/>
+      <entry value="8" name="AIS_NAV_STATUS_SAILING"/>
+      <entry value="9" name="AIS_NAV_STATUS_RESERVED_HSC"/>
+      <entry value="10" name="AIS_NAV_STATUS_RESERVED_WIG"/>
+      <entry value="11" name="AIS_NAV_STATUS_RESERVED_1"/>
+      <entry value="12" name="AIS_NAV_STATUS_RESERVED_2"/>
+      <entry value="13" name="AIS_NAV_STATUS_RESERVED_3"/>
+      <entry value="14" name="AIS_NAV_STATUS_AIS_SART">
+        <description>Search And Rescue Transponder.</description>
+      </entry>
+      <entry value="15" name="AIS_NAV_STATUS_UNKNOWN">
+        <description>Not available (default).</description>
+      </entry>
+    </enum>
+    <enum name="AIS_FLAGS" bitmask="true">
+      <description>These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.</description>
+      <entry value="1" name="AIS_FLAGS_POSITION_ACCURACY">
+        <description>1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.</description>
+      </entry>
+      <entry value="2" name="AIS_FLAGS_VALID_COG"/>
+      <entry value="4" name="AIS_FLAGS_VALID_VELOCITY"/>
+      <entry value="8" name="AIS_FLAGS_HIGH_VELOCITY">
+        <description>1 = Velocity over 52.5765m/s (102.2 knots)</description>
+      </entry>
+      <entry value="16" name="AIS_FLAGS_VALID_TURN_RATE"/>
+      <entry value="32" name="AIS_FLAGS_TURN_RATE_SIGN_ONLY">
+        <description>Only the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s</description>
+      </entry>
+      <entry value="64" name="AIS_FLAGS_VALID_DIMENSIONS"/>
+      <entry value="128" name="AIS_FLAGS_LARGE_BOW_DIMENSION">
+        <description>Distance to bow is larger than 511m</description>
+      </entry>
+      <entry value="256" name="AIS_FLAGS_LARGE_STERN_DIMENSION">
+        <description>Distance to stern is larger than 511m</description>
+      </entry>
+      <entry value="512" name="AIS_FLAGS_LARGE_PORT_DIMENSION">
+        <description>Distance to port side is larger than 63m</description>
+      </entry>
+      <entry value="1024" name="AIS_FLAGS_LARGE_STARBOARD_DIMENSION">
+        <description>Distance to starboard side is larger than 63m</description>
+      </entry>
+      <entry value="2048" name="AIS_FLAGS_VALID_CALLSIGN"/>
+      <entry value="4096" name="AIS_FLAGS_VALID_NAME"/>
+    </enum>
+    <enum name="FAILURE_UNIT">
+      <!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>List of possible units where failures can be injected.</description>
+      <entry value="0" name="FAILURE_UNIT_SENSOR_GYRO"/>
+      <entry value="1" name="FAILURE_UNIT_SENSOR_ACCEL"/>
+      <entry value="2" name="FAILURE_UNIT_SENSOR_MAG"/>
+      <entry value="3" name="FAILURE_UNIT_SENSOR_BARO"/>
+      <entry value="4" name="FAILURE_UNIT_SENSOR_GPS"/>
+      <entry value="5" name="FAILURE_UNIT_SENSOR_OPTICAL_FLOW"/>
+      <entry value="6" name="FAILURE_UNIT_SENSOR_VIO"/>
+      <entry value="7" name="FAILURE_UNIT_SENSOR_DISTANCE_SENSOR"/>
+      <entry value="8" name="FAILURE_UNIT_SENSOR_AIRSPEED"/>
+      <entry value="100" name="FAILURE_UNIT_SYSTEM_BATTERY"/>
+      <entry value="101" name="FAILURE_UNIT_SYSTEM_MOTOR"/>
+      <entry value="102" name="FAILURE_UNIT_SYSTEM_SERVO"/>
+      <entry value="103" name="FAILURE_UNIT_SYSTEM_AVOIDANCE"/>
+      <entry value="104" name="FAILURE_UNIT_SYSTEM_RC_SIGNAL"/>
+      <entry value="105" name="FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL"/>
+    </enum>
+    <enum name="FAILURE_TYPE">
+      <!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>List of possible failure type to inject.</description>
+      <entry value="0" name="FAILURE_TYPE_OK">
+        <description>No failure injected, used to reset a previous failure.</description>
+      </entry>
+      <entry value="1" name="FAILURE_TYPE_OFF">
+        <description>Sets unit off, so completely non-responsive.</description>
+      </entry>
+      <entry value="2" name="FAILURE_TYPE_STUCK">
+        <description>Unit is stuck e.g. keeps reporting the same value.</description>
+      </entry>
+      <entry value="3" name="FAILURE_TYPE_GARBAGE">
+        <description>Unit is reporting complete garbage.</description>
+      </entry>
+      <entry value="4" name="FAILURE_TYPE_WRONG">
+        <description>Unit is consistently wrong.</description>
+      </entry>
+      <entry value="5" name="FAILURE_TYPE_SLOW">
+        <description>Unit is slow, so e.g. reporting at slower than expected rate.</description>
+      </entry>
+      <entry value="6" name="FAILURE_TYPE_DELAYED">
+        <description>Data of unit is delayed in time.</description>
+      </entry>
+      <entry value="7" name="FAILURE_TYPE_INTERMITTENT">
+        <description>Unit is sometimes working, sometimes not.</description>
+      </entry>
+    </enum>
+    <enum name="NAV_VTOL_LAND_OPTIONS">
+      <entry value="0" name="NAV_VTOL_LAND_OPTIONS_DEFAULT">
+        <description>Default autopilot landing behaviour.</description>
+      </entry>
+      <entry value="1" name="NAV_VTOL_LAND_OPTIONS_FW_SPIRAL_APPROACH">
+        <description>Use a fixed wing spiral desent approach before landing.</description>
+      </entry>
+      <entry value="2" name="NAV_VTOL_LAND_OPTIONS_FW_APPROACH">
+        <description>Use a fixed wing approach before detransitioning and landing vertically.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_WINCH_STATUS_FLAG" bitmask="true">
+      <description>Winch status flags used in WINCH_STATUS</description>
+      <entry value="1" name="MAV_WINCH_STATUS_HEALTHY">
+        <description>Winch is healthy</description>
+      </entry>
+      <entry value="2" name="MAV_WINCH_STATUS_FULLY_RETRACTED">
+        <description>Winch thread is fully retracted</description>
+      </entry>
+      <entry value="4" name="MAV_WINCH_STATUS_MOVING">
+        <description>Winch motor is moving</description>
+      </entry>
+      <entry value="8" name="MAV_WINCH_STATUS_CLUTCH_ENGAGED">
+        <description>Winch clutch is engaged allowing motor to move freely</description>
+      </entry>
+    </enum>
+    <enum name="MAG_CAL_STATUS">
+      <entry value="0" name="MAG_CAL_NOT_STARTED"/>
+      <entry value="1" name="MAG_CAL_WAITING_TO_START"/>
+      <entry value="2" name="MAG_CAL_RUNNING_STEP_ONE"/>
+      <entry value="3" name="MAG_CAL_RUNNING_STEP_TWO"/>
+      <entry value="4" name="MAG_CAL_SUCCESS"/>
+      <entry value="5" name="MAG_CAL_FAILED"/>
+      <entry value="6" name="MAG_CAL_BAD_ORIENTATION"/>
+      <entry value="7" name="MAG_CAL_BAD_RADIUS"/>
+    </enum>
+    <enum name="HIL_SENSOR_UPDATED_FLAGS" bitmask="true">
+      <description>Flags in the HIL_SENSOR message indicate which fields have updated since the last message</description>
+      <entry value="1" name="HIL_SENSOR_UPDATED_XACC">
+        <description>The value in the xacc field has been updated</description>
+      </entry>
+      <entry value="2" name="HIL_SENSOR_UPDATED_YACC">
+        <description>The value in the yacc field has been updated</description>
+      </entry>
+      <entry value="4" name="HIL_SENSOR_UPDATED_ZACC">
+        <description>The value in the zacc field has been updated</description>
+      </entry>
+      <entry value="8" name="HIL_SENSOR_UPDATED_XGYRO">
+        <description>The value in the xgyro field has been updated</description>
+      </entry>
+      <entry value="16" name="HIL_SENSOR_UPDATED_YGYRO">
+        <description>The value in the ygyro field has been updated</description>
+      </entry>
+      <entry value="32" name="HIL_SENSOR_UPDATED_ZGYRO">
+        <description>The value in the zgyro field has been updated</description>
+      </entry>
+      <entry value="64" name="HIL_SENSOR_UPDATED_XMAG">
+        <description>The value in the xmag field has been updated</description>
+      </entry>
+      <entry value="128" name="HIL_SENSOR_UPDATED_YMAG">
+        <description>The value in the ymag field has been updated</description>
+      </entry>
+      <entry value="256" name="HIL_SENSOR_UPDATED_ZMAG">
+        <description>The value in the zmag field has been updated</description>
+      </entry>
+      <entry value="512" name="HIL_SENSOR_UPDATED_ABS_PRESSURE">
+        <description>The value in the abs_pressure field has been updated</description>
+      </entry>
+      <entry value="1024" name="HIL_SENSOR_UPDATED_DIFF_PRESSURE">
+        <description>The value in the diff_pressure field has been updated</description>
+      </entry>
+      <entry value="2048" name="HIL_SENSOR_UPDATED_PRESSURE_ALT">
+        <description>The value in the pressure_alt field has been updated</description>
+      </entry>
+      <entry value="4096" name="HIL_SENSOR_UPDATED_TEMPERATURE">
+        <description>The value in the temperature field has been updated</description>
+      </entry>
+      <entry value="2147483648" name="HIL_SENSOR_UPDATED_RESET">
+        <description>Full reset of attitude/position/velocities/etc was performed in sim (Bit 31).</description>
+      </entry>
+    </enum>
+    <enum name="HIGHRES_IMU_UPDATED_FLAGS" bitmask="true">
+      <description>Flags in the HIGHRES_IMU message indicate which fields have updated since the last message</description>
+      <entry value="1" name="HIGHRES_IMU_UPDATED_XACC">
+        <description>The value in the xacc field has been updated</description>
+      </entry>
+      <entry value="2" name="HIGHRES_IMU_UPDATED_YACC">
+        <description>The value in the yacc field has been updated</description>
+      </entry>
+      <entry value="4" name="HIGHRES_IMU_UPDATED_ZACC">
+        <description>The value in the zacc field has been updated since</description>
+      </entry>
+      <entry value="8" name="HIGHRES_IMU_UPDATED_XGYRO">
+        <description>The value in the xgyro field has been updated</description>
+      </entry>
+      <entry value="16" name="HIGHRES_IMU_UPDATED_YGYRO">
+        <description>The value in the ygyro field has been updated</description>
+      </entry>
+      <entry value="32" name="HIGHRES_IMU_UPDATED_ZGYRO">
+        <description>The value in the zgyro field has been updated</description>
+      </entry>
+      <entry value="64" name="HIGHRES_IMU_UPDATED_XMAG">
+        <description>The value in the xmag field has been updated</description>
+      </entry>
+      <entry value="128" name="HIGHRES_IMU_UPDATED_YMAG">
+        <description>The value in the ymag field has been updated</description>
+      </entry>
+      <entry value="256" name="HIGHRES_IMU_UPDATED_ZMAG">
+        <description>The value in the zmag field has been updated</description>
+      </entry>
+      <entry value="512" name="HIGHRES_IMU_UPDATED_ABS_PRESSURE">
+        <description>The value in the abs_pressure field has been updated</description>
+      </entry>
+      <entry value="1024" name="HIGHRES_IMU_UPDATED_DIFF_PRESSURE">
+        <description>The value in the diff_pressure field has been updated</description>
+      </entry>
+      <entry value="2048" name="HIGHRES_IMU_UPDATED_PRESSURE_ALT">
+        <description>The value in the pressure_alt field has been updated</description>
+      </entry>
+      <entry value="4096" name="HIGHRES_IMU_UPDATED_TEMPERATURE">
+        <description>The value in the temperature field has been updated</description>
+      </entry>
+    </enum>
+    <enum name="CAN_FILTER_OP">
+      <entry value="0" name="CAN_FILTER_REPLACE"/>
+      <entry value="1" name="CAN_FILTER_ADD"/>
+      <entry value="2" name="CAN_FILTER_REMOVE"/>
+    </enum>
+    <enum name="MAV_FTP_ERR">
+      <description>MAV FTP error codes (https://mavlink.io/en/services/ftp.html)</description>
+      <entry value="0" name="MAV_FTP_ERR_NONE">
+        <description>None: No error</description>
+      </entry>
+      <entry value="1" name="MAV_FTP_ERR_FAIL">
+        <description>Fail: Unknown failure</description>
+      </entry>
+      <entry value="2" name="MAV_FTP_ERR_FAILERRNO">
+        <description>FailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
+		This is a file-system error number understood by the server operating system.</description>
+      </entry>
+      <entry value="3" name="MAV_FTP_ERR_INVALIDDATASIZE">
+        <description>InvalidDataSize: Payload size is invalid</description>
+      </entry>
+      <entry value="4" name="MAV_FTP_ERR_INVALIDSESSION">
+        <description>InvalidSession: Session is not currently open</description>
+      </entry>
+      <entry value="5" name="MAV_FTP_ERR_NOSESSIONSAVAILABLE">
+        <description>NoSessionsAvailable: All available sessions are already in use</description>
+      </entry>
+      <entry value="6" name="MAV_FTP_ERR_EOF">
+        <description>EOF: Offset past end of file for ListDirectory and ReadFile commands</description>
+      </entry>
+      <entry value="7" name="MAV_FTP_ERR_UNKNOWNCOMMAND">
+        <description>UnknownCommand: Unknown command / opcode</description>
+      </entry>
+      <entry value="8" name="MAV_FTP_ERR_FILEEXISTS">
+        <description>FileExists: File/directory already exists</description>
+      </entry>
+      <entry value="9" name="MAV_FTP_ERR_FILEPROTECTED">
+        <description>FileProtected: File/directory is write protected</description>
+      </entry>
+      <entry value="10" name="MAV_FTP_ERR_FILENOTFOUND">
+        <description>FileNotFound: File/directory not found</description>
+      </entry>
+    </enum>
+    <enum name="MAV_FTP_OPCODE">
+      <description>MAV FTP opcodes: https://mavlink.io/en/services/ftp.html</description>
+      <entry value="0" name="MAV_FTP_OPCODE_NONE">
+        <description>None. Ignored, always ACKed</description>
+      </entry>
+      <entry value="1" name="MAV_FTP_OPCODE_TERMINATESESSION">
+        <description>TerminateSession: Terminates open Read session</description>
+      </entry>
+      <entry value="2" name="MAV_FTP_OPCODE_RESETSESSION">
+        <description>ResetSessions: Terminates all open read sessions</description>
+      </entry>
+      <entry value="3" name="MAV_FTP_OPCODE_LISTDIRECTORY">
+        <description>ListDirectory. List files and directories in path from offset</description>
+      </entry>
+      <entry value="4" name="MAV_FTP_OPCODE_OPENFILERO">
+        <description>OpenFileRO: Opens file at path for reading, returns session</description>
+      </entry>
+      <entry value="5" name="MAV_FTP_OPCODE_READFILE">
+        <description>ReadFile: Reads size bytes from offset in session</description>
+      </entry>
+      <entry value="6" name="MAV_FTP_OPCODE_CREATEFILE">
+        <description>CreateFile: Creates file at path for writing, returns session</description>
+      </entry>
+      <entry value="7" name="MAV_FTP_OPCODE_WRITEFILE">
+        <description>WriteFile: Writes size bytes to offset in session</description>
+      </entry>
+      <entry value="8" name="MAV_FTP_OPCODE_REMOVEFILE">
+        <description>RemoveFile: Remove file at path</description>
+      </entry>
+      <entry value="9" name="MAV_FTP_OPCODE_CREATEDIRECTORY">
+        <description>CreateDirectory: Creates directory at path</description>
+      </entry>
+      <entry value="10" name="MAV_FTP_OPCODE_REMOVEDIRECTORY">
+        <description>RemoveDirectory: Removes directory at path. The directory must be empty.</description>
+      </entry>
+      <entry value="11" name="MAV_FTP_OPCODE_OPENFILEWO">
+        <description>OpenFileWO: Opens file at path for writing, returns session</description>
+      </entry>
+      <entry value="12" name="MAV_FTP_OPCODE_TRUNCATEFILE">
+        <description>TruncateFile: Truncate file at path to offset length</description>
+      </entry>
+      <entry value="13" name="MAV_FTP_OPCODE_RENAME">
+        <description>Rename: Rename path1 to path2</description>
+      </entry>
+      <entry value="14" name="MAV_FTP_OPCODE_CALCFILECRC">
+        <description>CalcFileCRC32: Calculate CRC32 for file at path</description>
+      </entry>
+      <entry value="15" name="MAV_FTP_OPCODE_BURSTREADFILE">
+        <description>BurstReadFile: Burst download session file</description>
+      </entry>
+      <entry value="128" name="MAV_FTP_OPCODE_ACK">
+        <description>ACK: ACK response</description>
+      </entry>
+      <entry value="129" name="MAV_FTP_OPCODE_NAK">
+        <description>NAK: NAK response</description>
+      </entry>
+    </enum>
+    <enum name="MISSION_STATE">
+      <description>
+        States of the mission state machine.
+        Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended).
+        They may not all be relevant on all vehicles.
+      </description>
+      <entry value="0" name="MISSION_STATE_UNKNOWN">
+        <description>The mission status reporting is not supported.</description>
+      </entry>
+      <entry value="1" name="MISSION_STATE_NO_MISSION">
+        <description>No mission on the vehicle.</description>
+      </entry>
+      <entry value="2" name="MISSION_STATE_NOT_STARTED">
+        <description>Mission has not started. This is the case after a mission has uploaded but not yet started executing.</description>
+      </entry>
+      <entry value="3" name="MISSION_STATE_ACTIVE">
+        <description>Mission is active, and will execute mission items when in auto mode.</description>
+      </entry>
+      <entry value="4" name="MISSION_STATE_PAUSED">
+        <description>Mission is paused when in auto mode.</description>
+      </entry>
+      <entry value="5" name="MISSION_STATE_COMPLETE">
+        <description>Mission has executed all mission items.</description>
+      </entry>
+    </enum>
+    <enum name="SAFETY_SWITCH_STATE">
+      <description>
+	Possible safety switch states.
+      </description>
+      <entry value="0" name="SAFETY_SWITCH_STATE_SAFE">
+        <description>Safety switch is engaged and vehicle should be safe to approach.</description>
+      </entry>
+      <entry value="1" name="SAFETY_SWITCH_STATE_DANGEROUS">
+        <description>Safety switch is NOT engaged and motors, propellers and other actuators should be considered active.</description>
+      </entry>
+    </enum>
+    <enum name="ILLUMINATOR_MODE">
+      <description>Modes of illuminator</description>
+      <entry value="0" name="ILLUMINATOR_MODE_UNKNOWN">
+        <description>Illuminator mode is not specified/unknown</description>
+      </entry>
+      <entry value="1" name="ILLUMINATOR_MODE_INTERNAL_CONTROL">
+        <description>Illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings</description>
+      </entry>
+      <entry value="2" name="ILLUMINATOR_MODE_EXTERNAL_SYNC">
+        <description>Illuminator behavior is controlled by external factors: e.g. an external hardware signal</description>
+      </entry>
+    </enum>
+    <enum name="ILLUMINATOR_ERROR_FLAGS" bitmask="true">
+      <description>Illuminator module error flags (bitmap, 0 means no error)</description>
+      <entry value="1" name="ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING">
+        <description>Illuminator thermal throttling error.</description>
+      </entry>
+      <entry value="2" name="ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN">
+        <description>Illuminator over temperature shutdown error.</description>
+      </entry>
+      <entry value="4" name="ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILURE">
+        <description>Illuminator thermistor failure.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_STANDARD_MODE">
+      <description>Standard modes with a well understood meaning across flight stacks and vehicle types.
+        For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ.
+        The modes supported by a flight stack can be queried using AVAILABLE_MODES and set using MAV_CMD_DO_SET_STANDARD_MODE.
+        The current mode is streamed in CURRENT_MODE.
+        See https://mavlink.io/en/services/standard_modes.html
+      </description>
+      <entry value="0" name="MAV_STANDARD_MODE_NON_STANDARD">
+        <description>Non standard mode.
+          This may be used when reporting the mode if the current flight mode is not a standard mode.
+        </description>
+      </entry>
+      <entry value="1" name="MAV_STANDARD_MODE_POSITION_HOLD">
+        <description>Position mode (manual).
+          Position-controlled and stabilized manual mode.
+          When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
+          This mode can only be set by vehicles that can hold a fixed position.
+          Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
+          Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
+          Fixed-wing (FW) vehicles must not support this mode.
+          Other vehicle types must not support this mode (this may be revisited through the PR process).
+        </description>
+      </entry>
+      <entry value="2" name="MAV_STANDARD_MODE_ORBIT">
+        <description>Orbit (manual).
+          Position-controlled and stabilized manual mode.
+          The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
+          Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
+          Flight stacks may support the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) for changing the orbit parameters.
+          MC and FW vehicles may support this mode.
+          Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
+          Other vehicle types must not support this mode (this may be revisited through the PR process).
+        </description>
+      </entry>
+      <entry value="3" name="MAV_STANDARD_MODE_CRUISE">
+        <description>Cruise mode (manual).
+          Position-controlled and stabilized manual mode.
+          When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
+          Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
+          Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
+          Multicopter (MC) vehicles must not support this mode.
+          Other vehicle types must not support this mode (this may be revisited through the PR process).
+        </description>
+      </entry>
+      <entry value="4" name="MAV_STANDARD_MODE_ALTITUDE_HOLD">
+        <description>Altitude hold (manual).
+          Altitude-controlled and stabilized manual mode.
+          When sticks are released vehicles return to their level-flight orientation and hold their altitude.
+          MC vehicles continue with existing momentum and may move with wind (or other external forces).
+          FW vehicles continue with current heading, but may be moved off-track by wind.
+          Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
+          Other vehicle types must not support this mode (this may be revisited through the PR process).
+        </description>
+      </entry>
+      <entry value="5" name="MAV_STANDARD_MODE_SAFE_RECOVERY">
+        <description>Safe recovery mode (auto).
+          Automatic mode that takes vehicle to a predefined safe location via a safe flight path, and may also automatically land the vehicle.
+          This mode is more commonly referred to as RTL and/or or Smart RTL.
+          The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
+          For example, the vehicle might return to the home/launch location, a rally point, or the start of a mission landing, it might follow a direct path, mission path, or breadcrumb path, and land using a mission landing pattern or some other kind of descent.
+        </description>
+      </entry>
+      <entry value="6" name="MAV_STANDARD_MODE_MISSION">
+        <description>Mission mode (automatic).
+          Automatic mode that executes MAVLink missions.
+          Missions are executed from the current waypoint as soon as the mode is enabled.
+        </description>
+      </entry>
+      <entry value="7" name="MAV_STANDARD_MODE_LAND">
+        <description>Land mode (auto).
+          Automatic mode that lands the vehicle at the current location.
+          The precise landing behaviour depends on vehicle configuration and type.
+        </description>
+      </entry>
+      <entry value="8" name="MAV_STANDARD_MODE_TAKEOFF">
+        <description>Takeoff mode (auto).
+          Automatic takeoff mode.
+          The precise takeoff behaviour depends on vehicle configuration and type.
+        </description>
+      </entry>
+    </enum>
+    <enum name="HIL_ACTUATOR_CONTROLS_FLAGS" bitmask="true">
+      <description>Flags used in HIL_ACTUATOR_CONTROLS message.</description>
+      <entry value="1" name="HIL_ACTUATOR_CONTROLS_FLAGS_LOCKSTEP">
+        <description>Simulation is using lockstep</description>
+      </entry>
+    </enum>
+    <enum name="COMPUTER_STATUS_FLAGS" bitmask="true">
+      <description>Flags used to report computer status.</description>
+      <entry value="1" name="COMPUTER_STATUS_FLAGS_UNDER_VOLTAGE">
+        <description>Indicates if the system is experiencing voltage outside of acceptable range.</description>
+      </entry>
+      <entry value="2" name="COMPUTER_STATUS_FLAGS_CPU_THROTTLE">
+        <description>Indicates if CPU throttling is active.</description>
+      </entry>
+      <entry value="4" name="COMPUTER_STATUS_FLAGS_THERMAL_THROTTLE">
+        <description>Indicates if thermal throttling is active.</description>
+      </entry>
+      <entry value="8" name="COMPUTER_STATUS_FLAGS_DISK_FULL">
+        <description>Indicates if main disk is full.</description>
+      </entry>
+    </enum>
+    <enum name="AIRSPEED_SENSOR_FLAGS" bitmask="true">
+      <description>Airspeed sensor flags</description>
+      <entry value="1" name="AIRSPEED_SENSOR_UNHEALTHY">
+        <description>Airspeed sensor is unhealthy</description>
+      </entry>
+      <entry value="2" name="AIRSPEED_SENSOR_USING">
+        <description>True if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="1" name="SYS_STATUS">
+      <description>Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.</description>
+      <field type="uint32_t" name="onboard_control_sensors_present" enum="MAV_SYS_STATUS_SENSOR" print_format="0x%04x">Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.</field>
+      <field type="uint32_t" name="onboard_control_sensors_enabled" enum="MAV_SYS_STATUS_SENSOR" print_format="0x%04x">Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled.</field>
+      <field type="uint32_t" name="onboard_control_sensors_health" enum="MAV_SYS_STATUS_SENSOR" print_format="0x%04x">Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.</field>
+      <field type="uint16_t" name="load" units="d%">Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000</field>
+      <field type="uint16_t" name="voltage_battery" units="mV">Battery voltage, UINT16_MAX: Voltage not sent by autopilot</field>
+      <field type="int16_t" name="current_battery" units="cA" invalid="-1">Battery current, -1: Current not sent by autopilot</field>
+      <field type="int8_t" name="battery_remaining" units="%" invalid="-1">Battery energy remaining, -1: Battery remaining energy not sent by autopilot</field>
+      <field type="uint16_t" name="drop_rate_comm" units="c%">Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
+      <field type="uint16_t" name="errors_comm">Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
+      <field type="uint16_t" name="errors_count1">Autopilot-specific errors</field>
+      <field type="uint16_t" name="errors_count2">Autopilot-specific errors</field>
+      <field type="uint16_t" name="errors_count3">Autopilot-specific errors</field>
+      <field type="uint16_t" name="errors_count4">Autopilot-specific errors</field>
+      <extensions/>
+      <field type="uint32_t" name="onboard_control_sensors_present_extended" enum="MAV_SYS_STATUS_SENSOR_EXTENDED" print_format="0x%04x">Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.</field>
+      <field type="uint32_t" name="onboard_control_sensors_enabled_extended" enum="MAV_SYS_STATUS_SENSOR_EXTENDED" print_format="0x%04x">Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled.</field>
+      <field type="uint32_t" name="onboard_control_sensors_health_extended" enum="MAV_SYS_STATUS_SENSOR_EXTENDED" print_format="0x%04x">Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.</field>
+    </message>
+    <message id="2" name="SYSTEM_TIME">
+      <description>The system time is the time of the sender's master clock.
+        This can be emitted by flight controllers, onboard computers, or other components in the MAVLink network.
+        Components that are using a less reliable time source, such as a battery-backed real time clock, can choose to match their system clock to that of a system that indicates a more recent time.
+        This allows more broadly accurate date stamping of logs, and so on.
+        If precise time synchronization is needed then use TIMESYNC instead.</description>
+      <field type="uint64_t" name="time_unix_usec" units="us">Timestamp (UNIX epoch time).</field>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+    </message>
+    <message id="4" name="PING">
+      <superseded since="2011-08" replaced_by="TIMESYNC">To be removed / merged with TIMESYNC</superseded>
+      <description>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. The ping microservice is documented at https://mavlink.io/en/services/ping.html</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint32_t" name="seq">PING sequence</field>
+      <field type="uint8_t" name="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</field>
+      <field type="uint8_t" name="target_component">0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.</field>
+    </message>
+    <message id="5" name="CHANGE_OPERATOR_CONTROL">
+      <description>Request to control this MAV</description>
+      <field type="uint8_t" name="target_system">System the GCS requests control for</field>
+      <field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
+      <field type="uint8_t" name="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.</field>
+      <field type="char[25]" name="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 "!?,.-"</field>
+    </message>
+    <message id="6" name="CHANGE_OPERATOR_CONTROL_ACK">
+      <description>Accept / deny control of this MAV</description>
+      <field type="uint8_t" name="gcs_system_id">ID of the GCS this message </field>
+      <field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
+      <field type="uint8_t" name="ack">0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control</field>
+    </message>
+    <message id="7" name="AUTH_KEY">
+      <description>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.</description>
+      <field type="char[32]" name="key">key</field>
+    </message>
+    <message id="11" name="SET_MODE">
+      <superseded since="2015-12" replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</superseded>
+      <description>Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.</description>
+      <field type="uint8_t" name="target_system">The system setting the mode</field>
+      <field type="uint8_t" name="base_mode" enum="MAV_MODE">The new base mode.</field>
+      <field type="uint32_t" name="custom_mode">The new autopilot-specific mode. This field can be ignored by an autopilot.</field>
+    </message>
+    <!-- IDs 15-17 reserved for PARAM_VALUE_UNION and other param messages -->
+    <message id="20" name="PARAM_REQUEST_READ">
+      <description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -&gt; 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 https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="int16_t" name="param_index" invalid="-1">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)</field>
+    </message>
+    <message id="21" name="PARAM_REQUEST_LIST">
+      <description>Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="22" name="PARAM_VALUE">
+      <description>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. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html</description>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="float" name="param_value">Onboard parameter value</field>
+      <field type="uint8_t" name="param_type" enum="MAV_PARAM_TYPE">Onboard parameter type.</field>
+      <field type="uint16_t" name="param_count">Total number of onboard parameters</field>
+      <field type="uint16_t" name="param_index">Index of this onboard parameter</field>
+    </message>
+    <message id="23" name="PARAM_SET">
+      <description>Set a parameter value (write new value to permanent storage).
+        The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html.
+      </description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="float" name="param_value">Onboard parameter value</field>
+      <field type="uint8_t" name="param_type" enum="MAV_PARAM_TYPE">Onboard parameter type.</field>
+    </message>
+    <message id="24" name="GPS_RAW_INT">
+      <description>The global position, as returned by the Global Positioning System (GPS). This is
+                NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">GPS fix type.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84, EGM96 ellipsoid)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84, EGM96 ellipsoid)</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.</field>
+      <field type="uint16_t" name="eph" invalid="UINT16_MAX" multiplier="1E-2">GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="epv" invalid="UINT16_MAX" multiplier="1E-2">GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="vel" units="cm/s" invalid="UINT16_MAX">GPS ground speed. If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="cog" units="cdeg" invalid="UINT16_MAX">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
+      <field type="uint8_t" name="satellites_visible" invalid="UINT8_MAX">Number of satellites visible. If unknown, set to UINT8_MAX</field>
+      <extensions/>
+      <field type="int32_t" name="alt_ellipsoid" units="mm">Altitude (above WGS84, EGM96 ellipsoid). Positive for up.</field>
+      <field type="uint32_t" name="h_acc" units="mm">Position uncertainty.</field>
+      <field type="uint32_t" name="v_acc" units="mm">Altitude uncertainty.</field>
+      <field type="uint32_t" name="vel_acc" units="mm/s">Speed uncertainty.</field>
+      <field type="uint32_t" name="hdg_acc" units="degE5">Heading / track uncertainty</field>
+      <field type="uint16_t" name="yaw" units="cdeg" invalid="0">Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.</field>
+    </message>
+    <message id="25" name="GPS_STATUS">
+      <description>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_INT for the global position estimate. This message can contain information for up to 20 satellites.</description>
+      <field type="uint8_t" name="satellites_visible">Number of satellites visible</field>
+      <field type="uint8_t[20]" name="satellite_prn">Global satellite ID</field>
+      <field type="uint8_t[20]" name="satellite_used">0: Satellite not used, 1: used for localization</field>
+      <field type="uint8_t[20]" name="satellite_elevation" units="deg">Elevation (0: right on top of receiver, 90: on the horizon) of satellite</field>
+      <field type="uint8_t[20]" name="satellite_azimuth" units="deg" multiplier="360/255">Direction of satellite, 0: 0 deg, 255: 360 deg.</field>
+      <field type="uint8_t[20]" name="satellite_snr" units="dB">Signal to noise ratio of satellite</field>
+    </message>
+    <message id="26" name="SCALED_IMU">
+      <description>The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration</field>
+      <field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
+      <field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
+      <field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
+      <field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
+      <field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
+      <field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
+      <extensions/>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
+    </message>
+    <message id="27" name="RAW_IMU">
+      <description>The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging. On ArduPilot platforms, this message is identical to SCALED_IMU. By default, only RAW_IMU is sent via telemetry for historical reasons, SCALED_IMU can be requested.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration (raw)</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration (raw)</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration (raw)</field>
+      <field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis (raw)</field>
+      <field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis (raw)</field>
+      <field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis (raw)</field>
+      <field type="int16_t" name="xmag" units="mgauss">X Magnetic field (raw)</field>
+      <field type="int16_t" name="ymag" units="mgauss">Y Magnetic field (raw)</field>
+      <field type="int16_t" name="zmag" units="mgauss">Z Magnetic field (raw)</field>
+      <extensions/>
+      <field type="uint8_t" name="id" instance="true">Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)</field>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
+    </message>
+    <message id="28" name="RAW_PRESSURE">
+      <description>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.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="int16_t" name="press_abs">Absolute pressure (raw)</field>
+      <field type="int16_t" name="press_diff1" invalid="0">Differential pressure 1 (raw, 0 if nonexistent)</field>
+      <field type="int16_t" name="press_diff2" invalid="0">Differential pressure 2 (raw, 0 if nonexistent)</field>
+      <field type="int16_t" name="temperature">Raw Temperature measurement (raw)</field>
+    </message>
+    <message id="29" name="SCALED_PRESSURE">
+      <description>The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="press_abs" units="hPa">Absolute pressure</field>
+      <field type="float" name="press_diff" units="hPa">Differential pressure 1</field>
+      <field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
+      <extensions/>
+      <field type="int16_t" name="temperature_press_diff" units="cdegC" invalid="0">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
+    </message>
+    <message id="30" name="ATTITUDE">
+      <description>The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="roll" units="rad">Roll angle (-pi..+pi)</field>
+      <field type="float" name="pitch" units="rad">Pitch angle (-pi..+pi)</field>
+      <field type="float" name="yaw" units="rad">Yaw angle (-pi..+pi)</field>
+      <field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
+    </message>
+    <message id="31" name="ATTITUDE_QUATERNION">
+      <description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="q1">Quaternion component 1, w (1 in null-rotation)</field>
+      <field type="float" name="q2">Quaternion component 2, x (0 in null-rotation)</field>
+      <field type="float" name="q3">Quaternion component 3, y (0 in null-rotation)</field>
+      <field type="float" name="q4">Quaternion component 4, z (0 in null-rotation)</field>
+      <field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
+      <extensions/>
+      <field type="float[4]" name="repr_offset_q" invalid="[0]">Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.</field>
+    </message>
+    <message id="32" name="LOCAL_POSITION_NED">
+      <description>The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="x" units="m">X Position</field>
+      <field type="float" name="y" units="m">Y Position</field>
+      <field type="float" name="z" units="m">Z Position</field>
+      <field type="float" name="vx" units="m/s">X Speed</field>
+      <field type="float" name="vy" units="m/s">Y Speed</field>
+      <field type="float" name="vz" units="m/s">Z Speed</field>
+    </message>
+    <message id="34" name="RC_CHANNELS_SCALED">
+      <description>The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
+      <field type="int16_t" name="chan1_scaled" invalid="INT16_MAX">RC channel 1 value scaled.</field>
+      <field type="int16_t" name="chan2_scaled" invalid="INT16_MAX">RC channel 2 value scaled.</field>
+      <field type="int16_t" name="chan3_scaled" invalid="INT16_MAX">RC channel 3 value scaled.</field>
+      <field type="int16_t" name="chan4_scaled" invalid="INT16_MAX">RC channel 4 value scaled.</field>
+      <field type="int16_t" name="chan5_scaled" invalid="INT16_MAX">RC channel 5 value scaled.</field>
+      <field type="int16_t" name="chan6_scaled" invalid="INT16_MAX">RC channel 6 value scaled.</field>
+      <field type="int16_t" name="chan7_scaled" invalid="INT16_MAX">RC channel 7 value scaled.</field>
+      <field type="int16_t" name="chan8_scaled" invalid="INT16_MAX">RC channel 8 value scaled.</field>
+      <field type="uint8_t" name="rssi" invalid="UINT8_MAX">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+    </message>
+    <message id="35" name="RC_CHANNELS_RAW">
+      <description>The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="port">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
+      <field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value.</field>
+      <field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value.</field>
+      <field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value.</field>
+      <field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value.</field>
+      <field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value.</field>
+      <field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value.</field>
+      <field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value.</field>
+      <field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value.</field>
+      <field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
+    </message>
+    <message id="36" name="SERVO_OUTPUT_RAW">
+      <description>Superseded by ACTUATOR_OUTPUT_STATUS. 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%.</description>
+      <field type="uint32_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="port" instance="true">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
+      <field type="uint16_t" name="servo1_raw" units="us">Servo output 1 value</field>
+      <field type="uint16_t" name="servo2_raw" units="us">Servo output 2 value</field>
+      <field type="uint16_t" name="servo3_raw" units="us">Servo output 3 value</field>
+      <field type="uint16_t" name="servo4_raw" units="us">Servo output 4 value</field>
+      <field type="uint16_t" name="servo5_raw" units="us">Servo output 5 value</field>
+      <field type="uint16_t" name="servo6_raw" units="us">Servo output 6 value</field>
+      <field type="uint16_t" name="servo7_raw" units="us">Servo output 7 value</field>
+      <field type="uint16_t" name="servo8_raw" units="us">Servo output 8 value</field>
+      <extensions/>
+      <field type="uint16_t" name="servo9_raw" units="us">Servo output 9 value</field>
+      <field type="uint16_t" name="servo10_raw" units="us">Servo output 10 value</field>
+      <field type="uint16_t" name="servo11_raw" units="us">Servo output 11 value</field>
+      <field type="uint16_t" name="servo12_raw" units="us">Servo output 12 value</field>
+      <field type="uint16_t" name="servo13_raw" units="us">Servo output 13 value</field>
+      <field type="uint16_t" name="servo14_raw" units="us">Servo output 14 value</field>
+      <field type="uint16_t" name="servo15_raw" units="us">Servo output 15 value</field>
+      <field type="uint16_t" name="servo16_raw" units="us">Servo output 16 value</field>
+    </message>
+    <message id="37" name="MISSION_REQUEST_PARTIAL_LIST">
+      <description>Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="int16_t" name="start_index">Start index</field>
+      <field type="int16_t" name="end_index">End index, -1 by default (-1: send list to end). Else a valid index of the list</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="38" name="MISSION_WRITE_PARTIAL_LIST">
+      <description>This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="int16_t" name="start_index">Start index. Must be smaller / equal to the largest index of the current onboard list.</field>
+      <field type="int16_t" name="end_index">End index, equal or greater than start index.</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="39" name="MISSION_ITEM">
+      <deprecated since="2020-06" replaced_by="MISSION_ITEM_INT"/>
+      <description>Message encoding a mission item. This message is emitted to announce
+                the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint.</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint.</field>
+      <field type="uint8_t" name="current">false:0, true:1</field>
+      <field type="uint8_t" name="autocontinue">Autocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.</field>
+      <field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
+      <field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
+      <field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
+      <field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
+      <field type="float" name="x">PARAM5 / local: X coordinate, global: latitude</field>
+      <field type="float" name="y">PARAM6 / local: Y coordinate, global: longitude</field>
+      <field type="float" name="z">PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="40" name="MISSION_REQUEST">
+      <deprecated since="2020-06" replaced_by="MISSION_REQUEST_INT">A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).</deprecated>
+      <description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="41" name="MISSION_SET_CURRENT">
+      <superseded since="2022-08" replaced_by="MAV_CMD_DO_SET_MISSION_CURRENT"/>
+      <description>
+        Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed).
+        If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items.
+        Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).
+
+        This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE.
+        If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission.
+        If the system is not in mission mode this message must not trigger a switch to mission mode.
+      </description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+    </message>
+    <message id="42" name="MISSION_CURRENT">
+      <description>
+        Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running).
+        This message should be streamed all the time (nominally at 1Hz).
+        This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or MISSION_SET_CURRENT.
+      </description>
+      <field type="uint16_t" name="seq">Sequence</field>
+      <extensions/>
+      <field type="uint16_t" name="total" invalid="UINT16_MAX">Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.</field>
+      <field type="uint8_t" name="mission_state" enum="MISSION_STATE" invalid="0">Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.</field>
+      <field type="uint8_t" name="mission_mode" invalid="0">Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).</field>
+    </message>
+    <message id="43" name="MISSION_REQUEST_LIST">
+      <description>Request the overall list of mission items from the system/component.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="44" name="MISSION_COUNT">
+      <description>This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="count">Number of mission items in the sequence</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="45" name="MISSION_CLEAR_ALL">
+      <description>Delete all mission items at once.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="46" name="MISSION_ITEM_REACHED">
+      <description>A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.</description>
+      <field type="uint16_t" name="seq">Sequence</field>
+    </message>
+    <message id="47" name="MISSION_ACK">
+      <description>Acknowledgment 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).</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="type" enum="MAV_MISSION_RESULT">Mission result.</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="48" name="SET_GPS_GLOBAL_ORIGIN">
+      <superseded since="2025-04" replaced_by="MAV_CMD_DO_SET_GLOBAL_ORIGIN"/>
+      <description>Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+    </message>
+    <message id="49" name="GPS_GLOBAL_ORIGIN">
+      <description>Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.</description>
+      <field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+    </message>
+    <message id="50" name="PARAM_MAP_RC">
+      <description>Bind a RC channel to a parameter. The parameter should change according to the RC channel value.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="int16_t" name="param_index">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.</field>
+      <field type="uint8_t" name="parameter_rc_channel_index">Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.</field>
+      <field type="float" name="param_value0">Initial parameter value</field>
+      <field type="float" name="scale">Scale, maps the RC range [-1, 1] to a parameter value</field>
+      <field type="float" name="param_value_min">Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)</field>
+      <field type="float" name="param_value_max">Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)</field>
+    </message>
+    <message id="51" name="MISSION_REQUEST_INT">
+      <description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <!-- Note, id 53 reserved for MISSION_CHECKSUM message (development.xml) -->
+    <message id="54" name="SAFETY_SET_ALLOWED_AREA">
+      <description>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.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
+      <field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
+      <field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
+      <field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
+      <field type="float" name="p2x" units="m">x position 2 / Latitude 2</field>
+      <field type="float" name="p2y" units="m">y position 2 / Longitude 2</field>
+      <field type="float" name="p2z" units="m">z position 2 / Altitude 2</field>
+    </message>
+    <message id="55" name="SAFETY_ALLOWED_AREA">
+      <description>Read out the safety zone the MAV currently assumes.</description>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
+      <field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
+      <field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
+      <field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
+      <field type="float" name="p2x" units="m">x position 2 / Latitude 2</field>
+      <field type="float" name="p2y" units="m">y position 2 / Longitude 2</field>
+      <field type="float" name="p2z" units="m">z position 2 / Altitude 2</field>
+    </message>
+    <message id="61" name="ATTITUDE_QUATERNION_COV">
+      <description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
+      <field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
+      <field type="float[9]" name="covariance" invalid="[NaN:]">Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.</field>
+    </message>
+    <message id="62" name="NAV_CONTROLLER_OUTPUT">
+      <description>The state of the navigation and position controller.</description>
+      <field type="float" name="nav_roll" units="deg">Current desired roll</field>
+      <field type="float" name="nav_pitch" units="deg">Current desired pitch</field>
+      <field type="int16_t" name="nav_bearing" units="deg">Current desired heading</field>
+      <field type="int16_t" name="target_bearing" units="deg">Bearing to current waypoint/target</field>
+      <field type="uint16_t" name="wp_dist" units="m">Distance to active waypoint</field>
+      <field type="float" name="alt_error" units="m">Current altitude error</field>
+      <field type="float" name="aspd_error" units="m/s">Current airspeed error</field>
+      <field type="float" name="xtrack_error" units="m">Current crosstrack error on x-y plane</field>
+    </message>
+    <message id="63" name="GLOBAL_POSITION_INT_COV">
+      <description>The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It  is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="int32_t" name="alt" units="mm">Altitude in meters above MSL</field>
+      <field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
+      <field type="float" name="vx" units="m/s">Ground X Speed (Latitude)</field>
+      <field type="float" name="vy" units="m/s">Ground Y Speed (Longitude)</field>
+      <field type="float" name="vz" units="m/s">Ground Z Speed (Altitude)</field>
+      <field type="float[36]" name="covariance" invalid="[NaN:]">Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.</field>
+    </message>
+    <message id="64" name="LOCAL_POSITION_NED_COV">
+      <description>The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
+      <field type="float" name="x" units="m">X Position</field>
+      <field type="float" name="y" units="m">Y Position</field>
+      <field type="float" name="z" units="m">Z Position</field>
+      <field type="float" name="vx" units="m/s">X Speed</field>
+      <field type="float" name="vy" units="m/s">Y Speed</field>
+      <field type="float" name="vz" units="m/s">Z Speed</field>
+      <field type="float" name="ax" units="m/s/s">X Acceleration</field>
+      <field type="float" name="ay" units="m/s/s">Y Acceleration</field>
+      <field type="float" name="az" units="m/s/s">Z Acceleration</field>
+      <field type="float[45]" name="covariance" invalid="[NaN:]">Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.</field>
+    </message>
+    <message id="65" name="RC_CHANNELS">
+      <description>The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.  A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="chancount">Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.</field>
+      <field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value.</field>
+      <field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value.</field>
+      <field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value.</field>
+      <field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value.</field>
+      <field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value.</field>
+      <field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value.</field>
+      <field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value.</field>
+      <field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value.</field>
+      <field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value.</field>
+      <field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value.</field>
+      <field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value.</field>
+      <field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value.</field>
+      <field type="uint16_t" name="chan13_raw" units="us">RC channel 13 value.</field>
+      <field type="uint16_t" name="chan14_raw" units="us">RC channel 14 value.</field>
+      <field type="uint16_t" name="chan15_raw" units="us">RC channel 15 value.</field>
+      <field type="uint16_t" name="chan16_raw" units="us">RC channel 16 value.</field>
+      <field type="uint16_t" name="chan17_raw" units="us">RC channel 17 value.</field>
+      <field type="uint16_t" name="chan18_raw" units="us">RC channel 18 value.</field>
+      <field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
+    </message>
+    <message id="66" name="REQUEST_DATA_STREAM">
+      <description>Request a data stream.</description>
+      <field type="uint8_t" name="target_system">The target requested to send the message stream.</field>
+      <field type="uint8_t" name="target_component">The target requested to send the message stream.</field>
+      <field type="uint8_t" name="req_stream_id" enum="MAV_DATA_STREAM">The ID of the requested data stream.</field>
+      <field type="uint16_t" name="req_message_rate" units="Hz">The requested message rate</field>
+      <field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field>
+    </message>
+    <message id="67" name="DATA_STREAM">
+      <description>Data stream status information.</description>
+      <field type="uint8_t" name="stream_id" enum="MAV_DATA_STREAM">The ID of the requested data stream.</field>
+      <field type="uint16_t" name="message_rate" units="Hz">The message rate</field>
+      <field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
+    </message>
+    <message id="69" name="MANUAL_CONTROL">
+      <description>This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask</description>
+      <field type="uint8_t" name="target">The system to be controlled.</field>
+      <field type="int16_t" name="x">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
+      <field type="int16_t" name="y">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
+      <field type="int16_t" name="z">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.</field>
+      <field type="int16_t" name="r">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
+      <field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
+      <extensions/>
+      <field type="uint16_t" name="buttons2">A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.</field>
+      <field type="uint8_t" name="enabled_extensions">Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6</field>
+      <field type="int16_t" name="s">Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.</field>
+      <field type="int16_t" name="t">Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.</field>
+      <field type="int16_t" name="aux1">Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.</field>
+      <field type="int16_t" name="aux2">Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.</field>
+      <field type="int16_t" name="aux3">Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.</field>
+      <field type="int16_t" name="aux4">Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.</field>
+      <field type="int16_t" name="aux5">Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.</field>
+      <field type="int16_t" name="aux6">Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.</field>
+    </message>
+    <message id="70" name="RC_CHANNELS_OVERRIDE">
+      <description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.  Note carefully the semantic differences between the first 8 channels and the subsequent channels</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="chan1_raw" units="us" invalid="UINT16_MAX">RC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan2_raw" units="us" invalid="UINT16_MAX">RC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan3_raw" units="us" invalid="UINT16_MAX">RC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan4_raw" units="us" invalid="UINT16_MAX">RC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan5_raw" units="us" invalid="UINT16_MAX">RC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan6_raw" units="us" invalid="UINT16_MAX">RC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan7_raw" units="us" invalid="UINT16_MAX">RC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan8_raw" units="us" invalid="UINT16_MAX">RC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.</field>
+      <extensions/>
+      <field type="uint16_t" name="chan9_raw" units="us" invalid="0">RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan10_raw" units="us" invalid="0">RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan11_raw" units="us" invalid="0">RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan12_raw" units="us" invalid="0">RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan13_raw" units="us" invalid="0">RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan14_raw" units="us" invalid="0">RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan15_raw" units="us" invalid="0">RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan16_raw" units="us" invalid="0">RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan17_raw" units="us" invalid="0">RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+      <field type="uint16_t" name="chan18_raw" units="us" invalid="0">RC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.</field>
+    </message>
+    <message id="73" name="MISSION_ITEM_INT">
+      <description>Message encoding a mission item. This message is emitted to announce
+                the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint.</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint.</field>
+      <field type="uint8_t" name="current">false:0, true:1</field>
+      <field type="uint8_t" name="autocontinue">Autocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.</field>
+      <field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
+      <field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
+      <field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
+      <field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
+      <field type="int32_t" name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
+      <field type="int32_t" name="y">PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7</field>
+      <field type="float" name="z">PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.</field>
+      <extensions/>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+    </message>
+    <message id="74" name="VFR_HUD">
+      <description>Metrics typically displayed on a HUD for fixed wing aircraft.</description>
+      <field type="float" name="airspeed" units="m/s">Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.</field>
+      <field type="float" name="groundspeed" units="m/s">Current ground speed.</field>
+      <field type="int16_t" name="heading" units="deg">Current heading in compass units (0-360, 0=north).</field>
+      <field type="uint16_t" name="throttle" units="%">Current throttle setting (0 to 100).</field>
+      <field type="float" name="alt" units="m">Current altitude (MSL).</field>
+      <field type="float" name="climb" units="m/s">Current climb rate.</field>
+    </message>
+    <message id="75" name="COMMAND_INT">
+      <description>Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value. The command microservice is documented at https://mavlink.io/en/services/command.html</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the COMMAND.</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the mission item.</field>
+      <field type="uint8_t" name="current">Not used.</field>
+      <field type="uint8_t" name="autocontinue">Not used (set 0).</field>
+      <field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
+      <field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
+      <field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
+      <field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
+      <field type="int32_t" name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
+      <field type="int32_t" name="y">PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7</field>
+      <field type="float" name="z">PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).</field>
+    </message>
+    <message id="76" name="COMMAND_LONG">
+      <description>Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html</description>
+      <field type="uint8_t" name="target_system">System which should execute the command</field>
+      <field type="uint8_t" name="target_component">Component which should execute the command, 0 for all components</field>
+      <field type="uint16_t" name="command" enum="MAV_CMD">Command ID (of command to send).</field>
+      <field type="uint8_t" name="confirmation">0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</field>
+      <field type="float" name="param1">Parameter 1 (for the specific command).</field>
+      <field type="float" name="param2">Parameter 2 (for the specific command).</field>
+      <field type="float" name="param3">Parameter 3 (for the specific command).</field>
+      <field type="float" name="param4">Parameter 4 (for the specific command).</field>
+      <field type="float" name="param5">Parameter 5 (for the specific command).</field>
+      <field type="float" name="param6">Parameter 6 (for the specific command).</field>
+      <field type="float" name="param7">Parameter 7 (for the specific command).</field>
+    </message>
+    <message id="77" name="COMMAND_ACK">
+      <description>Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html</description>
+      <field type="uint16_t" name="command" enum="MAV_CMD">Command ID (of acknowledged command).</field>
+      <field type="uint8_t" name="result" enum="MAV_RESULT">Result of command.</field>
+      <extensions/>
+      <field type="uint8_t" name="progress">Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.</field>
+      <field type="int32_t" name="result_param2">Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.</field>
+      <field type="uint8_t" name="target_system">System which requested the command to be executed</field>
+      <field type="uint8_t" name="target_component">Component which requested the command to be executed</field>
+    </message>
+    <message id="81" name="MANUAL_SETPOINT">
+      <description>Setpoint in roll, pitch, yaw and thrust from the operator</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="roll" units="rad/s">Desired roll rate</field>
+      <field type="float" name="pitch" units="rad/s">Desired pitch rate</field>
+      <field type="float" name="yaw" units="rad/s">Desired yaw rate</field>
+      <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
+      <field type="uint8_t" name="mode_switch">Flight mode switch position, 0.. 255</field>
+      <field type="uint8_t" name="manual_override_switch">Override mode switch position, 0.. 255</field>
+    </message>
+    <message id="82" name="SET_ATTITUDE_TARGET">
+      <description>Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="type_mask" enum="ATTITUDE_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="float" name="body_roll_rate" units="rad/s">Body roll rate</field>
+      <field type="float" name="body_pitch_rate" units="rad/s">Body pitch rate</field>
+      <field type="float" name="body_yaw_rate" units="rad/s">Body yaw rate</field>
+      <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse thrust)</field>
+    </message>
+    <message id="83" name="ATTITUDE_TARGET">
+      <description>Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="type_mask" enum="ATTITUDE_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="float" name="body_roll_rate" units="rad/s">Body roll rate</field>
+      <field type="float" name="body_pitch_rate" units="rad/s">Body pitch rate</field>
+      <field type="float" name="body_yaw_rate" units="rad/s">Body yaw rate</field>
+      <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse thrust)</field>
+    </message>
+    <message id="84" name="SET_POSITION_TARGET_LOCAL_NED">
+      <description>Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9</field>
+      <field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="float" name="x" units="m">X Position in NED frame</field>
+      <field type="float" name="y" units="m">Y Position in NED frame</field>
+      <field type="float" name="z" units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
+      <field type="float" name="vx" units="m/s">X velocity in NED frame</field>
+      <field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
+      <field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
+      <field type="float" name="afx" units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afy" units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afz" units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="yaw" units="rad">yaw setpoint</field>
+      <field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
+    </message>
+    <message id="85" name="POSITION_TARGET_LOCAL_NED">
+      <description>Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9</field>
+      <field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="float" name="x" units="m">X Position in NED frame</field>
+      <field type="float" name="y" units="m">Y Position in NED frame</field>
+      <field type="float" name="z" units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
+      <field type="float" name="vx" units="m/s">X velocity in NED frame</field>
+      <field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
+      <field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
+      <field type="float" name="afx" units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afy" units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afz" units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="yaw" units="rad">yaw setpoint</field>
+      <field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
+    </message>
+    <message id="86" name="SET_POSITION_TARGET_GLOBAL_INT">
+      <description>Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.</field>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)</field>
+      <field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="int32_t" name="lat_int" units="degE7">Latitude in WGS84 frame</field>
+      <field type="int32_t" name="lon_int" units="degE7">Longitude in WGS84 frame</field>
+      <field type="float" name="alt" units="m">Altitude (MSL, Relative to home, or AGL - depending on frame)</field>
+      <field type="float" name="vx" units="m/s">X velocity in NED frame</field>
+      <field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
+      <field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
+      <field type="float" name="afx" units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afy" units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afz" units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="yaw" units="rad">yaw setpoint</field>
+      <field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
+    </message>
+    <message id="87" name="POSITION_TARGET_GLOBAL_INT">
+      <description>Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.</field>
+      <field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)</field>
+      <field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
+      <field type="int32_t" name="lat_int" units="degE7">Latitude in WGS84 frame</field>
+      <field type="int32_t" name="lon_int" units="degE7">Longitude in WGS84 frame</field>
+      <field type="float" name="alt" units="m">Altitude (MSL, AGL or relative to home altitude, depending on frame)</field>
+      <field type="float" name="vx" units="m/s">X velocity in NED frame</field>
+      <field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
+      <field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
+      <field type="float" name="afx" units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afy" units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="afz" units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
+      <field type="float" name="yaw" units="rad">yaw setpoint</field>
+      <field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
+    </message>
+    <message id="89" name="LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET">
+      <description>The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="x" units="m">X Position</field>
+      <field type="float" name="y" units="m">Y Position</field>
+      <field type="float" name="z" units="m">Z Position</field>
+      <field type="float" name="roll" units="rad">Roll</field>
+      <field type="float" name="pitch" units="rad">Pitch</field>
+      <field type="float" name="yaw" units="rad">Yaw</field>
+    </message>
+    <message id="90" name="HIL_STATE">
+      <superseded since="2013-07" replaced_by="HIL_STATE_QUATERNION">Suffers from missing airspeed fields and singularities due to Euler angles</superseded>
+      <description>Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="roll" units="rad">Roll angle</field>
+      <field type="float" name="pitch" units="rad">Pitch angle</field>
+      <field type="float" name="yaw" units="rad">Yaw angle</field>
+      <field type="float" name="rollspeed" units="rad/s">Body frame roll / phi angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Body frame pitch / theta angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Body frame yaw / psi angular speed</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="int32_t" name="alt" units="mm">Altitude</field>
+      <field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude)</field>
+      <field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude)</field>
+      <field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude)</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration</field>
+    </message>
+    <message id="91" name="HIL_CONTROLS">
+      <description>Sent from autopilot to simulation. Hardware in the loop control outputs. Alternative to HIL_ACTUATOR_CONTROLS.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="roll_ailerons">Control output -1 .. 1</field>
+      <field type="float" name="pitch_elevator">Control output -1 .. 1</field>
+      <field type="float" name="yaw_rudder">Control output -1 .. 1</field>
+      <field type="float" name="throttle">Throttle 0 .. 1</field>
+      <field type="float" name="aux1">Aux 1, -1 .. 1</field>
+      <field type="float" name="aux2">Aux 2, -1 .. 1</field>
+      <field type="float" name="aux3">Aux 3, -1 .. 1</field>
+      <field type="float" name="aux4">Aux 4, -1 .. 1</field>
+      <field type="uint8_t" name="mode" enum="MAV_MODE">System mode.</field>
+      <field type="uint8_t" name="nav_mode">Navigation mode (MAV_NAV_MODE)</field>
+    </message>
+    <message id="92" name="HIL_RC_INPUTS_RAW">
+      <description>Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value</field>
+      <field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value</field>
+      <field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value</field>
+      <field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value</field>
+      <field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value</field>
+      <field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value</field>
+      <field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value</field>
+      <field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value</field>
+      <field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value</field>
+      <field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value</field>
+      <field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value</field>
+      <field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value</field>
+      <field type="uint8_t" name="rssi" invalid="UINT8_MAX">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+    </message>
+    <message id="93" name="HIL_ACTUATOR_CONTROLS">
+      <description>Sent from autopilot to simulation. Hardware in the loop control outputs. Alternative to HIL_CONTROLS.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float[16]" name="controls">Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.</field>
+      <field type="uint8_t" name="mode" enum="MAV_MODE_FLAG">System mode. Includes arming state.</field>
+      <field type="uint64_t" name="flags" enum="HIL_ACTUATOR_CONTROLS_FLAGS">Flags bitmask.</field>
+    </message>
+    <message id="100" name="OPTICAL_FLOW">
+      <description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="sensor_id">Sensor ID</field>
+      <field type="int16_t" name="flow_x" units="rad/s">Flow rate around X-axis (deprecated; use flow_rate_x)</field>
+      <field type="int16_t" name="flow_y" units="rad/s">Flow rate around Y-axis (deprecated; use flow_rate_y)</field>
+      <field type="float" name="flow_comp_m_x" units="m/s">Flow in x-sensor direction, angular-speed compensated</field>
+      <field type="float" name="flow_comp_m_y" units="m/s">Flow in y-sensor direction, angular-speed compensated</field>
+      <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
+      <field type="float" name="ground_distance" units="m">Ground distance. Positive value: distance known. Negative value: Unknown distance</field>
+      <extensions/>
+      <field type="float" name="flow_rate_x" units="rad/s">Flow rate about X axis</field>
+      <field type="float" name="flow_rate_y" units="rad/s">Flow rate about Y axis</field>
+    </message>
+    <message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
+      <description>Global position/attitude estimate from a vision source.</description>
+      <field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or since system boot)</field>
+      <field type="float" name="x" units="m">Global X position</field>
+      <field type="float" name="y" units="m">Global Y position</field>
+      <field type="float" name="z" units="m">Global Z position</field>
+      <field type="float" name="roll" units="rad">Roll angle</field>
+      <field type="float" name="pitch" units="rad">Pitch angle</field>
+      <field type="float" name="yaw" units="rad">Yaw angle</field>
+      <extensions/>
+      <field type="float[21]" name="covariance" invalid="[NaN:]">Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+      <field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
+    </message>
+    <message id="102" name="VISION_POSITION_ESTIMATE">
+      <description>Local position/attitude estimate from a vision source.</description>
+      <field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
+      <field type="float" name="x" units="m">Local X position</field>
+      <field type="float" name="y" units="m">Local Y position</field>
+      <field type="float" name="z" units="m">Local Z position</field>
+      <field type="float" name="roll" units="rad">Roll angle</field>
+      <field type="float" name="pitch" units="rad">Pitch angle</field>
+      <field type="float" name="yaw" units="rad">Yaw angle</field>
+      <extensions/>
+      <field type="float[21]" name="covariance" invalid="[NaN:]">Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+      <field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
+    </message>
+    <message id="103" name="VISION_SPEED_ESTIMATE">
+      <description>Speed estimate from a vision source.</description>
+      <field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
+      <field type="float" name="x" units="m/s">Global X speed</field>
+      <field type="float" name="y" units="m/s">Global Y speed</field>
+      <field type="float" name="z" units="m/s">Global Z speed</field>
+      <extensions/>
+      <field type="float[9]" name="covariance" invalid="[NaN:]">Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.</field>
+      <field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
+    </message>
+    <message id="104" name="VICON_POSITION_ESTIMATE">
+      <description>Global position estimate from a Vicon motion system source.</description>
+      <field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
+      <field type="float" name="x" units="m">Global X position</field>
+      <field type="float" name="y" units="m">Global Y position</field>
+      <field type="float" name="z" units="m">Global Z position</field>
+      <field type="float" name="roll" units="rad">Roll angle</field>
+      <field type="float" name="pitch" units="rad">Pitch angle</field>
+      <field type="float" name="yaw" units="rad">Yaw angle</field>
+      <extensions/>
+      <field type="float[21]" name="covariance" invalid="[NaN:]">Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+    </message>
+    <message id="105" name="HIGHRES_IMU">
+      <description>The IMU readings in SI units in NED body frame</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="xacc" units="m/s/s">X acceleration</field>
+      <field type="float" name="yacc" units="m/s/s">Y acceleration</field>
+      <field type="float" name="zacc" units="m/s/s">Z acceleration</field>
+      <field type="float" name="xgyro" units="rad/s">Angular speed around X axis</field>
+      <field type="float" name="ygyro" units="rad/s">Angular speed around Y axis</field>
+      <field type="float" name="zgyro" units="rad/s">Angular speed around Z axis</field>
+      <field type="float" name="xmag" units="gauss">X Magnetic field</field>
+      <field type="float" name="ymag" units="gauss">Y Magnetic field</field>
+      <field type="float" name="zmag" units="gauss">Z Magnetic field</field>
+      <field type="float" name="abs_pressure" units="hPa">Absolute pressure</field>
+      <field type="float" name="diff_pressure" units="hPa">Differential pressure</field>
+      <field type="float" name="pressure_alt">Altitude calculated from pressure</field>
+      <field type="float" name="temperature" units="degC">Temperature</field>
+      <field type="uint16_t" name="fields_updated" enum="HIGHRES_IMU_UPDATED_FLAGS">Bitmap for fields that have updated since last message</field>
+      <extensions/>
+      <field type="uint8_t" name="id" instance="true">Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)</field>
+    </message>
+    <message id="106" name="OPTICAL_FLOW_RAD">
+      <description>Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="sensor_id" instance="true">Sensor ID</field>
+      <field type="uint32_t" name="integration_time_us" units="us">Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
+      <field type="float" name="integrated_x" units="rad">Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)</field>
+      <field type="float" name="integrated_y" units="rad">Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)</field>
+      <field type="float" name="integrated_xgyro" units="rad">RH rotation around X axis</field>
+      <field type="float" name="integrated_ygyro" units="rad">RH rotation around Y axis</field>
+      <field type="float" name="integrated_zgyro" units="rad">RH rotation around Z axis</field>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature</field>
+      <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
+      <field type="uint32_t" name="time_delta_distance_us" units="us">Time since the distance was sampled.</field>
+      <field type="float" name="distance" units="m">Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
+    </message>
+    <message id="107" name="HIL_SENSOR">
+      <description>The IMU readings in SI units in NED body frame</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="xacc" units="m/s/s">X acceleration</field>
+      <field type="float" name="yacc" units="m/s/s">Y acceleration</field>
+      <field type="float" name="zacc" units="m/s/s">Z acceleration</field>
+      <field type="float" name="xgyro" units="rad/s">Angular speed around X axis in body frame</field>
+      <field type="float" name="ygyro" units="rad/s">Angular speed around Y axis in body frame</field>
+      <field type="float" name="zgyro" units="rad/s">Angular speed around Z axis in body frame</field>
+      <field type="float" name="xmag" units="gauss">X Magnetic field</field>
+      <field type="float" name="ymag" units="gauss">Y Magnetic field</field>
+      <field type="float" name="zmag" units="gauss">Z Magnetic field</field>
+      <field type="float" name="abs_pressure" units="hPa">Absolute pressure</field>
+      <field type="float" name="diff_pressure" units="hPa">Differential pressure (airspeed)</field>
+      <field type="float" name="pressure_alt">Altitude calculated from pressure</field>
+      <field type="float" name="temperature" units="degC">Temperature</field>
+      <field type="uint32_t" name="fields_updated" enum="HIL_SENSOR_UPDATED_FLAGS">Bitmap for fields that have updated since last message</field>
+      <extensions/>
+      <field type="uint8_t" name="id">Sensor ID (zero indexed). Used for multiple sensor inputs</field>
+    </message>
+    <message id="108" name="SIM_STATE">
+      <description>Status of simulation environment, if used</description>
+      <field type="float" name="q1">True attitude quaternion component 1, w (1 in null-rotation)</field>
+      <field type="float" name="q2">True attitude quaternion component 2, x (0 in null-rotation)</field>
+      <field type="float" name="q3">True attitude quaternion component 3, y (0 in null-rotation)</field>
+      <field type="float" name="q4">True attitude quaternion component 4, z (0 in null-rotation)</field>
+      <field type="float" name="roll" units="rad">Attitude roll expressed as Euler angles, not recommended except for human-readable outputs</field>
+      <field type="float" name="pitch" units="rad">Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs</field>
+      <field type="float" name="yaw" units="rad">Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs</field>
+      <field type="float" name="xacc" units="m/s/s">X acceleration</field>
+      <field type="float" name="yacc" units="m/s/s">Y acceleration</field>
+      <field type="float" name="zacc" units="m/s/s">Z acceleration</field>
+      <field type="float" name="xgyro" units="rad/s">Angular speed around X axis</field>
+      <field type="float" name="ygyro" units="rad/s">Angular speed around Y axis</field>
+      <field type="float" name="zgyro" units="rad/s">Angular speed around Z axis</field>
+      <field type="float" name="lat" units="deg">Latitude (lower precision). Both this and the lat_int field should be set.</field>
+      <field type="float" name="lon" units="deg">Longitude (lower precision). Both this and the lon_int field should be set.</field>
+      <field type="float" name="alt" units="m">Altitude</field>
+      <field type="float" name="std_dev_horz">Horizontal position standard deviation</field>
+      <field type="float" name="std_dev_vert">Vertical position standard deviation</field>
+      <field type="float" name="vn" units="m/s">True velocity in north direction in earth-fixed NED frame</field>
+      <field type="float" name="ve" units="m/s">True velocity in east direction in earth-fixed NED frame</field>
+      <field type="float" name="vd" units="m/s">True velocity in down direction in earth-fixed NED frame</field>
+      <extensions/>
+      <field type="int32_t" name="lat_int" units="degE7" invalid="0">Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).</field>
+      <field type="int32_t" name="lon_int" units="degE7" invalid="0">Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).</field>
+    </message>
+    <message id="109" name="RADIO_STATUS">
+      <description>Status generated by radio and injected into MAVLink stream.</description>
+      <field type="uint8_t" name="rssi" invalid="UINT8_MAX">Local (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="remrssi" invalid="UINT8_MAX">Remote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="txbuf" units="%">Remaining free transmitter buffer space.</field>
+      <field type="uint8_t" name="noise" invalid="UINT8_MAX">Local background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="remnoise" invalid="UINT8_MAX">Remote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.</field>
+      <field type="uint16_t" name="rxerrors">Count of radio packet receive errors (since boot).</field>
+      <field type="uint16_t" name="fixed">Count of error corrected radio packets (since boot).</field>
+    </message>
+    <message id="110" name="FILE_TRANSFER_PROTOCOL">
+      <description>File transfer protocol message: https://mavlink.io/en/services/ftp.html.</description>
+      <field type="uint8_t" name="target_network">Network ID (0 for broadcast)</field>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast)</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast)</field>
+      <field type="uint8_t[251]" name="payload">Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.</field>
+    </message>
+    <message id="111" name="TIMESYNC">
+      <description>
+        Time synchronization message.
+        The message is used for both timesync requests and responses.
+        The request is sent with `ts1=syncing component timestamp` and `tc1=0`, and may be broadcast or targeted to a specific system/component.
+        The response is sent with `ts1=syncing component timestamp` (mirror back unchanged), and `tc1=responding component timestamp`, with the `target_system` and `target_component` set to ids of the original request.
+        Systems can determine if they are receiving a request or response based on the value of `tc`.
+        If the response has `target_system==target_component==0` the remote system has not been updated to use the component IDs and cannot reliably timesync; the requester may report an error.
+        Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used).
+        The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.
+        See also: https://mavlink.io/en/services/timesync.html.
+      </description>
+      <field type="int64_t" name="tc1" units="ns">Time sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.</field>
+      <field type="int64_t" name="ts1" units="ns">Time sync timestamp 2. Timestamp of syncing component (mirrored in response).</field>
+    </message>
+    <message id="112" name="CAMERA_TRIGGER">
+      <description>Camera-IMU triggering and synchronisation message.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint32_t" name="seq">Image frame sequence</field>
+    </message>
+    <message id="113" name="HIL_GPS">
+      <description>The global position, as returned by the Global Positioning System (GPS). This is
+                 NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="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.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL). Positive for up.</field>
+      <field type="uint16_t" name="eph" invalid="UINT16_MAX" multiplier="1E-2">GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="epv" invalid="UINT16_MAX" multiplier="1E-2">GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="vel" units="cm/s" invalid="UINT16_MAX">GPS ground speed. If unknown, set to: UINT16_MAX</field>
+      <field type="int16_t" name="vn" units="cm/s">GPS velocity in north direction in earth-fixed NED frame</field>
+      <field type="int16_t" name="ve" units="cm/s">GPS velocity in east direction in earth-fixed NED frame</field>
+      <field type="int16_t" name="vd" units="cm/s">GPS velocity in down direction in earth-fixed NED frame</field>
+      <field type="uint16_t" name="cog" units="cdeg" invalid="UINT16_MAX">Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
+      <field type="uint8_t" name="satellites_visible" invalid="UINT8_MAX">Number of satellites visible. If unknown, set to UINT8_MAX</field>
+      <extensions/>
+      <field type="uint8_t" name="id">GPS ID (zero indexed). Used for multiple GPS inputs</field>
+      <field type="uint16_t" name="yaw" units="cdeg">Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north</field>
+    </message>
+    <message id="114" name="HIL_OPTICAL_FLOW">
+      <description>Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="sensor_id">Sensor ID</field>
+      <field type="uint32_t" name="integration_time_us" units="us">Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
+      <field type="float" name="integrated_x" units="rad">Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)</field>
+      <field type="float" name="integrated_y" units="rad">Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)</field>
+      <field type="float" name="integrated_xgyro" units="rad">RH rotation around X axis</field>
+      <field type="float" name="integrated_ygyro" units="rad">RH rotation around Y axis</field>
+      <field type="float" name="integrated_zgyro" units="rad">RH rotation around Z axis</field>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature</field>
+      <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
+      <field type="uint32_t" name="time_delta_distance_us" units="us">Time since the distance was sampled.</field>
+      <field type="float" name="distance" units="m" invalid="-1.0">Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
+    </message>
+    <message id="115" name="HIL_STATE_QUATERNION">
+      <description>Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float[4]" name="attitude_quaternion">Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)</field>
+      <field type="float" name="rollspeed" units="rad/s">Body frame roll / phi angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Body frame pitch / theta angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Body frame yaw / psi angular speed</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="int32_t" name="alt" units="mm">Altitude</field>
+      <field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude)</field>
+      <field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude)</field>
+      <field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude)</field>
+      <field type="uint16_t" name="ind_airspeed" units="cm/s">Indicated airspeed</field>
+      <field type="uint16_t" name="true_airspeed" units="cm/s">True airspeed</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration</field>
+    </message>
+    <message id="116" name="SCALED_IMU2">
+      <description>The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration</field>
+      <field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
+      <field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
+      <field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
+      <field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
+      <field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
+      <field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
+      <extensions/>
+      <field type="int16_t" name="temperature" units="cdegC" invalid="0">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
+    </message>
+    <message id="117" name="LOG_REQUEST_LIST">
+      <description>Request a list of available logs.
+        On some systems calling this may stop on-board logging until LOG_REQUEST_END is called.
+        If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.
+        LOG_ENTRY messages can start with id 1 or 0.
+        The ground station needs to be able to process either.
+      </description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="start">First log id (0 for first available)</field>
+      <field type="uint16_t" name="end">Last log id (0xffff for last available)</field>
+    </message>
+    <message id="118" name="LOG_ENTRY">
+      <description>Reply to LOG_REQUEST_LIST</description>
+      <field type="uint16_t" name="id">Log id</field>
+      <field type="uint16_t" name="num_logs">Total number of logs</field>
+      <field type="uint16_t" name="last_log_num">High log number</field>
+      <field type="uint32_t" name="time_utc" units="s" invalid="0">UTC timestamp of log since 1970, or 0 if not available</field>
+      <field type="uint32_t" name="size" units="bytes">Size of the log (may be approximate)</field>
+    </message>
+    <message id="119" name="LOG_REQUEST_DATA">
+      <description>Request a chunk of a log</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="id">Log id (from LOG_ENTRY reply)</field>
+      <field type="uint32_t" name="ofs">Offset into the log</field>
+      <field type="uint32_t" name="count" units="bytes">Number of bytes</field>
+    </message>
+    <message id="120" name="LOG_DATA">
+      <description>Reply to LOG_REQUEST_DATA</description>
+      <field type="uint16_t" name="id">Log id (from LOG_ENTRY reply)</field>
+      <field type="uint32_t" name="ofs">Offset into the log</field>
+      <field type="uint8_t" name="count" units="bytes">Number of bytes (zero for end of log)</field>
+      <field type="uint8_t[90]" name="data">log data</field>
+    </message>
+    <message id="121" name="LOG_ERASE">
+      <description>Erase all logs</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="122" name="LOG_REQUEST_END">
+      <description>Stop log transfer and resume normal logging</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="123" name="GPS_INJECT_DATA">
+      <description>Data for injecting into the onboard GPS (used for DGPS)</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="len" units="bytes">Data length</field>
+      <field type="uint8_t[110]" name="data">Raw data (110 is enough for 12 satellites of RTCMv2)</field>
+    </message>
+    <message id="124" name="GPS2_RAW">
+      <description>Second GPS data.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">GPS fix type.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL). Positive for up.</field>
+      <field type="uint16_t" name="eph" invalid="UINT16_MAX">GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="epv" invalid="UINT16_MAX">GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="vel" units="cm/s" invalid="UINT16_MAX">GPS ground speed. If unknown, set to: UINT16_MAX</field>
+      <field type="uint16_t" name="cog" units="cdeg" invalid="UINT16_MAX">Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
+      <field type="uint8_t" name="satellites_visible" invalid="UINT8_MAX">Number of satellites visible. If unknown, set to UINT8_MAX</field>
+      <field type="uint8_t" name="dgps_numch">Number of DGPS satellites</field>
+      <field type="uint32_t" name="dgps_age" units="ms">Age of DGPS info</field>
+      <extensions/>
+      <field type="uint16_t" name="yaw" units="cdeg" invalid="0">Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.</field>
+      <field type="int32_t" name="alt_ellipsoid" units="mm">Altitude (above WGS84, EGM96 ellipsoid). Positive for up.</field>
+      <field type="uint32_t" name="h_acc" units="mm">Position uncertainty.</field>
+      <field type="uint32_t" name="v_acc" units="mm">Altitude uncertainty.</field>
+      <field type="uint32_t" name="vel_acc" units="mm/s">Speed uncertainty.</field>
+      <field type="uint32_t" name="hdg_acc" units="degE5">Heading / track uncertainty</field>
+    </message>
+    <message id="125" name="POWER_STATUS">
+      <description>Power supply status</description>
+      <field type="uint16_t" name="Vcc" units="mV">5V rail voltage.</field>
+      <field type="uint16_t" name="Vservo" units="mV">Servo rail voltage.</field>
+      <field type="uint16_t" name="flags" enum="MAV_POWER_STATUS">Bitmap of power supply status flags.</field>
+    </message>
+    <message id="126" name="SERIAL_CONTROL">
+      <description>Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.</description>
+      <field type="uint8_t" name="device" enum="SERIAL_CONTROL_DEV">Serial control device type.</field>
+      <field type="uint8_t" name="flags" enum="SERIAL_CONTROL_FLAG">Bitmap of serial control flags.</field>
+      <field type="uint16_t" name="timeout" units="ms">Timeout for reply data</field>
+      <field type="uint32_t" name="baudrate" units="bits/s">Baudrate of transfer. Zero means no change.</field>
+      <field type="uint8_t" name="count" units="bytes">how many bytes in this transfer</field>
+      <field type="uint8_t[70]" name="data">serial data</field>
+    </message>
+    <message id="127" name="GPS_RTK">
+      <description>RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting</description>
+      <field type="uint32_t" name="time_last_baseline_ms" units="ms">Time since boot of last baseline message received.</field>
+      <field type="uint8_t" name="rtk_receiver_id">Identification of connected RTK receiver.</field>
+      <field type="uint16_t" name="wn">GPS Week Number of last baseline</field>
+      <field type="uint32_t" name="tow" units="ms">GPS Time of Week of last baseline</field>
+      <field type="uint8_t" name="rtk_health">GPS-specific health report for RTK data.</field>
+      <field type="uint8_t" name="rtk_rate" units="Hz">Rate of baseline messages being received by GPS</field>
+      <field type="uint8_t" name="nsats">Current number of sats used for RTK calculation.</field>
+      <field type="uint8_t" name="baseline_coords_type" enum="RTK_BASELINE_COORDINATE_SYSTEM">Coordinate system of baseline</field>
+      <field type="int32_t" name="baseline_a_mm" units="mm">Current baseline in ECEF x or NED north component.</field>
+      <field type="int32_t" name="baseline_b_mm" units="mm">Current baseline in ECEF y or NED east component.</field>
+      <field type="int32_t" name="baseline_c_mm" units="mm">Current baseline in ECEF z or NED down component.</field>
+      <field type="uint32_t" name="accuracy">Current estimate of baseline accuracy.</field>
+      <field type="int32_t" name="iar_num_hypotheses">Current number of integer ambiguity hypotheses.</field>
+    </message>
+    <message id="128" name="GPS2_RTK">
+      <description>RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting</description>
+      <field type="uint32_t" name="time_last_baseline_ms" units="ms">Time since boot of last baseline message received.</field>
+      <field type="uint8_t" name="rtk_receiver_id">Identification of connected RTK receiver.</field>
+      <field type="uint16_t" name="wn">GPS Week Number of last baseline</field>
+      <field type="uint32_t" name="tow" units="ms">GPS Time of Week of last baseline</field>
+      <field type="uint8_t" name="rtk_health">GPS-specific health report for RTK data.</field>
+      <field type="uint8_t" name="rtk_rate" units="Hz">Rate of baseline messages being received by GPS</field>
+      <field type="uint8_t" name="nsats">Current number of sats used for RTK calculation.</field>
+      <field type="uint8_t" name="baseline_coords_type" enum="RTK_BASELINE_COORDINATE_SYSTEM">Coordinate system of baseline</field>
+      <field type="int32_t" name="baseline_a_mm" units="mm">Current baseline in ECEF x or NED north component.</field>
+      <field type="int32_t" name="baseline_b_mm" units="mm">Current baseline in ECEF y or NED east component.</field>
+      <field type="int32_t" name="baseline_c_mm" units="mm">Current baseline in ECEF z or NED down component.</field>
+      <field type="uint32_t" name="accuracy">Current estimate of baseline accuracy.</field>
+      <field type="int32_t" name="iar_num_hypotheses">Current number of integer ambiguity hypotheses.</field>
+    </message>
+    <message id="129" name="SCALED_IMU3">
+      <description>The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="int16_t" name="xacc" units="mG">X acceleration</field>
+      <field type="int16_t" name="yacc" units="mG">Y acceleration</field>
+      <field type="int16_t" name="zacc" units="mG">Z acceleration</field>
+      <field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
+      <field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
+      <field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
+      <field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
+      <field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
+      <field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
+      <extensions/>
+      <field type="int16_t" name="temperature" units="cdegC" invalid="0">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
+    </message>
+    <message id="130" name="DATA_TRANSMISSION_HANDSHAKE">
+      <description>Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.</description>
+      <field type="uint8_t" name="type" enum="MAVLINK_DATA_STREAM_TYPE">Type of requested/acknowledged data.</field>
+      <field type="uint32_t" name="size" units="bytes">total data size (set on ACK only).</field>
+      <field type="uint16_t" name="width">Width of a matrix or image.</field>
+      <field type="uint16_t" name="height">Height of a matrix or image.</field>
+      <field type="uint16_t" name="packets">Number of packets being sent (set on ACK only).</field>
+      <field type="uint8_t" name="payload" units="bytes">Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).</field>
+      <field type="uint8_t" name="jpg_quality" units="%">JPEG quality. Values: [1-100].</field>
+    </message>
+    <message id="131" name="ENCAPSULATED_DATA">
+      <description>Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.</description>
+      <field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
+      <field type="uint8_t[253]" name="data">image data bytes</field>
+    </message>
+    <message id="132" name="DISTANCE_SENSOR">
+      <description>Distance sensor information for an onboard rangefinder.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure</field>
+      <field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure</field>
+      <field type="uint16_t" name="current_distance" units="cm">Current distance reading</field>
+      <field type="uint8_t" name="type" enum="MAV_DISTANCE_SENSOR">Type of distance sensor.</field>
+      <field type="uint8_t" name="id" instance="true">Onboard ID of the sensor</field>
+      <field type="uint8_t" name="orientation" enum="MAV_SENSOR_ORIENTATION">Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270</field>
+      <field type="uint8_t" name="covariance" units="cm^2" invalid="UINT8_MAX">Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.</field>
+      <extensions/>
+      <field type="float" name="horizontal_fov" units="rad" invalid="0">Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.</field>
+      <field type="float" name="vertical_fov" units="rad" invalid="0">Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.</field>
+      <field type="float[4]" name="quaternion" invalid="[0]">Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."</field>
+      <field type="uint8_t" name="signal_quality" units="%" invalid="0">Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.</field>
+    </message>
+    <message id="133" name="TERRAIN_REQUEST">
+      <description>Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
+      <field type="int32_t" name="lat" units="degE7">Latitude of SW corner of first grid</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude of SW corner of first grid</field>
+      <field type="uint16_t" name="grid_spacing" units="m">Grid spacing</field>
+      <field type="uint64_t" name="mask" display="bitmask" print_format="0x%07x">Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)</field>
+    </message>
+    <message id="134" name="TERRAIN_DATA">
+      <description>Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
+      <field type="int32_t" name="lat" units="degE7">Latitude of SW corner of first grid</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude of SW corner of first grid</field>
+      <field type="uint16_t" name="grid_spacing" units="m">Grid spacing</field>
+      <field type="uint8_t" name="gridbit">bit within the terrain request mask</field>
+      <field type="int16_t[16]" name="data" units="m">Terrain data MSL</field>
+    </message>
+    <message id="135" name="TERRAIN_CHECK">
+      <description>Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.</description>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+    </message>
+    <message id="136" name="TERRAIN_REPORT">
+      <description>Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="uint16_t" name="spacing">grid spacing (zero if terrain at this location unavailable)</field>
+      <field type="float" name="terrain_height" units="m">Terrain height MSL</field>
+      <field type="float" name="current_height" units="m">Current vehicle height above lat/lon terrain height</field>
+      <field type="uint16_t" name="pending">Number of 4x4 terrain blocks waiting to be received or read from disk</field>
+      <field type="uint16_t" name="loaded">Number of 4x4 terrain blocks in memory</field>
+    </message>
+    <message id="137" name="SCALED_PRESSURE2">
+      <description>Barometer readings for 2nd barometer</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="press_abs" units="hPa">Absolute pressure</field>
+      <field type="float" name="press_diff" units="hPa">Differential pressure</field>
+      <field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
+      <extensions/>
+      <field type="int16_t" name="temperature_press_diff" units="cdegC" invalid="0">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
+    </message>
+    <message id="138" name="ATT_POS_MOCAP">
+      <description>Motion capture attitude and position</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="float" name="x" units="m">X position (NED)</field>
+      <field type="float" name="y" units="m">Y position (NED)</field>
+      <field type="float" name="z" units="m">Z position (NED)</field>
+      <extensions/>
+      <field type="float[21]" name="covariance" invalid="[NaN:]">Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+    </message>
+    <message id="139" name="SET_ACTUATOR_CONTROL_TARGET">
+      <description>Set the vehicle attitude and body angular rates.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="float[8]" name="controls">Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.</field>
+    </message>
+    <message id="140" name="ACTUATOR_CONTROL_TARGET">
+      <description>Set the vehicle attitude and body angular rates.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
+      <field type="float[8]" name="controls">Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.</field>
+    </message>
+    <message id="141" name="ALTITUDE">
+      <description>The current system altitude.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="altitude_monotonic" units="m">This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.</field>
+      <field type="float" name="altitude_amsl" units="m">This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.</field>
+      <field type="float" name="altitude_local" units="m">This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.</field>
+      <field type="float" name="altitude_relative" units="m">This is the altitude above the home position. It resets on each change of the current home position.</field>
+      <field type="float" name="altitude_terrain" units="m">This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.</field>
+      <field type="float" name="bottom_clearance" units="m">This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.</field>
+    </message>
+    <message id="142" name="RESOURCE_REQUEST">
+      <description>The autopilot is requesting a resource (file, binary, other type of data)</description>
+      <field type="uint8_t" name="request_id">Request ID. This ID should be reused when sending back URI contents</field>
+      <field type="uint8_t" name="uri_type">The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary</field>
+      <field type="uint8_t[120]" name="uri">The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)</field>
+      <field type="uint8_t" name="transfer_type">The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.</field>
+      <field type="uint8_t[120]" name="storage">The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).</field>
+    </message>
+    <message id="143" name="SCALED_PRESSURE3">
+      <description>Barometer readings for 3rd barometer</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="press_abs" units="hPa">Absolute pressure</field>
+      <field type="float" name="press_diff" units="hPa">Differential pressure</field>
+      <field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
+      <extensions/>
+      <field type="int16_t" name="temperature_press_diff" units="cdegC" invalid="0">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
+    </message>
+    <message id="144" name="FOLLOW_TARGET">
+      <description>Current motion information from a designated system</description>
+      <field type="uint64_t" name="timestamp" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="est_capabilities">bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
+      <field type="float" name="alt" units="m">Altitude (MSL)</field>
+      <field type="float[3]" name="vel" units="m/s">target velocity (0,0,0) for unknown</field>
+      <field type="float[3]" name="acc" units="m/s/s">linear target acceleration (0,0,0) for unknown</field>
+      <field type="float[4]" name="attitude_q">(1 0 0 0 for unknown)</field>
+      <field type="float[3]" name="rates">(0 0 0 for unknown)</field>
+      <field type="float[3]" name="position_cov">eph epv</field>
+      <field type="uint64_t" name="custom_state">button states or switches of a tracker device</field>
+    </message>
+    <message id="146" name="CONTROL_SYSTEM_STATE">
+      <description>The smoothed, monotonic system state used to feed the control loops of the system.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="x_acc" units="m/s/s">X acceleration in body frame</field>
+      <field type="float" name="y_acc" units="m/s/s">Y acceleration in body frame</field>
+      <field type="float" name="z_acc" units="m/s/s">Z acceleration in body frame</field>
+      <field type="float" name="x_vel" units="m/s">X velocity in body frame</field>
+      <field type="float" name="y_vel" units="m/s">Y velocity in body frame</field>
+      <field type="float" name="z_vel" units="m/s">Z velocity in body frame</field>
+      <field type="float" name="x_pos" units="m">X position in local frame</field>
+      <field type="float" name="y_pos" units="m">Y position in local frame</field>
+      <field type="float" name="z_pos" units="m">Z position in local frame</field>
+      <field type="float" name="airspeed" units="m/s" invalid="-1">Airspeed, set to -1 if unknown</field>
+      <field type="float[3]" name="vel_variance">Variance of body velocity estimate</field>
+      <field type="float[3]" name="pos_variance">Variance in local position</field>
+      <field type="float[4]" name="q">The attitude, represented as Quaternion</field>
+      <field type="float" name="roll_rate" units="rad/s">Angular rate in roll axis</field>
+      <field type="float" name="pitch_rate" units="rad/s">Angular rate in pitch axis</field>
+      <field type="float" name="yaw_rate" units="rad/s">Angular rate in yaw axis</field>
+    </message>
+    <message id="147" name="BATTERY_STATUS">
+      <description>Battery information</description>
+      <field type="uint8_t" name="id" instance="true">Battery ID</field>
+      <field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
+      <field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature of the battery. INT16_MAX for unknown temperature.</field>
+      <field type="uint16_t[10]" name="voltages" units="mV">Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).</field>
+      <field type="int16_t" name="current_battery" units="cA">Battery current, -1: autopilot does not measure the current</field>
+      <field type="int32_t" name="current_consumed" units="mAh">Consumed charge, -1: autopilot does not provide consumption estimate</field>
+      <field type="int32_t" name="energy_consumed" units="hJ">Consumed energy, -1: autopilot does not provide energy consumption estimate</field>
+      <field type="int8_t" name="battery_remaining" units="%">Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.</field>
+      <extensions/>
+      <field type="int32_t" name="time_remaining" units="s">Remaining battery time, 0: autopilot does not provide remaining battery time estimate</field>
+      <field type="uint8_t" name="charge_state" enum="MAV_BATTERY_CHARGE_STATE">State for extent of discharge, provided by autopilot for warning or external reactions</field>
+      <field type="uint16_t[4]" name="voltages_ext" units="mV">Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.</field>
+      <field type="uint8_t" name="mode" enum="MAV_BATTERY_MODE">Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.</field>
+      <field type="uint32_t" name="fault_bitmask" enum="MAV_BATTERY_FAULT">Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).</field>
+    </message>
+    <!-- <message id="148" name="AUTOPILOT_VERSION"> in standard.xml -->
+    <message id="149" name="LANDING_TARGET">
+      <description>The location of a landing target. See: https://mavlink.io/en/services/landing_target.html</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="target_num">The ID of the target if multiple targets are present</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame used for following fields.</field>
+      <field type="float" name="angle_x" units="rad">X-axis angular offset of the target from the center of the image</field>
+      <field type="float" name="angle_y" units="rad">Y-axis angular offset of the target from the center of the image</field>
+      <field type="float" name="distance" units="m">Distance to the target from the vehicle</field>
+      <field type="float" name="size_x" units="rad">Size of target along x-axis</field>
+      <field type="float" name="size_y" units="rad">Size of target along y-axis</field>
+      <extensions/>
+      <field type="float" name="x" units="m">X Position of the landing target in MAV_FRAME</field>
+      <field type="float" name="y" units="m">Y Position of the landing target in MAV_FRAME</field>
+      <field type="float" name="z" units="m">Z Position of the landing target in MAV_FRAME</field>
+      <field type="float[4]" name="q">Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="uint8_t" name="type" enum="LANDING_TARGET_TYPE">Type of landing target</field>
+      <field type="uint8_t" name="position_valid" enum="MAV_BOOL" default="0">Position fields (x, y, z, q, type) contain valid target position information (MAV_BOOL_FALSE: invalid values). Values not equal to 0 or 1 are invalid.</field>
+    </message>
+    <!-- imported from ardupilotmega.xml (2019) -->
+    <message id="162" name="FENCE_STATUS">
+      <description>Status of geo-fencing. Sent in extended status stream when fencing enabled.</description>
+      <field type="uint8_t" name="breach_status">Breach status (0 if currently inside fence, 1 if outside).</field>
+      <field type="uint16_t" name="breach_count">Number of fence breaches.</field>
+      <field type="uint8_t" name="breach_type" enum="FENCE_BREACH">Last breach type.</field>
+      <field type="uint32_t" name="breach_time" units="ms">Time (since boot) of last breach.</field>
+      <extensions/>
+      <field type="uint8_t" name="breach_mitigation" enum="FENCE_MITIGATE">Active action to prevent fence breach</field>
+    </message>
+    <!-- MESSAGE IDs 180 - 229: Space for custom messages in individual projectname_messages.xml files -->
+    <!-- 192 MAG_CAL_REPORT imported from ardupilotmega.xml -->
+    <message id="192" name="MAG_CAL_REPORT">
+      <description>Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.</description>
+      <field type="uint8_t" name="compass_id" instance="true">Compass being calibrated.</field>
+      <field type="uint8_t" name="cal_mask" display="bitmask">Bitmask of compasses being calibrated.</field>
+      <field type="uint8_t" name="cal_status" enum="MAG_CAL_STATUS">Calibration Status.</field>
+      <field type="uint8_t" name="autosaved">0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.</field>
+      <field type="float" name="fitness" units="mgauss">RMS milligauss residuals.</field>
+      <field type="float" name="ofs_x">X offset.</field>
+      <field type="float" name="ofs_y">Y offset.</field>
+      <field type="float" name="ofs_z">Z offset.</field>
+      <field type="float" name="diag_x">X diagonal (matrix 11).</field>
+      <field type="float" name="diag_y">Y diagonal (matrix 22).</field>
+      <field type="float" name="diag_z">Z diagonal (matrix 33).</field>
+      <field type="float" name="offdiag_x">X off-diagonal (matrix 12 and 21).</field>
+      <field type="float" name="offdiag_y">Y off-diagonal (matrix 13 and 31).</field>
+      <field type="float" name="offdiag_z">Z off-diagonal (matrix 32 and 23).</field>
+      <extensions/>
+      <field type="float" name="orientation_confidence">Confidence in orientation (higher is better).</field>
+      <field type="uint8_t" name="old_orientation" enum="MAV_SENSOR_ORIENTATION">orientation before calibration.</field>
+      <field type="uint8_t" name="new_orientation" enum="MAV_SENSOR_ORIENTATION">orientation after calibration.</field>
+      <field type="float" name="scale_factor">field radius correction factor</field>
+    </message>
+    <!-- 225 EFI_STATUS imported from ardupilotmega.xml -->
+    <message id="225" name="EFI_STATUS">
+      <description>EFI status output</description>
+      <field type="uint8_t" name="health">EFI health status</field>
+      <field type="float" name="ecu_index">ECU index</field>
+      <field type="float" name="rpm">RPM</field>
+      <field type="float" name="fuel_consumed" units="cm^3">Fuel consumed</field>
+      <field type="float" name="fuel_flow" units="cm^3/min">Fuel flow rate</field>
+      <field type="float" name="engine_load" units="%">Engine load</field>
+      <field type="float" name="throttle_position" units="%">Throttle position</field>
+      <field type="float" name="spark_dwell_time" units="ms">Spark dwell time</field>
+      <field type="float" name="barometric_pressure" units="kPa">Barometric pressure</field>
+      <field type="float" name="intake_manifold_pressure" units="kPa">Intake manifold pressure(</field>
+      <field type="float" name="intake_manifold_temperature" units="degC">Intake manifold temperature</field>
+      <field type="float" name="cylinder_head_temperature" units="degC">Cylinder head temperature</field>
+      <field type="float" name="ignition_timing" units="deg">Ignition timing (Crank angle degrees)</field>
+      <field type="float" name="injection_time" units="ms">Injection time</field>
+      <field type="float" name="exhaust_gas_temperature" units="degC">Exhaust gas temperature</field>
+      <field type="float" name="throttle_out" units="%">Output throttle</field>
+      <field type="float" name="pt_compensation">Pressure/temperature compensation</field>
+      <extensions/>
+      <field type="float" name="ignition_voltage" units="V">Supply voltage to EFI sparking system.  Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.</field>
+      <field type="float" name="fuel_pressure" units="kPa">Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.</field>
+    </message>
+    <!-- MESSAGE IDs 180 - 229: Space for custom messages in individual projectname_messages.xml files -->
+    <message id="230" name="ESTIMATOR_STATUS">
+      <description>Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint16_t" name="flags" enum="ESTIMATOR_STATUS_FLAGS">Bitmap indicating which EKF outputs are valid.</field>
+      <field type="float" name="vel_ratio">Velocity innovation test ratio</field>
+      <field type="float" name="pos_horiz_ratio">Horizontal position innovation test ratio</field>
+      <field type="float" name="pos_vert_ratio">Vertical position innovation test ratio</field>
+      <field type="float" name="mag_ratio">Magnetometer innovation test ratio</field>
+      <field type="float" name="hagl_ratio">Height above terrain innovation test ratio</field>
+      <field type="float" name="tas_ratio">True airspeed innovation test ratio</field>
+      <field type="float" name="pos_horiz_accuracy" units="m">Horizontal position 1-STD accuracy relative to the EKF local origin</field>
+      <field type="float" name="pos_vert_accuracy" units="m">Vertical position 1-STD accuracy relative to the EKF local origin</field>
+    </message>
+    <message id="231" name="WIND_COV">
+      <description>Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="wind_x" units="m/s" invalid="NaN">Wind in North (NED) direction (NAN if unknown)</field>
+      <field type="float" name="wind_y" units="m/s" invalid="NaN">Wind in East (NED) direction (NAN if unknown)</field>
+      <field type="float" name="wind_z" units="m/s" invalid="NaN">Wind in down (NED) direction (NAN if unknown)</field>
+      <field type="float" name="var_horiz" units="m/s" invalid="NaN">Variability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)</field>
+      <field type="float" name="var_vert" units="m/s" invalid="NaN">Variability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)</field>
+      <field type="float" name="wind_alt" units="m" invalid="NaN">Altitude (MSL) that this measurement was taken at (NAN if unknown)</field>
+      <field type="float" name="horiz_accuracy" units="m/s" invalid="0">Horizontal speed 1-STD accuracy (0 if unknown)</field>
+      <field type="float" name="vert_accuracy" units="m/s" invalid="0">Vertical speed 1-STD accuracy (0 if unknown)</field>
+    </message>
+    <message id="232" name="GPS_INPUT">
+      <description>GPS sensor input message.  This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="gps_id" instance="true">ID of the GPS for multiple GPS inputs</field>
+      <field type="uint16_t" name="ignore_flags" enum="GPS_INPUT_IGNORE_FLAGS">Bitmap indicating which GPS input flags fields to ignore.  All other fields must be provided.</field>
+      <field type="uint32_t" name="time_week_ms" units="ms">GPS time (from start of GPS week)</field>
+      <field type="uint16_t" name="time_week">GPS week number</field>
+      <field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
+      <field type="float" name="alt" units="m">Altitude (MSL). Positive for up.</field>
+      <field type="float" name="hdop" invalid="UINT16_MAX">GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
+      <field type="float" name="vdop" invalid="UINT16_MAX">GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
+      <field type="float" name="vn" units="m/s">GPS velocity in north direction in earth-fixed NED frame</field>
+      <field type="float" name="ve" units="m/s">GPS velocity in east direction in earth-fixed NED frame</field>
+      <field type="float" name="vd" units="m/s">GPS velocity in down direction in earth-fixed NED frame</field>
+      <field type="float" name="speed_accuracy" units="m/s">GPS speed accuracy</field>
+      <field type="float" name="horiz_accuracy" units="m">GPS horizontal accuracy</field>
+      <field type="float" name="vert_accuracy" units="m">GPS vertical accuracy</field>
+      <field type="uint8_t" name="satellites_visible">Number of satellites visible.</field>
+      <extensions/>
+      <field type="uint16_t" name="yaw" units="cdeg">Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north</field>
+    </message>
+    <message id="233" name="GPS_RTCM_DATA">
+      <description>RTCM message for injecting into the onboard GPS (used for DGPS)</description>
+      <field type="uint8_t" name="flags">LSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.</field>
+      <field type="uint8_t" name="len" units="bytes">data length</field>
+      <field type="uint8_t[180]" name="data">RTCM message (may be fragmented)</field>
+    </message>
+    <message id="234" name="HIGH_LATENCY">
+      <superseded since="2020-10" replaced_by="HIGH_LATENCY2"/>
+      <description>Message appropriate for high latency connections like Iridium</description>
+      <field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG">Bitmap of enabled system modes.</field>
+      <field type="uint32_t" name="custom_mode" display="bitmask">A bitfield for use for autopilot-specific flags.</field>
+      <field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
+      <field type="int16_t" name="roll" units="cdeg">roll</field>
+      <field type="int16_t" name="pitch" units="cdeg">pitch</field>
+      <field type="uint16_t" name="heading" units="cdeg">heading</field>
+      <field type="int8_t" name="throttle" units="%">throttle (percentage)</field>
+      <field type="int16_t" name="heading_sp" units="cdeg">heading setpoint</field>
+      <field type="int32_t" name="latitude" units="degE7">Latitude</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude</field>
+      <field type="int16_t" name="altitude_amsl" units="m">Altitude above mean sea level</field>
+      <field type="int16_t" name="altitude_sp" units="m">Altitude setpoint relative to the home position</field>
+      <field type="uint8_t" name="airspeed" units="m/s">airspeed</field>
+      <field type="uint8_t" name="airspeed_sp" units="m/s">airspeed setpoint</field>
+      <field type="uint8_t" name="groundspeed" units="m/s">groundspeed</field>
+      <field type="int8_t" name="climb_rate" units="m/s">climb rate</field>
+      <field type="uint8_t" name="gps_nsat" invalid="UINT8_MAX">Number of satellites visible. If unknown, set to UINT8_MAX</field>
+      <field type="uint8_t" name="gps_fix_type" enum="GPS_FIX_TYPE">GPS Fix type.</field>
+      <field type="uint8_t" name="battery_remaining" units="%">Remaining battery (percentage)</field>
+      <field type="int8_t" name="temperature" units="degC">Autopilot temperature (degrees C)</field>
+      <field type="int8_t" name="temperature_air" units="degC">Air temperature (degrees C) from airspeed sensor</field>
+      <field type="uint8_t" name="failsafe">failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)</field>
+      <field type="uint8_t" name="wp_num">current waypoint number</field>
+      <field type="uint16_t" name="wp_distance" units="m">distance to target</field>
+    </message>
+    <message id="235" name="HIGH_LATENCY2">
+      <description>Message appropriate for high latency connections like Iridium (version 2)</description>
+      <field type="uint32_t" name="timestamp" units="ms">Timestamp (milliseconds since boot or Unix epoch)</field>
+      <field type="uint8_t" name="type" enum="MAV_TYPE">Type of the MAV (quadrotor, helicopter, etc.)</field>
+      <field type="uint8_t" name="autopilot" enum="MAV_AUTOPILOT">Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.</field>
+      <field type="uint16_t" name="custom_mode" display="bitmask">A bitfield for use for autopilot-specific flags (2 byte version).</field>
+      <field type="int32_t" name="latitude" units="degE7">Latitude</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude</field>
+      <field type="int16_t" name="altitude" units="m">Altitude above mean sea level</field>
+      <field type="int16_t" name="target_altitude" units="m">Altitude setpoint</field>
+      <field type="uint8_t" name="heading" units="deg/2">Heading</field>
+      <field type="uint8_t" name="target_heading" units="deg/2">Heading setpoint</field>
+      <field type="uint16_t" name="target_distance" units="dam">Distance to target waypoint or position</field>
+      <field type="uint8_t" name="throttle" units="%">Throttle</field>
+      <field type="uint8_t" name="airspeed" units="m/s*5">Airspeed</field>
+      <field type="uint8_t" name="airspeed_sp" units="m/s*5">Airspeed setpoint</field>
+      <field type="uint8_t" name="groundspeed" units="m/s*5">Groundspeed</field>
+      <field type="uint8_t" name="windspeed" units="m/s*5">Windspeed</field>
+      <field type="uint8_t" name="wind_heading" units="deg/2">Wind heading</field>
+      <field type="uint8_t" name="eph" units="dm">Maximum error horizontal position since last message</field>
+      <field type="uint8_t" name="epv" units="dm">Maximum error vertical position since last message</field>
+      <field type="int8_t" name="temperature_air" units="degC">Air temperature from airspeed sensor</field>
+      <field type="int8_t" name="climb_rate" units="dm/s">Maximum climb rate magnitude since last message</field>
+      <field type="int8_t" name="battery" units="%" invalid="-1">Battery level (-1 if field not provided).</field>
+      <field type="uint16_t" name="wp_num">Current waypoint number</field>
+      <field type="uint16_t" name="failure_flags" enum="HL_FAILURE_FLAG">Bitmap of failure flags.</field>
+      <field type="int8_t" name="custom0">Field for custom payload.</field>
+      <field type="int8_t" name="custom1">Field for custom payload.</field>
+      <field type="int8_t" name="custom2">Field for custom payload.</field>
+    </message>
+    <message id="241" name="VIBRATION">
+      <description>Vibration levels and accelerometer clipping</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="vibration_x">Vibration levels on X-axis</field>
+      <field type="float" name="vibration_y">Vibration levels on Y-axis</field>
+      <field type="float" name="vibration_z">Vibration levels on Z-axis</field>
+      <field type="uint32_t" name="clipping_0">first accelerometer clipping count</field>
+      <field type="uint32_t" name="clipping_1">second accelerometer clipping count</field>
+      <field type="uint32_t" name="clipping_2">third accelerometer clipping count</field>
+    </message>
+    <message id="242" name="HOME_POSITION">
+      <description>This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.</description>
+      <field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
+      <field type="float" name="x" units="m">Local X position of this position in the local coordinate frame</field>
+      <field type="float" name="y" units="m">Local Y position of this position in the local coordinate frame</field>
+      <field type="float" name="z" units="m">Local Z position of this position in the local coordinate frame</field>
+      <field type="float[4]" name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field>
+      <field type="float" name="approach_x" units="m">Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <field type="float" name="approach_y" units="m">Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <field type="float" name="approach_z" units="m">Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+    </message>
+    <message id="243" name="SET_HOME_POSITION">
+      <superseded since="2022-02" replaced_by="MAV_CMD_DO_SET_HOME">The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.</superseded>
+      <description>
+        Sets the home position.
+        The home position is the default position that the system will return to and land on.
+        The position is set automatically by the system during the takeoff (and may also be set using this message).
+        The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface.
+        Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach.
+        The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
+        Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).
+      </description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
+      <field type="float" name="x" units="m">Local X position of this position in the local coordinate frame (NED)</field>
+      <field type="float" name="y" units="m">Local Y position of this position in the local coordinate frame (NED)</field>
+      <field type="float" name="z" units="m">Local Z position of this position in the local coordinate frame (NED: positive "down")</field>
+      <field type="float[4]" name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field>
+      <field type="float" name="approach_x" units="m">Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <field type="float" name="approach_y" units="m">Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <field type="float" name="approach_z" units="m">Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.</field>
+      <extensions/>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+    </message>
+    <message id="244" name="MESSAGE_INTERVAL">
+      <description>
+        The interval between messages for a particular MAVLink message ID.
+        This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required).
+	It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL.
+	This interface replaces DATA_STREAM.</description>
+      <field type="uint16_t" name="message_id">The ID of the requested MAVLink message. v1.0 is limited to 254 messages.</field>
+      <field type="int32_t" name="interval_us" units="us">The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, &gt; 0 indicates the interval at which it is sent.</field>
+    </message>
+    <message id="245" name="EXTENDED_SYS_STATE">
+      <description>Provides state for additional features</description>
+      <field type="uint8_t" name="vtol_state" enum="MAV_VTOL_STATE">The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.</field>
+      <field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
+    </message>
+    <message id="246" name="ADSB_VEHICLE">
+      <description>The location and information of an ADSB vehicle</description>
+      <field type="uint32_t" name="ICAO_address">ICAO address</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="uint8_t" name="altitude_type" enum="ADSB_ALTITUDE_TYPE">ADSB altitude type.</field>
+      <field type="int32_t" name="altitude" units="mm">Altitude(ASL)</field>
+      <field type="uint16_t" name="heading" units="cdeg">Course over ground</field>
+      <field type="uint16_t" name="hor_velocity" units="cm/s">The horizontal velocity</field>
+      <field type="int16_t" name="ver_velocity" units="cm/s">The vertical velocity. Positive is up</field>
+      <field type="char[9]" name="callsign">The callsign, 8+null</field>
+      <field type="uint8_t" name="emitter_type" enum="ADSB_EMITTER_TYPE">ADSB emitter type.</field>
+      <field type="uint8_t" name="tslc" units="s">Time since last communication in seconds</field>
+      <field type="uint16_t" name="flags" enum="ADSB_FLAGS">Bitmap to indicate various statuses including valid data fields</field>
+      <field type="uint16_t" name="squawk">Squawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000</field>
+    </message>
+    <message id="247" name="COLLISION">
+      <description>Information about a potential collision</description>
+      <field type="uint8_t" name="src" enum="MAV_COLLISION_SRC">Collision data source</field>
+      <field type="uint32_t" name="id">Unique identifier, domain based on src field</field>
+      <field type="uint8_t" name="action" enum="MAV_COLLISION_ACTION">Action that is being taken to avoid this collision</field>
+      <field type="uint8_t" name="threat_level" enum="MAV_COLLISION_THREAT_LEVEL">How concerned the aircraft is about this collision</field>
+      <field type="float" name="time_to_minimum_delta" units="s">Estimated time until collision occurs</field>
+      <field type="float" name="altitude_minimum_delta" units="m">Closest vertical distance between vehicle and object</field>
+      <field type="float" name="horizontal_minimum_delta" units="m">Closest horizontal distance between vehicle and object</field>
+    </message>
+    <message id="248" name="V2_EXTENSION">
+      <description>Message implementing parts of the V2 payload specs in V1 frames for transitional support.</description>
+      <field type="uint8_t" name="target_network">Network ID (0 for broadcast)</field>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast)</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast)</field>
+      <field type="uint16_t" name="message_type">A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.</field>
+      <field type="uint8_t[249]" name="payload">Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.</field>
+    </message>
+    <message id="249" name="MEMORY_VECT">
+      <description>Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
+      <field type="uint16_t" name="address">Starting address of the debug variables</field>
+      <field type="uint8_t" name="ver" invalid="0">Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below</field>
+      <field type="uint8_t" name="type">Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14</field>
+      <field type="int8_t[32]" name="value">Memory contents at specified address</field>
+    </message>
+    <message id="250" name="DEBUG_VECT">
+      <description>To debug something using a named 3D vector.</description>
+      <field type="char[10]" name="name" instance="true">Name</field>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="x">x</field>
+      <field type="float" name="y">y</field>
+      <field type="float" name="z">z</field>
+    </message>
+    <message id="251" name="NAMED_VALUE_FLOAT">
+      <description>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.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="char[10]" name="name" instance="true">Name of the debug variable</field>
+      <field type="float" name="value">Floating point value</field>
+    </message>
+    <message id="252" name="NAMED_VALUE_INT">
+      <description>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.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="char[10]" name="name" instance="true">Name of the debug variable</field>
+      <field type="int32_t" name="value">Signed integer value</field>
+    </message>
+    <message id="253" name="STATUSTEXT">
+      <description>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).</description>
+      <field type="uint8_t" name="severity" enum="MAV_SEVERITY">Severity of status. Relies on the definitions within RFC-5424.</field>
+      <field type="char[50]" name="text">Status text message, without null termination character. UTF-8 encoded.</field>
+      <extensions/>
+      <field type="uint16_t" name="id">Unique (opaque) identifier for this statustext message.  May be used to reassemble a logical long-statustext message from a sequence of chunks.  A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.</field>
+      <field type="uint8_t" name="chunk_seq">This chunk's sequence number; indexing is from zero.  Any null character in the text field is taken to mean this was the last chunk.</field>
+    </message>
+    <message id="254" name="DEBUG">
+      <description>Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="ind">index of debug variable</field>
+      <field type="float" name="value">DEBUG value</field>
+    </message>
+    <!-- messages with ID 256 and above are only available in MAVLink2 -->
+    <message id="256" name="SETUP_SIGNING">
+      <description>Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing</description>
+      <field type="uint8_t" name="target_system">system id of the target</field>
+      <field type="uint8_t" name="target_component">component ID of the target</field>
+      <field type="uint8_t[32]" name="secret_key">signing key</field>
+      <field type="uint64_t" name="initial_timestamp">initial timestamp</field>
+    </message>
+    <message id="257" name="BUTTON_CHANGE">
+      <description>Report button state change.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint32_t" name="last_change_ms" units="ms">Time of last change of button state.</field>
+      <field type="uint8_t" name="state" display="bitmask">Bitmap for state of buttons.</field>
+    </message>
+    <message id="258" name="PLAY_TUNE">
+      <description>Control vehicle tone generation (buzzer).</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[30]" name="tune">tune in board specific format</field>
+      <extensions/>
+      <field type="char[200]" name="tune2">tune extension (appended to tune)</field>
+    </message>
+    <message id="259" name="CAMERA_INFORMATION">
+      <description>Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t[32]" name="vendor_name">Name of the camera vendor</field>
+      <field type="uint8_t[32]" name="model_name">Name of the camera model</field>
+      <field type="uint32_t" name="firmware_version" invalid="0">Version of the camera firmware, encoded as: (Dev &amp; 0xff) &lt;&lt; 24 | (Patch &amp; 0xff) &lt;&lt; 16 | (Minor &amp; 0xff) &lt;&lt; 8 | (Major &amp; 0xff). Use 0 if not known.</field>
+      <field type="float" name="focal_length" units="mm" invalid="NaN">Focal length. Use NaN if not known.</field>
+      <field type="float" name="sensor_size_h" units="mm" invalid="NaN">Image sensor size horizontal. Use NaN if not known.</field>
+      <field type="float" name="sensor_size_v" units="mm" invalid="NaN">Image sensor size vertical. Use NaN if not known.</field>
+      <field type="uint16_t" name="resolution_h" units="pix" invalid="0">Horizontal image resolution. Use 0 if not known.</field>
+      <field type="uint16_t" name="resolution_v" units="pix" invalid="0">Vertical image resolution. Use 0 if not known.</field>
+      <field type="uint8_t" name="lens_id" invalid="0">Reserved for a lens ID.  Use 0 if not known.</field>
+      <field type="uint32_t" name="flags" enum="CAMERA_CAP_FLAGS">Bitmap of camera capability flags.</field>
+      <field type="uint16_t" name="cam_definition_version">Camera definition version (iteration).  Use 0 if not known.</field>
+      <field type="char[140]" name="cam_definition_uri">Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated.  Use a zero-length string if not known.</field>
+      <extensions/>
+      <field type="uint8_t" name="gimbal_device_id" invalid="0">Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.</field>
+    </message>
+    <message id="260" name="CAMERA_SETTINGS">
+      <description>Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="mode_id" enum="CAMERA_MODE">Camera mode</field>
+      <extensions/>
+      <field type="float" name="zoomLevel" invalid="NaN">Current zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)</field>
+      <field type="float" name="focusLevel" invalid="NaN">Current focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)</field>
+    </message>
+    <message id="261" name="STORAGE_INFORMATION">
+      <description>Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="storage_id" instance="true">Storage ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="storage_count">Number of storage devices</field>
+      <field type="uint8_t" name="status" enum="STORAGE_STATUS">Status of storage</field>
+      <field type="float" name="total_capacity" units="MiB">Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
+      <field type="float" name="used_capacity" units="MiB">Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
+      <field type="float" name="available_capacity" units="MiB">Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
+      <field type="float" name="read_speed" units="MiB/s">Read speed.</field>
+      <field type="float" name="write_speed" units="MiB/s">Write speed.</field>
+      <extensions/>
+      <field type="uint8_t" name="type" enum="STORAGE_TYPE">Type of storage</field>
+      <field type="char[32]" name="name">Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.</field>
+    </message>
+    <message id="262" name="CAMERA_CAPTURE_STATUS">
+      <description>Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="image_status">Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)</field>
+      <field type="uint8_t" name="video_status">Current status of video capturing (0: idle, 1: capture in progress)</field>
+      <field type="float" name="image_interval" units="s">Image capture interval</field>
+      <field type="uint32_t" name="recording_time_ms" units="ms">Elapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.</field>
+      <field type="float" name="available_capacity" units="MiB">Available storage capacity.</field>
+      <extensions/>
+      <field type="int32_t" name="image_count">Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).</field>
+    </message>
+    <message id="263" name="CAMERA_IMAGE_CAPTURED">
+      <description>Information about a captured image. This is emitted every time a message is captured. It may be re-requested using MAV_CMD_REQUEST_MESSAGE, using param2 to indicate the sequence number for the missing image.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint64_t" name="time_utc" units="us">Timestamp (time since UNIX epoch) in UTC. 0 for unknown.</field>
+      <field type="uint8_t" name="camera_id">Deprecated/unused. Component IDs are used to differentiate multiple cameras.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude where image was taken</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude where capture was taken</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL) where image was taken</field>
+      <field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
+      <field type="float[4]" name="q">Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="int32_t" name="image_index">Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)</field>
+      <field type="int8_t" name="capture_result" enum="MAV_BOOL">Image was captured successfully (MAV_BOOL_TRUE). Values not equal to 0 or 1 are invalid.</field>
+      <field type="char[205]" name="file_url">URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.</field>
+    </message>
+    <message id="264" name="FLIGHT_INFORMATION">
+      <description>Flight information.
+        This includes time since boot for arm, takeoff, and land, and a flight number.
+        Takeoff and landing values reset to zero on arm.
+        This can be requested using MAV_CMD_REQUEST_MESSAGE.
+        Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.
+      </description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint64_t" name="arming_time_utc" units="us" invalid="0">Timestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.</field>
+      <field type="uint64_t" name="takeoff_time_utc" units="us" invalid="0">Timestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.</field>
+      <field type="uint64_t" name="flight_uuid" invalid="0">Flight number. Note, field is misnamed UUID.</field>
+      <extensions/>
+      <field type="uint32_t" name="landing_time" units="ms" invalid="0">Timestamp at landing (in ms since system boot). Set to 0 at boot and on arming.</field>
+    </message>
+    <message id="265" name="MOUNT_ORIENTATION">
+      <superseded since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW">This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.</superseded>
+      <description>Orientation of a mount</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="float" name="roll" units="deg" invalid="NaN">Roll in global frame (set to NaN for invalid).</field>
+      <field type="float" name="pitch" units="deg" invalid="NaN">Pitch in global frame (set to NaN for invalid).</field>
+      <field type="float" name="yaw" units="deg" invalid="NaN">Yaw relative to vehicle (set to NaN for invalid).</field>
+      <extensions/>
+      <field type="float" name="yaw_absolute" units="deg" invalid="NaN">Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).</field>
+    </message>
+    <message id="266" name="LOGGING_DATA">
+      <description>A message containing logged data (see also MAV_CMD_LOGGING_START)</description>
+      <field type="uint8_t" name="target_system">system ID of the target</field>
+      <field type="uint8_t" name="target_component">component ID of the target</field>
+      <field type="uint16_t" name="sequence">sequence number (can wrap)</field>
+      <field type="uint8_t" name="length" units="bytes">data length</field>
+      <field type="uint8_t" name="first_message_offset" units="bytes" invalid="UINT8_MAX">offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).</field>
+      <field type="uint8_t[249]" name="data">logged data</field>
+    </message>
+    <message id="267" name="LOGGING_DATA_ACKED">
+      <description>A message containing logged data which requires a LOGGING_ACK to be sent back</description>
+      <field type="uint8_t" name="target_system">system ID of the target</field>
+      <field type="uint8_t" name="target_component">component ID of the target</field>
+      <field type="uint16_t" name="sequence">sequence number (can wrap)</field>
+      <field type="uint8_t" name="length" units="bytes">data length</field>
+      <field type="uint8_t" name="first_message_offset" units="bytes" invalid="UINT8_MAX">offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).</field>
+      <field type="uint8_t[249]" name="data">logged data</field>
+    </message>
+    <message id="268" name="LOGGING_ACK">
+      <description>An ack for a LOGGING_DATA_ACKED message</description>
+      <field type="uint8_t" name="target_system">system ID of the target</field>
+      <field type="uint8_t" name="target_component">component ID of the target</field>
+      <field type="uint16_t" name="sequence">sequence number (must match the one in LOGGING_DATA_ACKED)</field>
+    </message>
+    <message id="269" name="VIDEO_STREAM_INFORMATION">
+      <description>Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.</description>
+      <field type="uint8_t" name="stream_id" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="count">Number of streams available.</field>
+      <field type="uint8_t" name="type" enum="VIDEO_STREAM_TYPE">Type of stream.</field>
+      <field type="uint16_t" name="flags" enum="VIDEO_STREAM_STATUS_FLAGS">Bitmap of stream status flags.</field>
+      <field type="float" name="framerate" units="Hz">Frame rate.</field>
+      <field type="uint16_t" name="resolution_h" units="pix">Horizontal resolution.</field>
+      <field type="uint16_t" name="resolution_v" units="pix">Vertical resolution.</field>
+      <field type="uint32_t" name="bitrate" units="bits/s">Bit rate.</field>
+      <field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise.</field>
+      <field type="uint16_t" name="hfov" units="deg">Horizontal Field of view.</field>
+      <field type="char[32]" name="name">Stream name.</field>
+      <field type="char[160]" name="uri">Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).</field>
+      <extensions/>
+      <field type="uint8_t" name="encoding" enum="VIDEO_STREAM_ENCODING">Encoding of stream.</field>
+    </message>
+    <message id="270" name="VIDEO_STREAM_STATUS">
+      <description>Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.</description>
+      <field type="uint8_t" name="stream_id" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint16_t" name="flags" enum="VIDEO_STREAM_STATUS_FLAGS">Bitmap of stream status flags</field>
+      <field type="float" name="framerate" units="Hz">Frame rate</field>
+      <field type="uint16_t" name="resolution_h" units="pix">Horizontal resolution</field>
+      <field type="uint16_t" name="resolution_v" units="pix">Vertical resolution</field>
+      <field type="uint32_t" name="bitrate" units="bits/s">Bit rate</field>
+      <field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise</field>
+      <field type="uint16_t" name="hfov" units="deg">Horizontal Field of view</field>
+    </message>
+    <message id="271" name="CAMERA_FOV_STATUS">
+      <description>Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="int32_t" name="lat_camera" units="degE7" invalid="INT32_MAX">Latitude of camera (INT32_MAX if unknown).</field>
+      <field type="int32_t" name="lon_camera" units="degE7" invalid="INT32_MAX">Longitude of camera (INT32_MAX if unknown).</field>
+      <field type="int32_t" name="alt_camera" units="mm" invalid="INT32_MAX">Altitude (MSL) of camera (INT32_MAX if unknown).</field>
+      <field type="int32_t" name="lat_image" units="degE7" invalid="INT32_MAX">Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
+      <field type="int32_t" name="lon_image" units="degE7" invalid="INT32_MAX">Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
+      <field type="int32_t" name="alt_image" units="mm" invalid="INT32_MAX">Altitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
+      <field type="float[4]" name="q">Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
+      <field type="float" name="hfov" units="deg" invalid="NaN">Horizontal field of view (NaN if unknown).</field>
+      <field type="float" name="vfov" units="deg" invalid="NaN">Vertical field of view (NaN if unknown).</field>
+    </message>
+    <message id="275" name="CAMERA_TRACKING_IMAGE_STATUS">
+      <description>Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.</description>
+      <field type="uint8_t" name="tracking_status" enum="CAMERA_TRACKING_STATUS_FLAGS">Current tracking status</field>
+      <field type="uint8_t" name="tracking_mode" enum="CAMERA_TRACKING_MODE">Current tracking mode</field>
+      <field type="uint8_t" name="target_data" enum="CAMERA_TRACKING_TARGET_DATA">Defines location of target data</field>
+      <field type="float" name="point_x" invalid="NaN">Current tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
+      <field type="float" name="point_y" invalid="NaN">Current tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
+      <field type="float" name="radius" invalid="NaN">Current tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown</field>
+      <field type="float" name="rec_top_x" invalid="NaN">Current tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
+      <field type="float" name="rec_top_y" invalid="NaN">Current tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
+      <field type="float" name="rec_bottom_x" invalid="NaN">Current tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
+      <field type="float" name="rec_bottom_y" invalid="NaN">Current tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
+    </message>
+    <message id="276" name="CAMERA_TRACKING_GEO_STATUS">
+      <description>Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.</description>
+      <field type="uint8_t" name="tracking_status" enum="CAMERA_TRACKING_STATUS_FLAGS">Current tracking status</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude of tracked object</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude of tracked object</field>
+      <field type="float" name="alt" units="m">Altitude of tracked object(AMSL, WGS84)</field>
+      <field type="float" name="h_acc" units="m" invalid="NaN">Horizontal accuracy. NAN if unknown</field>
+      <field type="float" name="v_acc" units="m" invalid="NaN">Vertical accuracy. NAN if unknown</field>
+      <field type="float" name="vel_n" units="m/s" invalid="NaN">North velocity of tracked object. NAN if unknown</field>
+      <field type="float" name="vel_e" units="m/s" invalid="NaN">East velocity of tracked object. NAN if unknown</field>
+      <field type="float" name="vel_d" units="m/s" invalid="NaN">Down velocity of tracked object. NAN if unknown</field>
+      <field type="float" name="vel_acc" units="m/s" invalid="NaN">Velocity accuracy. NAN if unknown</field>
+      <field type="float" name="dist" units="m" invalid="NaN">Distance between camera and tracked object. NAN if unknown</field>
+      <field type="float" name="hdg" units="rad" invalid="NaN">Heading in radians, in NED. NAN if unknown</field>
+      <field type="float" name="hdg_acc" units="rad" invalid="NaN">Accuracy of heading, in NED. NAN if unknown</field>
+    </message>
+    <message id="277" name="CAMERA_THERMAL_RANGE">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Camera absolute thermal range. This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="stream_id" minValue="1" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="camera_device_id" default="0" minValue="0" maxValue="6">Camera id of a non-MAVLink camera attached to an autopilot (1-6).  0 if the component is a MAVLink camera (with its own component id).</field>
+      <field type="float" name="max" units="degC">Temperature max.</field>
+      <field type="float" name="max_point_x" invalid="NaN">Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
+      <field type="float" name="max_point_y" invalid="NaN">Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
+      <field type="float" name="min" units="degC">Temperature min.</field>
+      <field type="float" name="min_point_x" invalid="NaN">Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
+      <field type="float" name="min_point_y" invalid="NaN">Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
+    </message>
+    <message id="280" name="GIMBAL_MANAGER_INFORMATION">
+      <description>Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint32_t" name="cap_flags" enum="GIMBAL_MANAGER_CAP_FLAGS">Bitmap of gimbal capability flags.</field>
+      <field type="uint8_t" name="gimbal_device_id" instance="true">Gimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).</field>
+      <field type="float" name="roll_min" units="rad">Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
+      <field type="float" name="roll_max" units="rad">Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
+      <field type="float" name="pitch_min" units="rad">Minimum pitch angle (positive: up, negative: down)</field>
+      <field type="float" name="pitch_max" units="rad">Maximum pitch angle (positive: up, negative: down)</field>
+      <field type="float" name="yaw_min" units="rad">Minimum yaw angle (positive: to the right, negative: to the left)</field>
+      <field type="float" name="yaw_max" units="rad">Maximum yaw angle (positive: to the right, negative: to the left)</field>
+    </message>
+    <message id="281" name="GIMBAL_MANAGER_STATUS">
+      <description>Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags currently applied.</field>
+      <field type="uint8_t" name="gimbal_device_id" instance="true">Gimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).</field>
+      <field type="uint8_t" name="primary_control_sysid">System ID of MAVLink component with primary control, 0 for none.</field>
+      <field type="uint8_t" name="primary_control_compid">Component ID of MAVLink component with primary control, 0 for none.</field>
+      <field type="uint8_t" name="secondary_control_sysid">System ID of MAVLink component with secondary control, 0 for none.</field>
+      <field type="uint8_t" name="secondary_control_compid">Component ID of MAVLink component with secondary control, 0 for none.</field>
+    </message>
+    <message id="282" name="GIMBAL_MANAGER_SET_ATTITUDE">
+      <description>High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
+      <field type="uint8_t" name="gimbal_device_id" instance="true">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</field>
+      <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)</field>
+      <field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity, positive is rolling to the right, NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity, positive is pitching up, NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity, positive is yawing to the right, NaN to be ignored.</field>
+    </message>
+    <message id="283" name="GIMBAL_DEVICE_INFORMATION">
+      <description>Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="char[32]" name="vendor_name">Name of the gimbal vendor.</field>
+      <field type="char[32]" name="model_name">Name of the gimbal model.</field>
+      <field type="char[32]" name="custom_name">Custom name of the gimbal given to it by the user.</field>
+      <field type="uint32_t" name="firmware_version">Version of the gimbal firmware, encoded as: (Dev &amp; 0xff) &lt;&lt; 24 | (Patch &amp; 0xff) &lt;&lt; 16 | (Minor &amp; 0xff) &lt;&lt; 8 | (Major &amp; 0xff).</field>
+      <field type="uint32_t" name="hardware_version">Version of the gimbal hardware, encoded as: (Dev &amp; 0xff) &lt;&lt; 24 | (Patch &amp; 0xff) &lt;&lt; 16 | (Minor &amp; 0xff) &lt;&lt; 8 | (Major &amp; 0xff).</field>
+      <field type="uint64_t" name="uid" invalid="0">UID of gimbal hardware (0 if unknown).</field>
+      <field type="uint16_t" name="cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS">Bitmap of gimbal capability flags.</field>
+      <field type="uint16_t" name="custom_cap_flags">Bitmap for use for gimbal-specific capability flags.</field>
+      <field type="float" name="roll_min" units="rad" invalid="NaN">Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.</field>
+      <field type="float" name="roll_max" units="rad" invalid="NaN">Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.</field>
+      <field type="float" name="pitch_min" units="rad" invalid="NaN">Minimum hardware pitch angle (positive: up, negative: down). NAN if unknown.</field>
+      <field type="float" name="pitch_max" units="rad" invalid="NaN">Maximum hardware pitch angle (positive: up, negative: down). NAN if unknown.</field>
+      <field type="float" name="yaw_min" units="rad" invalid="NaN">Minimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.</field>
+      <field type="float" name="yaw_max" units="rad" invalid="NaN">Maximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.</field>
+      <extensions/>
+      <field type="uint8_t" name="gimbal_device_id" invalid="0">This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.</field>
+      <field type="uint32_t" name="cap_flags2" enum="GIMBAL_DEVICE_CAP_FLAGS" invalid="0">Extended bitmap of gimbal capability flags (32 bit). For backwards compatibility, the lower 16 bits should also be set in cap_flags. Ground stations should prefer this field if non-zero.</field>
+    </message>
+    <message id="284" name="GIMBAL_DEVICE_SET_ATTITUDE">
+      <description>Low level message to control a gimbal device's attitude.
+	  This message is to be sent from the gimbal manager to the gimbal device component.
+	  The quaternion and angular velocities can be set to NaN according to use case.
+	  For the angles encoded in the quaternion and the angular velocities holds:
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame).
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame).
+	  If neither of these flags are set, then (for backwards compatibility) it holds:
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame),
+	  else they are relative to the vehicle heading (vehicle frame).
+	  Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed.
+	  These rules are to ensure backwards compatibility.
+	  New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Low level gimbal flags.</field>
+      <field type="float[4]" name="q" invalid="[NaN]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.</field>
+    </message>
+    <message id="285" name="GIMBAL_DEVICE_ATTITUDE_STATUS">
+      <description>Message reporting the status of a gimbal device.
+	  This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz).
+	  For the angles encoded in the quaternion and the angular velocities holds:
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame).
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame).
+	  If neither of these flags are set, then (for backwards compatibility) it holds:
+	  If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame),
+	  else they are relative to the vehicle heading (vehicle frame).
+	  Other conditions of the flags are not allowed.
+	  The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as
+	  q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN).
+	  If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set,
+	  then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored.
+	  New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME,
+	  and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Current gimbal flags set.</field>
+      <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.</field>
+      <field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.</field>
+      <field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.</field>
+      <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.</field>
+      <field type="uint32_t" name="failure_flags" enum="GIMBAL_DEVICE_ERROR_FLAGS">Failure flags (0 for no failure)</field>
+      <extensions/>
+      <field type="float" name="delta_yaw" units="rad" invalid="NAN">Yaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.</field>
+      <field type="float" name="delta_yaw_velocity" units="rad/s" invalid="NAN">Yaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.</field>
+      <field type="uint8_t" name="gimbal_device_id" invalid="0">This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.</field>
+    </message>
+    <message id="286" name="AUTOPILOT_STATE_FOR_GIMBAL_DEVICE">
+      <description>Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint64_t" name="time_boot_us" units="us">Timestamp (time since system boot).</field>
+      <field type="float[4]" name="q">Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).</field>
+      <field type="uint32_t" name="q_estimated_delay_us" units="us" invalid="0">Estimated delay of the attitude data. 0 if unknown.</field>
+      <field type="float" name="vx" units="m/s" invalid="NaN">X Speed in NED (North, East, Down). NAN if unknown.</field>
+      <field type="float" name="vy" units="m/s" invalid="NaN">Y Speed in NED (North, East, Down). NAN if unknown.</field>
+      <field type="float" name="vz" units="m/s" invalid="NaN">Z Speed in NED (North, East, Down). NAN if unknown.</field>
+      <field type="uint32_t" name="v_estimated_delay_us" units="us" invalid="0">Estimated delay of the speed data. 0 if unknown.</field>
+      <field type="float" name="feed_forward_angular_velocity_z" units="rad/s" invalid="NaN">Feed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.</field>
+      <field type="uint16_t" name="estimator_status" enum="ESTIMATOR_STATUS_FLAGS">Bitmap indicating which estimator outputs are valid.</field>
+      <field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE" invalid="MAV_LANDED_STATE_UNDEFINED">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
+      <extensions/>
+      <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity in NED (North, East, Down). NaN if unknown.</field>
+    </message>
+    <message id="287" name="GIMBAL_MANAGER_SET_PITCHYAW">
+      <description>Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
+      <field type="uint8_t" name="gimbal_device_id" instance="true">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</field>
+      <field type="float" name="pitch" units="rad" invalid="NaN">Pitch angle (positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="yaw" units="rad" invalid="NaN">Yaw angle (positive: to the right, negative: to the left, NaN to be ignored).</field>
+      <field type="float" name="pitch_rate" units="rad/s" invalid="NaN">Pitch angular rate (positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="yaw_rate" units="rad/s" invalid="NaN">Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).</field>
+    </message>
+    <message id="288" name="GIMBAL_MANAGER_SET_MANUAL_CONTROL">
+      <description>High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags.</field>
+      <field type="uint8_t" name="gimbal_device_id" instance="true">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).</field>
+      <field type="float" name="pitch" invalid="NaN">Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="yaw" invalid="NaN">Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).</field>
+      <field type="float" name="pitch_rate" invalid="NaN">Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="yaw_rate" invalid="NaN">Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).</field>
+    </message>
+    <message id="295" name="AIRSPEED">
+      <description>Airspeed information from a sensor.</description>
+      <field type="uint8_t" name="id" instance="true">Sensor ID.</field>
+      <field type="float" name="airspeed" units="m/s">Calibrated airspeed (CAS).</field>
+      <field type="int16_t" name="temperature" units="cdegC" invalid="INT16_MAX">Temperature.</field>
+      <field type="float" name="raw_press" units="hPa" invalid="NaN">Raw differential pressure.</field>
+      <field type="uint8_t" name="flags" enum="AIRSPEED_SENSOR_FLAGS">Airspeed sensor flags.</field>
+    </message>
+    <message id="299" name="WIFI_CONFIG_AP">
+      <description>Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE</description>
+      <field type="char[32]" name="ssid">Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.</field>
+      <field type="char[64]" name="password">Password. Blank for an open AP. MD5 hash when message is sent back as a response.</field>
+    </message>
+    <message id="301" name="AIS_VESSEL">
+      <description>The location and information of an AIS vessel</description>
+      <field type="uint32_t" name="MMSI">Mobile Marine Service Identifier, 9 decimal digits</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude</field>
+      <field type="uint16_t" name="COG" units="cdeg">Course over ground</field>
+      <field type="uint16_t" name="heading" units="cdeg">True heading</field>
+      <field type="uint16_t" name="velocity" units="cm/s">Speed over ground</field>
+      <field type="int8_t" name="turn_rate" units="ddeg/s">Turn rate, 0.1 degrees per second</field>
+      <field type="uint8_t" name="navigational_status" enum="AIS_NAV_STATUS">Navigational status</field>
+      <field type="uint8_t" name="type" enum="AIS_TYPE">Type of vessels</field>
+      <field type="uint16_t" name="dimension_bow" units="m">Distance from lat/lon location to bow</field>
+      <field type="uint16_t" name="dimension_stern" units="m">Distance from lat/lon location to stern</field>
+      <field type="uint8_t" name="dimension_port" units="m">Distance from lat/lon location to port side</field>
+      <field type="uint8_t" name="dimension_starboard" units="m">Distance from lat/lon location to starboard side</field>
+      <field type="char[7]" name="callsign">The vessel callsign</field>
+      <field type="char[20]" name="name">The vessel name</field>
+      <field type="uint16_t" name="tslc" units="s">Time since last communication in seconds</field>
+      <field type="uint16_t" name="flags" enum="AIS_FLAGS">Bitmask to indicate various statuses including valid data fields</field>
+    </message>
+    <!-- UAVCAN related messages. Please keep the range [310, 320) reserved for UAVCAN. -->
+    <message id="310" name="UAVCAN_NODE_STATUS">
+      <description>General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint32_t" name="uptime_sec" units="s">Time since the start-up of the node.</field>
+      <field type="uint8_t" name="health" enum="UAVCAN_NODE_HEALTH">Generalized node health status.</field>
+      <field type="uint8_t" name="mode" enum="UAVCAN_NODE_MODE">Generalized operating mode.</field>
+      <field type="uint8_t" name="sub_mode">Not used currently.</field>
+      <field type="uint16_t" name="vendor_specific_status_code">Vendor-specific status information.</field>
+    </message>
+    <message id="311" name="UAVCAN_NODE_INFO">
+      <description>General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint32_t" name="uptime_sec" units="s">Time since the start-up of the node.</field>
+      <field type="char[80]" name="name">Node name string. For example, "sapog.px4.io".</field>
+      <field type="uint8_t" name="hw_version_major">Hardware major version number.</field>
+      <field type="uint8_t" name="hw_version_minor">Hardware minor version number.</field>
+      <field type="uint8_t[16]" name="hw_unique_id">Hardware unique 128-bit ID.</field>
+      <field type="uint8_t" name="sw_version_major">Software major version number.</field>
+      <field type="uint8_t" name="sw_version_minor">Software minor version number.</field>
+      <field type="uint32_t" name="sw_vcs_commit" invalid="0">Version control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.</field>
+    </message>
+    <message id="320" name="PARAM_EXT_REQUEST_READ">
+      <description>Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="int16_t" name="param_index" invalid="-1">Parameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)</field>
+    </message>
+    <message id="321" name="PARAM_EXT_REQUEST_LIST">
+      <description>Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="322" name="PARAM_EXT_VALUE">
+      <description>Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.</description>
+      <field type="char[16]" name="param_id">Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="char[128]" name="param_value">Parameter value</field>
+      <field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
+      <field type="uint16_t" name="param_count">Total number of parameters</field>
+      <field type="uint16_t" name="param_index">Index of this parameter</field>
+    </message>
+    <message id="323" name="PARAM_EXT_SET">
+      <description>Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="char[128]" name="param_value">Parameter value</field>
+      <field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
+    </message>
+    <message id="324" name="PARAM_EXT_ACK">
+      <description>Response from a PARAM_EXT_SET message.</description>
+      <field type="char[16]" name="param_id">Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="char[128]" name="param_value">Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)</field>
+      <field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
+      <field type="uint8_t" name="param_result" enum="PARAM_ACK">Result code.</field>
+    </message>
+    <message id="330" name="OBSTACLE_DISTANCE">
+      <description>Obstacle distances in front of the sensor, starting from the left in increment degrees to the right</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="sensor_type" enum="MAV_DISTANCE_SENSOR">Class id of the distance sensor type.</field>
+      <field type="uint16_t[72]" name="distances" units="cm" invalid="[UINT16_MAX]">Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.</field>
+      <field type="uint8_t" name="increment" units="deg">Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.</field>
+      <field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure.</field>
+      <field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure.</field>
+      <extensions/>
+      <field type="float" name="increment_f" units="deg">Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.</field>
+      <field type="float" name="angle_offset" units="deg">Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.</field>
+    </message>
+    <message id="331" name="ODOMETRY">
+      <description>Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="frame_id" enum="MAV_FRAME">Coordinate frame of reference for the pose data.</field>
+      <field type="uint8_t" name="child_frame_id" enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data.</field>
+      <field type="float" name="x" units="m">X Position</field>
+      <field type="float" name="y" units="m">Y Position</field>
+      <field type="float" name="z" units="m">Z Position</field>
+      <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
+      <field type="float" name="vx" units="m/s">X linear speed</field>
+      <field type="float" name="vy" units="m/s">Y linear speed</field>
+      <field type="float" name="vz" units="m/s">Z linear speed</field>
+      <field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
+      <field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
+      <field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
+      <field type="float[21]" name="pose_covariance" invalid="[NaN:]">Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+      <field type="float[21]" name="velocity_covariance" invalid="[NaN:]">Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
+      <extensions/>
+      <field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
+      <field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Type of estimator that is providing the odometry.</field>
+      <field type="int8_t" name="quality" units="%" invalid="0">Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality</field>
+    </message>
+    <message id="332" name="TRAJECTORY_REPRESENTATION_WAYPOINTS">
+      <deprecated since="2025-03" replaced_by="Nothing">Implemented PX4 v1.11 to v1.14. Not used in current flight stacks.</deprecated>
+      <description>Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="valid_points">Number of valid points (up-to 5 waypoints are possible)</field>
+      <field type="float[5]" name="pos_x" units="m" invalid="[NaN]">X-coordinate of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="pos_y" units="m" invalid="[NaN]">Y-coordinate of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="pos_z" units="m" invalid="[NaN]">Z-coordinate of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="vel_x" units="m/s" invalid="[NaN]">X-velocity of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="vel_y" units="m/s" invalid="[NaN]">Y-velocity of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="vel_z" units="m/s" invalid="[NaN]">Z-velocity of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="acc_x" units="m/s/s" invalid="[NaN]">X-acceleration of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="acc_y" units="m/s/s" invalid="[NaN]">Y-acceleration of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="acc_z" units="m/s/s" invalid="[NaN]">Z-acceleration of waypoint, set to NaN if not being used</field>
+      <field type="float[5]" name="pos_yaw" units="rad" invalid="[NaN]">Yaw angle, set to NaN if not being used</field>
+      <field type="float[5]" name="vel_yaw" units="rad/s" invalid="[NaN]">Yaw rate, set to NaN if not being used</field>
+      <field type="uint16_t[5]" name="command" enum="MAV_CMD" invalid="[UINT16_MAX]">MAV_CMD command id of waypoint, set to UINT16_MAX if not being used.</field>
+    </message>
+    <message id="333" name="TRAJECTORY_REPRESENTATION_BEZIER">
+      <deprecated since="2025-03" replaced_by="Nothing">Implemented PX4 v1.11 to v1.14. Not used in current flight stacks.</deprecated>
+      <description>Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint8_t" name="valid_points">Number of valid control points (up-to 5 points are possible)</field>
+      <field type="float[5]" name="pos_x" units="m" invalid="[NaN]">X-coordinate of bezier control points. Set to NaN if not being used</field>
+      <field type="float[5]" name="pos_y" units="m" invalid="[NaN]">Y-coordinate of bezier control points. Set to NaN if not being used</field>
+      <field type="float[5]" name="pos_z" units="m" invalid="[NaN]">Z-coordinate of bezier control points. Set to NaN if not being used</field>
+      <field type="float[5]" name="delta" units="s" invalid="[NaN]">Bezier time horizon. Set to NaN if velocity/acceleration should not be incorporated</field>
+      <field type="float[5]" name="pos_yaw" units="rad" invalid="[NaN]">Yaw. Set to NaN for unchanged</field>
+    </message>
+    <message id="335" name="ISBD_LINK_STATUS">
+      <description>Status of the Iridium SBD link.</description>
+      <field type="uint64_t" name="timestamp" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint64_t" name="last_heartbeat" units="us">Timestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint16_t" name="failed_sessions">Number of failed SBD sessions.</field>
+      <field type="uint16_t" name="successful_sessions">Number of successful SBD sessions.</field>
+      <field type="uint8_t" name="signal_quality">Signal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.</field>
+      <field type="uint8_t" name="ring_pending">1: Ring call pending, 0: No call pending.</field>
+      <field type="uint8_t" name="tx_session_pending">1: Transmission session pending, 0: No transmission session pending.</field>
+      <field type="uint8_t" name="rx_session_pending">1: Receiving session pending, 0: No receiving session pending.</field>
+    </message>
+    <message id="339" name="RAW_RPM">
+      <description>RPM sensor data message.</description>
+      <field type="uint8_t" name="index">Index of this RPM sensor (0-indexed)</field>
+      <field type="float" name="frequency" units="rpm">Indicated rate</field>
+    </message>
+    <message id="340" name="UTM_GLOBAL_POSITION">
+      <description>The global position resulting from GPS and sensor fusion.</description>
+      <field type="uint64_t" name="time" units="us">Time of applicability of position (microseconds since UNIX epoch).</field>
+      <field type="uint8_t[18]" name="uas_id">Unique UAS ID.</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (WGS84)</field>
+      <field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
+      <field type="int16_t" name="vx" units="cm/s">Ground X speed (latitude, positive north)</field>
+      <field type="int16_t" name="vy" units="cm/s">Ground Y speed (longitude, positive east)</field>
+      <field type="int16_t" name="vz" units="cm/s">Ground Z speed (altitude, positive down)</field>
+      <field type="uint16_t" name="h_acc" units="mm">Horizontal position uncertainty (standard deviation)</field>
+      <field type="uint16_t" name="v_acc" units="mm">Altitude uncertainty (standard deviation)</field>
+      <field type="uint16_t" name="vel_acc" units="cm/s">Speed uncertainty (standard deviation)</field>
+      <field type="int32_t" name="next_lat" units="degE7">Next waypoint, latitude (WGS84)</field>
+      <field type="int32_t" name="next_lon" units="degE7">Next waypoint, longitude (WGS84)</field>
+      <field type="int32_t" name="next_alt" units="mm">Next waypoint, altitude (WGS84)</field>
+      <field type="uint16_t" name="update_rate" units="cs" invalid="0">Time until next update. Set to 0 if unknown or in data driven mode.</field>
+      <field type="uint8_t" name="flight_state" enum="UTM_FLIGHT_STATE">Flight state</field>
+      <field type="uint8_t" name="flags" enum="UTM_DATA_AVAIL_FLAGS">Bitwise OR combination of the data available flags.</field>
+    </message>
+    <message id="345" name="PARAM_ERROR">
+      <wip/>
+      <!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Parameter set/get error. Returned from a MAVLink node in response to an error in the parameter protocol, for example failing to set a parameter because it does not exist.
+      </description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="char[16]" name="param_id">Parameter id. Terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
+      <field type="int16_t" name="param_index">Parameter index. Will be -1 if the param ID field should be used as an identifier (else the param id will be ignored)</field>
+      <field type="uint8_t" name="error" enum="MAV_PARAM_ERROR">Error being returned to client.</field>
+    </message>
+    <message id="350" name="DEBUG_FLOAT_ARRAY">
+      <description>Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="char[10]" name="name">Name, for human-friendly display in a Ground Control Station</field>
+      <field type="uint16_t" name="array_id" instance="true">Unique ID used to discriminate between arrays</field>
+      <extensions/>
+      <field type="float[58]" name="data">data</field>
+    </message>
+    <message id="360" name="ORBIT_EXECUTION_STATUS">
+      <description>Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="float" name="radius" units="m">Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.</field>
+      <field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the fields: x, y, z.</field>
+      <field type="int32_t" name="x">X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
+      <field type="int32_t" name="y">Y coordinate of center point.  Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
+      <field type="float" name="z" units="m">Altitude of center point. Coordinate system depends on frame field.</field>
+    </message>
+    <message id="370" name="SMART_BATTERY_INFO">
+      <description>Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use BATTERY_STATUS for smart battery frequent updates.</description>
+      <field type="uint8_t" name="id" instance="true">Battery ID</field>
+      <field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
+      <field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
+      <field type="int32_t" name="capacity_full_specification" units="mAh">Capacity when full according to manufacturer, -1: field not provided.</field>
+      <field type="int32_t" name="capacity_full" units="mAh">Capacity when full (accounting for battery degradation), -1: field not provided.</field>
+      <field type="uint16_t" name="cycle_count">Charge/discharge cycle count. UINT16_MAX: field not provided.</field>
+      <field type="char[16]" name="serial_number">Serial number in ASCII characters, 0 terminated. All 0: field not provided.</field>
+      <field type="char[50]" name="device_name">Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.</field>
+      <field type="uint16_t" name="weight" units="g">Battery weight. 0: field not provided.</field>
+      <field type="uint16_t" name="discharge_minimum_voltage" units="mV">Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.</field>
+      <field type="uint16_t" name="charging_minimum_voltage" units="mV">Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.</field>
+      <field type="uint16_t" name="resting_minimum_voltage" units="mV">Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.</field>
+      <extensions/>
+      <field type="uint16_t" name="charging_maximum_voltage" units="mV">Maximum per-cell voltage when charged. 0: field not provided.</field>
+      <field type="uint8_t" name="cells_in_series">Number of battery cells in series. 0: field not provided.</field>
+      <field type="uint32_t" name="discharge_maximum_current" units="mA">Maximum pack discharge current. 0: field not provided.</field>
+      <field type="uint32_t" name="discharge_maximum_burst_current" units="mA">Maximum pack discharge burst current. 0: field not provided.</field>
+      <field type="char[11]" name="manufacture_date">Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.</field>
+    </message>
+    <message id="373" name="GENERATOR_STATUS">
+      <description>Telemetry of power generation system. Alternator or mechanical generator.</description>
+      <field type="uint64_t" name="status" enum="MAV_GENERATOR_STATUS_FLAG">Status flags.</field>
+      <field type="uint16_t" name="generator_speed" units="rpm">Speed of electrical generator or alternator. UINT16_MAX: field not provided.</field>
+      <field type="float" name="battery_current" units="A">Current into/out of battery. Positive for out. Negative for in. NaN: field not provided.</field>
+      <field type="float" name="load_current" units="A">Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided</field>
+      <field type="float" name="power_generated" units="W">The power being generated. NaN: field not provided</field>
+      <field type="float" name="bus_voltage" units="V">Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.</field>
+      <field type="int16_t" name="rectifier_temperature" units="degC">The temperature of the rectifier or power converter. INT16_MAX: field not provided.</field>
+      <field type="float" name="bat_current_setpoint" units="A">The target battery current. Positive for out. Negative for in. NaN: field not provided</field>
+      <field type="int16_t" name="generator_temperature" units="degC">The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.</field>
+      <field type="uint32_t" name="runtime" units="s">Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided.</field>
+      <field type="int32_t" name="time_until_maintenance" units="s">Seconds until this generator requires maintenance.  A negative value indicates maintenance is past-due. INT32_MAX: field not provided.</field>
+    </message>
+    <message id="375" name="ACTUATOR_OUTPUT_STATUS">
+      <description>The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (since system boot).</field>
+      <field type="uint32_t" name="active" display="bitmask">Active outputs</field>
+      <field type="float[32]" name="actuator">Servo / motor output array values. Zero values indicate unused channels.</field>
+    </message>
+    <message id="376" name="RELAY_STATUS">
+      <description>Reports the on/off state of relays, as controlled by MAV_CMD_DO_SET_RELAY.
+        Message streaming should be requested using MAV_CMD_SET_MESSAGE_INTERVAL.
+        Note that it should not be sent on every relay state change to avoid flooding the link.
+      </description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint16_t" name="on" display="bitmask">Relay states. Relay instance numbers are represented as individual bits in this mask by offset.</field>
+      <field type="uint16_t" name="present" display="bitmask">Relay present. Relay instance numbers are represented as individual bits in this mask by offset.  Bits will be true if a relay instance is configured.</field>
+    </message>
+    <message id="385" name="TUNNEL">
+      <description>Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.</description>
+      <field type="uint8_t" name="target_system">System ID (can be 0 for broadcast, but this is discouraged)</field>
+      <field type="uint8_t" name="target_component">Component ID (can be 0 for broadcast, but this is discouraged)</field>
+      <field type="uint16_t" name="payload_type" enum="MAV_TUNNEL_PAYLOAD_TYPE">A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.</field>
+      <field type="uint8_t" name="payload_length">Length of the data transported in payload</field>
+      <field type="uint8_t[128]" name="payload">Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.</field>
+    </message>
+    <message id="386" name="CAN_FRAME">
+      <description>A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="bus">Bus number</field>
+      <field type="uint8_t" name="len">Frame length</field>
+      <field type="uint32_t" name="id">Frame ID</field>
+      <field type="uint8_t[8]" name="data">Frame data</field>
+    </message>
+    <message id="387" name="CANFD_FRAME">
+      <description>A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="bus">bus number</field>
+      <field type="uint8_t" name="len">Frame length</field>
+      <field type="uint32_t" name="id">Frame ID</field>
+      <field type="uint8_t[64]" name="data">Frame data</field>
+    </message>
+    <message id="388" name="CAN_FILTER_MODIFY">
+      <description>Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint8_t" name="bus">bus number</field>
+      <field type="uint8_t" name="operation" enum="CAN_FILTER_OP">what operation to perform on the filter list. See CAN_FILTER_OP enum.</field>
+      <field type="uint8_t" name="num_ids">number of IDs in filter list</field>
+      <field type="uint16_t[16]" name="ids">filter IDs, length num_ids</field>
+    </message>
+    <message id="390" name="ONBOARD_COMPUTER_STATUS">
+      <description>Hardware status sent by an onboard computer.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.</field>
+      <field type="uint32_t" name="uptime" units="ms">Time since system boot.</field>
+      <field type="uint8_t" name="type">Type of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.</field>
+      <field type="uint8_t[8]" name="cpu_cores" invalid="[UINT8_MAX]">CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.</field>
+      <field type="uint8_t[10]" name="cpu_combined" invalid="[UINT8_MAX]">Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.</field>
+      <field type="uint8_t[4]" name="gpu_cores" invalid="[UINT8_MAX]">GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.</field>
+      <field type="uint8_t[10]" name="gpu_combined" invalid="[UINT8_MAX]">Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.</field>
+      <field type="int8_t" name="temperature_board" units="degC" invalid="INT8_MAX">Temperature of the board. A value of INT8_MAX implies the field is unused.</field>
+      <field type="int8_t[8]" name="temperature_core" units="degC" invalid="[INT8_MAX]">Temperature of the CPU core. A value of INT8_MAX implies the field is unused.</field>
+      <field type="int16_t[4]" name="fan_speed" units="rpm" invalid="[INT16_MAX]">Fan speeds. A value of INT16_MAX implies the field is unused.</field>
+      <field type="uint32_t" name="ram_usage" units="MiB" invalid="UINT32_MAX">Amount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t" name="ram_total" units="MiB" invalid="UINT32_MAX">Total amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[4]" name="storage_type" invalid="[UINT32_MAX]">Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[4]" name="storage_usage" units="MiB" invalid="[UINT32_MAX]">Amount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[4]" name="storage_total" units="MiB" invalid="[UINT32_MAX]">Total amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[6]" name="link_type">Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary</field>
+      <field type="uint32_t[6]" name="link_tx_rate" units="KiB/s" invalid="[UINT32_MAX]">Network traffic from the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[6]" name="link_rx_rate" units="KiB/s" invalid="[UINT32_MAX]">Network traffic to the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[6]" name="link_tx_max" units="KiB/s" invalid="[UINT32_MAX]">Network capacity from the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <field type="uint32_t[6]" name="link_rx_max" units="KiB/s" invalid="[UINT32_MAX]">Network capacity to the component system. A value of UINT32_MAX implies the field is unused.</field>
+      <extensions/>
+      <field type="uint16_t" name="status_flags" enum="COMPUTER_STATUS_FLAGS">Bitmap of status flags.</field>
+    </message>
+    <!-- Rover specific messages -->
+    <message id="9000" name="WHEEL_DISTANCE">
+      <description>Cumulative distance traveled for each reported wheel.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field type="uint8_t" name="count">Number of wheels reported.</field>
+      <field type="double[16]" name="distance" units="m">Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.</field>
+    </message>
+    <message id="9005" name="WINCH_STATUS">
+      <description>Winch status.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field type="float" name="line_length" units="m" invalid="NaN">Length of line released. NaN if unknown</field>
+      <field type="float" name="speed" units="m/s" invalid="NaN">Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown</field>
+      <field type="float" name="tension" units="kg" invalid="NaN">Tension on the line. NaN if unknown</field>
+      <field type="float" name="voltage" units="V" invalid="NaN">Voltage of the battery supplying the winch. NaN if unknown</field>
+      <field type="float" name="current" units="A" invalid="NaN">Current draw from the winch. NaN if unknown</field>
+      <field type="int16_t" name="temperature" units="degC" invalid="INT16_MAX">Temperature of the motor. INT16_MAX if unknown</field>
+      <field type="uint32_t" name="status" enum="MAV_WINCH_STATUS_FLAG">Status flags</field>
+    </message>
+    <message id="12900" name="OPEN_DRONE_ID_BASIC_ID">
+      <description>Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="id_type" enum="MAV_ODID_ID_TYPE">Indicates the format for the uas_id field of this message.</field>
+      <field type="uint8_t" name="ua_type" enum="MAV_ODID_UA_TYPE">Indicates the type of UA (Unmanned Aircraft).</field>
+      <field type="uint8_t[20]" name="uas_id">UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.</field>
+    </message>
+    <message id="12901" name="OPEN_DRONE_ID_LOCATION">
+      <description>Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="status" enum="MAV_ODID_STATUS">Indicates whether the unmanned aircraft is on the ground or in the air.</field>
+      <field type="uint16_t" name="direction" units="cdeg" invalid="36100">Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.</field>
+      <field type="uint16_t" name="speed_horizontal" units="cm/s">Ground speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.</field>
+      <field type="int16_t" name="speed_vertical" units="cm/s">The vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.</field>
+      <field type="int32_t" name="latitude" units="degE7" invalid="0">Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
+      <field type="int32_t" name="longitude" units="degE7" invalid="0">Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
+      <field type="float" name="altitude_barometric" units="m" invalid="-1000">The altitude calculated from the barometric pressure. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.</field>
+      <field type="float" name="altitude_geodetic" units="m" invalid="-1000">The geodetic altitude as defined by WGS84. If unknown: -1000 m.</field>
+      <field type="uint8_t" name="height_reference" enum="MAV_ODID_HEIGHT_REF">Indicates the reference point for the height field.</field>
+      <field type="float" name="height" units="m" invalid="-1000">The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.</field>
+      <field type="uint8_t" name="horizontal_accuracy" enum="MAV_ODID_HOR_ACC">The accuracy of the horizontal position.</field>
+      <field type="uint8_t" name="vertical_accuracy" enum="MAV_ODID_VER_ACC">The accuracy of the vertical position.</field>
+      <field type="uint8_t" name="barometer_accuracy" enum="MAV_ODID_VER_ACC">The accuracy of the barometric altitude.</field>
+      <field type="uint8_t" name="speed_accuracy" enum="MAV_ODID_SPEED_ACC">The accuracy of the horizontal and vertical speed.</field>
+      <field type="float" name="timestamp" units="s" invalid="0xFFFF">Seconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60*60*1000))) / 1000. If unknown: 0xFFFF.</field>
+      <field type="uint8_t" name="timestamp_accuracy" enum="MAV_ODID_TIME_ACC">The accuracy of the timestamps.</field>
+    </message>
+    <message id="12902" name="OPEN_DRONE_ID_AUTHENTICATION">
+      <description>Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="authentication_type" enum="MAV_ODID_AUTH_TYPE">Indicates the type of authentication.</field>
+      <field type="uint8_t" name="data_page">Allowed range is 0 - 15.</field>
+      <field type="uint8_t" name="last_page_index">This field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.</field>
+      <field type="uint8_t" name="length" units="bytes">This field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.</field>
+      <field type="uint32_t" name="timestamp" units="s">This field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.</field>
+      <field type="uint8_t[23]" name="authentication_data">Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.</field>
+    </message>
+    <message id="12903" name="OPEN_DRONE_ID_SELF_ID">
+      <description>Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="description_type" enum="MAV_ODID_DESC_TYPE">Indicates the type of the description field.</field>
+      <field type="char[23]" name="description">Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.</field>
+    </message>
+    <message id="12904" name="OPEN_DRONE_ID_SYSTEM">
+      <description>Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="operator_location_type" enum="MAV_ODID_OPERATOR_LOCATION_TYPE">Specifies the operator location type.</field>
+      <field type="uint8_t" name="classification_type" enum="MAV_ODID_CLASSIFICATION_TYPE">Specifies the classification type of the UA.</field>
+      <field type="int32_t" name="operator_latitude" units="degE7" invalid="0">Latitude of the operator. If unknown: 0 (both Lat/Lon).</field>
+      <field type="int32_t" name="operator_longitude" units="degE7" invalid="0">Longitude of the operator. If unknown: 0 (both Lat/Lon).</field>
+      <field type="uint16_t" name="area_count">Number of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.</field>
+      <field type="uint16_t" name="area_radius" units="m">Radius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.</field>
+      <field type="float" name="area_ceiling" units="m" invalid="-1000">Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.</field>
+      <field type="float" name="area_floor" units="m" invalid="-1000">Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.</field>
+      <field type="uint8_t" name="category_eu" enum="MAV_ODID_CATEGORY_EU">When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.</field>
+      <field type="uint8_t" name="class_eu" enum="MAV_ODID_CLASS_EU">When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.</field>
+      <field type="float" name="operator_altitude_geo" units="m" invalid="-1000">Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.</field>
+      <field type="uint32_t" name="timestamp" units="s">32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.</field>
+    </message>
+    <message id="12905" name="OPEN_DRONE_ID_OPERATOR_ID">
+      <description>Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="operator_id_type" enum="MAV_ODID_OPERATOR_ID_TYPE">Indicates the type of the operator_id field.</field>
+      <field type="char[20]" name="operator_id">Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.</field>
+    </message>
+    <!-- The message ids 12906 - 12914 are reserved for OpenDroneID. -->
+    <message id="12915" name="OPEN_DRONE_ID_MESSAGE_PACK">
+      <description>An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
+      <field type="uint8_t" name="single_message_size" units="bytes">This field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.</field>
+      <field type="uint8_t" name="msg_pack_size">Number of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.</field>
+      <field type="uint8_t[225]" name="messages">Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.</field>
+    </message>
+    <!-- The message ids 12916 - 12917 are reserved for OpenDroneID. -->
+    <message id="12918" name="OPEN_DRONE_ID_ARM_STATUS">
+      <description>Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.</description>
+      <field type="uint8_t" name="status" enum="MAV_ODID_ARM_STATUS">Status level indicating if arming is allowed.</field>
+      <field type="char[50]" name="error">Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.</field>
+    </message>
+    <message id="12919" name="OPEN_DRONE_ID_SYSTEM_UPDATE">
+      <description>Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.</description>
+      <field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
+      <field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
+      <field type="int32_t" name="operator_latitude" units="degE7" invalid="0">Latitude of the operator. If unknown: 0 (both Lat/Lon).</field>
+      <field type="int32_t" name="operator_longitude" units="degE7" invalid="0">Longitude of the operator. If unknown: 0 (both Lat/Lon).</field>
+      <field type="float" name="operator_altitude_geo" units="m" invalid="-1000">Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.</field>
+      <field type="uint32_t" name="timestamp" units="s">32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.</field>
+    </message>
+    <message id="12920" name="HYGROMETER_SENSOR">
+      <description>Temperature and humidity from hygrometer.</description>
+      <field type="uint8_t" name="id" instance="true">Hygrometer ID</field>
+      <field type="int16_t" name="temperature" units="cdegC">Temperature</field>
+      <field type="uint16_t" name="humidity" units="c%">Humidity</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/csAirLink.xml b/src/main/resources/mavlink/ardupilot/csAirLink.xml
new file mode 100644
index 0000000..2f6c7da
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/csAirLink.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- ClearSky Air-Link contact info:          -->
+  <!-- company URL: https://air-link.space/     -->
+  <!-- email contact: drone@air-link.space      -->
+  <!-- mavlink ID range: 52000 - 52099          -->
+  <version>3</version>
+  <enums>
+    <enum name="AIRLINK_AUTH_RESPONSE_TYPE">
+      <entry value="0" name="AIRLINK_ERROR_LOGIN_OR_PASS">
+        <description>Login or password error</description>
+      </entry>
+      <entry value="1" name="AIRLINK_AUTH_OK">
+        <description>Auth successful</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="52000" name="AIRLINK_AUTH">
+      <description>Authorization package</description>
+      <field type="char[50]" name="login">Login</field>
+      <field type="char[50]" name="password">Password</field>
+    </message>
+    <message id="52001" name="AIRLINK_AUTH_RESPONSE">
+      <description>Response to the authorization request</description>
+      <field type="uint8_t" name="resp_type" enum="AIRLINK_AUTH_RESPONSE_TYPE">Response type</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/cubepilot.xml b/src/main/resources/mavlink/ardupilot/cubepilot.xml
new file mode 100644
index 0000000..65b58c8
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/cubepilot.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- Cubepilot contact info:                                              -->
+  <!-- company URL: http://www.cubepilot.com                                -->
+  <!-- email contact: siddharth@cubepilot.com or michael@cubepilot.com      -->
+  <!-- mavlink ID range: 50000 - 50099                                      -->
+  <include>common.xml</include>
+  <messages>
+    <message id="50001" name="CUBEPILOT_RAW_RC">
+      <description>Raw RC Data</description>
+      <field type="uint8_t[32]" name="rc_raw"/>
+    </message>
+    <message id="50002" name="HERELINK_VIDEO_STREAM_INFORMATION">
+      <description>Information about video stream</description>
+      <field type="uint8_t" name="camera_id">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="status">Number of streams available.</field>
+      <field type="float" name="framerate" units="Hz">Frame rate.</field>
+      <field type="uint16_t" name="resolution_h" units="pix">Horizontal resolution.</field>
+      <field type="uint16_t" name="resolution_v" units="pix">Vertical resolution.</field>
+      <field type="uint32_t" name="bitrate" units="bits/s">Bit rate.</field>
+      <field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise.</field>
+      <field type="char[230]" name="uri">Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).</field>
+    </message>
+    <message id="50003" name="HERELINK_TELEM">
+      <description>Herelink Telemetry</description>
+      <field type="uint8_t" name="rssi"/>
+      <field type="int16_t" name="snr"/>
+      <field type="uint32_t" name="rf_freq"/>
+      <field type="uint32_t" name="link_bw"/>
+      <field type="uint32_t" name="link_rate"/>
+      <field type="int16_t" name="cpu_temp"/>
+      <field type="int16_t" name="board_temp"/>
+    </message>
+    <message id="50004" name="CUBEPILOT_FIRMWARE_UPDATE_START">
+      <description>Start firmware update with encapsulated data.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="size" units="bytes">FW Size.</field>
+      <field type="uint32_t" name="crc">FW CRC.</field>
+    </message>
+    <message id="50005" name="CUBEPILOT_FIRMWARE_UPDATE_RESP">
+      <description>offset response to encapsulated data.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint32_t" name="offset" units="bytes">FW Offset.</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/development.xml b/src/main/resources/mavlink/ardupilot/development.xml
new file mode 100644
index 0000000..e0e0f62
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/development.xml
@@ -0,0 +1,256 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- XML file for prototyping definitions for common.xml  -->
+  <include>common.xml</include>
+  <version>0</version>
+  <dialect>0</dialect>
+  <enums>
+    <enum name="RADIO_RC_CHANNELS_FLAGS" bitmask="true">
+      <description>RADIO_RC_CHANNELS flags (bitmask).</description>
+      <entry value="1" name="RADIO_RC_CHANNELS_FLAGS_FAILSAFE">
+        <description>Failsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.</description>
+      </entry>
+      <entry value="2" name="RADIO_RC_CHANNELS_FLAGS_OUTDATED">
+        <description>Channel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MODE_PROPERTY" bitmask="true">
+      <description>Mode properties.
+      </description>
+      <entry value="1" name="MAV_MODE_PROPERTY_ADVANCED">
+        <description>If set, this mode is an advanced mode.
+          For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
+          A GCS can optionally use this flag to configure the UI for its intended users.
+        </description>
+      </entry>
+      <entry value="2" name="MAV_MODE_PROPERTY_NOT_USER_SELECTABLE">
+        <description>If set, this mode should not be added to the list of selectable modes.
+          The mode might still be selected by the FC directly (for example as part of a failsafe).
+        </description>
+      </entry>
+    </enum>
+    <!-- The MAV_CMD enum entries describe either: -->
+    <!--  * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
+    <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
+    <!-- ALL the entries in the MAV_CMD enum have a maximum of 7 parameters -->
+    <enum name="MAV_CMD">
+      <entry value="610" name="MAV_CMD_DO_SET_SYS_CMP_ID" hasLocation="false" isDestination="false">
+        <description>
+          Set system and component id.
+          This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id.
+          Recipients must reject command addressed to broadcast system ID.
+        </description>
+        <param index="1" label="System ID" minValue="1" maxValue="255" increment="1">New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).</param>
+        <param index="2" label="Component ID" minValue="0" maxValue="255" increment="1">New component ID for target component(s). 0: ignore (component IDs don't change).</param>
+        <param index="3" label="Reboot">Reboot components after ID change. Any non-zero value triggers the reboot.</param>
+        <param index="4" reserved="true" default="NaN"/>
+      </entry>
+      <entry value="611" name="MAV_CMD_DO_SET_GLOBAL_ORIGIN" hasLocation="true" isDestination="false">
+        <description>Sets the GNSS coordinates of the vehicle local origin (0,0,0) position.
+          Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed.
+          This enables transform between the local coordinate frame and the global (GNSS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.
+          This command supersedes SET_GPS_GLOBAL_ORIGIN.
+          Should be sent in a COMMAND_INT (Expected frame is MAV_FRAME_GLOBAL, and this should be assumed when sent in COMMAND_LONG).
+        </description>
+        <param index="1">Empty</param>
+        <param index="2">Empty</param>
+        <param index="3">Empty</param>
+        <param index="4">Empty</param>
+        <param index="5" label="Latitude">Latitude</param>
+        <param index="6" label="Longitude">Longitude</param>
+        <param index="7" label="Altitude" units="m">Altitude</param>
+      </entry>
+      <entry value="43004" name="MAV_CMD_EXTERNAL_WIND_ESTIMATE" hasLocation="false" isDestination="false">
+        <description>Set an external estimate of wind direction and speed.
+          This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.
+        </description>
+        <param index="1" label="Wind speed" units="m/s" minValue="0">Horizontal wind speed.</param>
+        <param index="2" label="Wind speed accuracy" units="m/s">Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.</param>
+        <param index="3" label="Direction" units="deg" minValue="0" maxValue="360">Azimuth (relative to true north) from where the wind is blowing.</param>
+        <param index="4" label="Direction accuracy" units="deg">Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+      <entry value="5005" name="MAV_CMD_NAV_FENCE_HOME_CIRCLE_INCLUSION" hasLocation="false" isDestination="false">
+        <wip/>
+        <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+        <description>Circular fence area centered on home. The vehicle must stay inside this area. If home is moved, the fence moves.</description>
+        <param index="1" label="Radius" units="m">Radius.</param>
+        <param index="2" label="Inclusion Group" minValue="0" increment="1">Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group. Ignored when sent as a command.</param>
+      </entry>
+    </enum>
+    <enum name="GPS_SYSTEM_ERROR_FLAGS" bitmask="true">
+      <description>Flags indicating errors in a GPS receiver.</description>
+      <entry value="1" name="GPS_SYSTEM_ERROR_INCOMING_CORRECTIONS">
+        <description>There are problems with incoming correction streams.</description>
+      </entry>
+      <entry value="2" name="GPS_SYSTEM_ERROR_CONFIGURATION">
+        <description>There are problems with the configuration.</description>
+      </entry>
+      <entry value="4" name="GPS_SYSTEM_ERROR_SOFTWARE">
+        <description>There are problems with the software on the GPS receiver.</description>
+      </entry>
+      <entry value="8" name="GPS_SYSTEM_ERROR_ANTENNA">
+        <description>There are problems with an antenna connected to the GPS receiver.</description>
+      </entry>
+      <entry value="16" name="GPS_SYSTEM_ERROR_EVENT_CONGESTION">
+        <description>There are problems handling all incoming events.</description>
+      </entry>
+      <entry value="32" name="GPS_SYSTEM_ERROR_CPU_OVERLOAD">
+        <description>The GPS receiver CPU is overloaded.</description>
+      </entry>
+      <entry value="64" name="GPS_SYSTEM_ERROR_OUTPUT_CONGESTION">
+        <description>The GPS receiver is experiencing output congestion.</description>
+      </entry>
+    </enum>
+    <enum name="GPS_AUTHENTICATION_STATE">
+      <description>Signal authentication state in a GPS receiver.</description>
+      <entry value="0" name="GPS_AUTHENTICATION_STATE_UNKNOWN">
+        <description>The GPS receiver does not provide GPS signal authentication info.</description>
+      </entry>
+      <entry value="1" name="GPS_AUTHENTICATION_STATE_INITIALIZING">
+        <description>The GPS receiver is initializing signal authentication.</description>
+      </entry>
+      <entry value="2" name="GPS_AUTHENTICATION_STATE_ERROR">
+        <description>The GPS receiver encountered an error while initializing signal authentication.</description>
+      </entry>
+      <entry value="3" name="GPS_AUTHENTICATION_STATE_OK">
+        <description>The GPS receiver has correctly authenticated all signals.</description>
+      </entry>
+      <entry value="4" name="GPS_AUTHENTICATION_STATE_DISABLED">
+        <description>GPS signal authentication is disabled on the receiver.</description>
+      </entry>
+    </enum>
+    <enum name="GPS_JAMMING_STATE">
+      <description>Signal jamming state in a GPS receiver.</description>
+      <entry value="0" name="GPS_JAMMING_STATE_UNKNOWN">
+        <description>The GPS receiver does not provide GPS signal jamming info.</description>
+      </entry>
+      <entry value="1" name="GPS_JAMMING_STATE_NOT_JAMMED">
+        <description>The GPS receiver detected no signal jamming.</description>
+      </entry>
+      <entry value="2" name="GPS_JAMMING_STATE_MITIGATED">
+        <description>The GPS receiver detected and mitigated signal jamming.</description>
+      </entry>
+      <entry value="3" name="GPS_JAMMING_STATE_DETECTED">
+        <description>The GPS receiver detected signal jamming.</description>
+      </entry>
+    </enum>
+    <enum name="GPS_SPOOFING_STATE">
+      <description>Signal spoofing state in a GPS receiver.</description>
+      <entry value="0" name="GPS_SPOOFING_STATE_UNKNOWN">
+        <description>The GPS receiver does not provide GPS signal spoofing info.</description>
+      </entry>
+      <entry value="1" name="GPS_SPOOFING_STATE_NOT_SPOOFED">
+        <description>The GPS receiver detected no signal spoofing.</description>
+      </entry>
+      <entry value="2" name="GPS_SPOOFING_STATE_MITIGATED">
+        <description>The GPS receiver detected and mitigated signal spoofing.</description>
+      </entry>
+      <entry value="3" name="GPS_SPOOFING_STATE_DETECTED">
+        <description>The GPS receiver detected signal spoofing but still has a fix.</description>
+      </entry>
+    </enum>
+    <enum name="GPS_RAIM_STATE">
+      <description>State of RAIM processing.</description>
+      <entry value="0" name="GPS_RAIM_STATE_UNKNOWN">
+        <description>RAIM capability is unknown.</description>
+      </entry>
+      <entry value="1" name="GPS_RAIM_STATE_DISABLED">
+        <description>RAIM is disabled.</description>
+      </entry>
+      <entry value="2" name="GPS_RAIM_STATE_OK">
+        <description>RAIM integrity check was successful.</description>
+      </entry>
+      <entry value="3" name="GPS_RAIM_STATE_FAILED">
+        <description>RAIM integrity check failed.</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="53" name="MISSION_CHECKSUM">
+      <description>Checksum for the current mission, rally point or geofence plan, or for the "combined" plan (a GCS can use these checksums to determine if it has matching plans).
+        This message must be broadcast with the appropriate checksum following any change to a mission, geofence or rally point definition
+        (immediately after the MISSION_ACK that completes the upload sequence).
+        It may also be requested using MAV_CMD_REQUEST_MESSAGE, where param 2 indicates the plan type for which the checksum is required.
+        The checksum must be calculated on the autopilot, but may also be calculated by the GCS.
+        The checksum uses the same CRC32 algorithm as MAVLink FTP (https://mavlink.io/en/services/ftp.html#crc32-implementation).
+        The checksum for a mission, geofence or rally point definition is run over each item in the plan in seq order (excluding the home location if present in the plan), and covers the following fields (in order):
+        frame, command, autocontinue, param1, param2, param3, param4, param5, param6, param7.
+        The checksum for the whole plan (MAV_MISSION_TYPE_ALL) is calculated using the same approach, running over each sub-plan in the following order: mission, geofence then rally point.
+      </description>
+      <field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
+      <field type="uint32_t" name="checksum">CRC32 checksum of current plan for specified type.</field>
+    </message>
+    <message id="420" name="RADIO_RC_CHANNELS">
+      <description>RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).
+        Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller.
+        The target_system field should normally be set to the system id of the system to control, typically the flight controller.
+        The target_component field can normally be set to 0, so that all components of the system can receive the message.
+        The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field.
+        The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain.
+        The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled).
+        The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent).
+        The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost).
+        In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver).
+        For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data.
+        Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.
+      </description>
+      <field type="uint8_t" name="target_system">System ID (ID of target system, normally flight controller).</field>
+      <field type="uint8_t" name="target_component">Component ID (normally 0 for broadcast).</field>
+      <field type="uint32_t" name="time_last_update_ms" units="ms">Time when the data in the channels field were last updated (time since boot in the receiver's time domain).</field>
+      <field type="uint16_t" name="flags" enum="RADIO_RC_CHANNELS_FLAGS" display="bitmask">Radio RC channels status flags.</field>
+      <field type="uint8_t" name="count">Total number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.</field>
+      <extensions/>
+      <field type="int16_t[32]" name="channels" minValue="-4096" maxValue="4096">RC channels.
+        Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
+        Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.</field>
+    </message>
+    <message id="435" name="AVAILABLE_MODES">
+      <description>Get information about a particular flight modes.
+        The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE.
+        Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode.
+        The modes must be available/settable for the current vehicle/frame type.
+        Each modes should only be emitted once (even if it is both standard and custom).
+      </description>
+      <field type="uint8_t" name="number_modes">The total number of available modes for the current vehicle type.</field>
+      <field type="uint8_t" name="mode_index">The current mode index within number_modes, indexed from 1.</field>
+      <field type="uint8_t" name="standard_mode" enum="MAV_STANDARD_MODE">Standard mode.</field>
+      <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags</field>
+      <field type="uint32_t" name="properties" enum="MAV_MODE_PROPERTY">Mode properties.</field>
+      <field type="char[35]" name="mode_name">Name of custom mode, with null termination character. Should be omitted for standard modes.</field>
+    </message>
+    <message id="436" name="CURRENT_MODE">
+      <description>Get the current mode.
+        This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz).
+        It may be requested using MAV_CMD_REQUEST_MESSAGE.
+      </description>
+      <field type="uint8_t" name="standard_mode" enum="MAV_STANDARD_MODE">Standard mode.</field>
+      <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags</field>
+      <field type="uint32_t" name="intended_custom_mode" invalid="0">The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied</field>
+    </message>
+    <message id="437" name="AVAILABLE_MODES_MONITOR">
+      <description>A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.
+        A receiver must re-request all available modes whenever the sequence number changes.
+        This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.
+      </description>
+      <field type="uint8_t" name="seq">Sequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).</field>
+    </message>
+    <message id="441" name="GNSS_INTEGRITY">
+      <description>Information about key components of GNSS receivers, like signal authentication, interference and system errors.</description>
+      <field type="uint8_t" name="id" instance="true">GNSS receiver id. Must match instance ids of other messages from same receiver.</field>
+      <field type="uint32_t" name="system_errors" enum="GPS_SYSTEM_ERROR_FLAGS" display="bitmask">Errors in the GPS system.</field>
+      <field type="uint8_t" name="authentication_state" enum="GPS_AUTHENTICATION_STATE">Signal authentication state of the GPS system.</field>
+      <field type="uint8_t" name="jamming_state" enum="GPS_JAMMING_STATE">Signal jamming state of the GPS system.</field>
+      <field type="uint8_t" name="spoofing_state" enum="GPS_SPOOFING_STATE">Signal spoofing state of the GPS system.</field>
+      <field type="uint8_t" name="raim_state" enum="GPS_RAIM_STATE">The state of the RAIM processing.</field>
+      <field type="uint16_t" name="raim_hfom" units="cm" invalid="UINT16_MAX">Horizontal expected accuracy using satellites successfully validated using RAIM.</field>
+      <field type="uint16_t" name="raim_vfom" units="cm" invalid="UINT16_MAX">Vertical expected accuracy using satellites successfully validated using RAIM.</field>
+      <field type="uint8_t" name="corrections_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the estimated quality of incoming corrections, or 255 if not available.</field>
+      <field type="uint8_t" name="system_status_summary" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the overall status of the receiver, or 255 if not available.</field>
+      <field type="uint8_t" name="gnss_signal_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the quality of incoming GNSS signals, or 255 if not available.</field>
+      <field type="uint8_t" name="post_processing_quality" minValue="0" maxValue="10" invalid="UINT8_MAX">An abstract value representing the estimated PPK quality, or 255 if not available.</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/icarous.xml b/src/main/resources/mavlink/ardupilot/icarous.xml
new file mode 100644
index 0000000..7dbdb95
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/icarous.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- ICAROUS message definitions                                     -->
+  <!-- https://github.com/nasa/icarous                                 -->
+  <!-- email contacts: Swee Balachandran: swee.balachandran@nianet.org -->
+  <!--                 Cesar Munoz: cesar.a.munoz@nasa.gov             -->
+  <!-- mavlink ID range 42000 - 42099                                  -->
+  <enums>
+    <enum name="ICAROUS_TRACK_BAND_TYPES">
+      <entry name="ICAROUS_TRACK_BAND_TYPE_NONE" value="0"/>
+      <entry name="ICAROUS_TRACK_BAND_TYPE_NEAR" value="1"/>
+      <entry name="ICAROUS_TRACK_BAND_TYPE_RECOVERY" value="2"/>
+    </enum>
+    <enum name="ICAROUS_FMS_STATE">
+      <entry name="ICAROUS_FMS_STATE_IDLE" value="0"/>
+      <entry name="ICAROUS_FMS_STATE_TAKEOFF" value="1"/>
+      <entry name="ICAROUS_FMS_STATE_CLIMB" value="2"/>
+      <entry name="ICAROUS_FMS_STATE_CRUISE" value="3"/>
+      <entry name="ICAROUS_FMS_STATE_APPROACH" value="4"/>
+      <entry name="ICAROUS_FMS_STATE_LAND" value="5"/>
+    </enum>
+  </enums>
+  <messages>
+    <message id="42000" name="ICAROUS_HEARTBEAT">
+      <description>ICAROUS heartbeat</description>
+      <field type="uint8_t" name="status" enum="ICAROUS_FMS_STATE">See the FMS_STATE enum.</field>
+    </message>
+    <message id="42001" name="ICAROUS_KINEMATIC_BANDS">
+      <description>Kinematic multi bands (track) output from Daidalus</description>
+      <field type="int8_t" name="numBands">Number of track bands</field>
+      <field type="uint8_t" name="type1" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min1" units="deg">min angle (degrees)</field>
+      <field type="float" name="max1" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type2" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min2" units="deg">min angle (degrees)</field>
+      <field type="float" name="max2" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type3" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min3" units="deg">min angle (degrees)</field>
+      <field type="float" name="max3" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type4" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min4" units="deg">min angle (degrees)</field>
+      <field type="float" name="max4" units="deg">max angle (degrees)</field>
+      <field type="uint8_t" name="type5" enum="ICAROUS_TRACK_BAND_TYPES">See the TRACK_BAND_TYPES enum.</field>
+      <field type="float" name="min5" units="deg">min angle (degrees)</field>
+      <field type="float" name="max5" units="deg">max angle (degrees)</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/loweheiser.xml b/src/main/resources/mavlink/ardupilot/loweheiser.xml
new file mode 100644
index 0000000..0dc5b5b
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/loweheiser.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- Loweheiser contact info: -->
+  <!-- company URL: https://www.loweheiser.com/ -->
+  <!-- company LinkeIn: https://www.linkedin.com/company/loweheiser -->
+  <!-- email contact: info@loweheiser.com -->
+  <!-- mavlink ID range: 10150 - 10199 -->
+  <include>minimal.xml</include>
+  <enums>
+    <enum name="MAV_CMD">
+      <!-- Loweheiser specific MAV_CMD_* commands -->
+      <entry name="MAV_CMD_LOWEHEISER_SET_STATE" value="10151">
+        <description>Set Loweheiser desired states</description>
+        <param index="1">EFI Index</param>
+        <param index="2">Desired Engine/EFI State (0: Power Off, 1:Running)</param>
+        <param index="3">Desired Governor State (0:manual throttle, 1:Governed throttle)</param>
+        <param index="4">Manual throttle level, 0% - 100%</param>
+        <param index="5">Electronic Start up (0:Off, 1:On)</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="10151" name="LOWEHEISER_GOV_EFI">
+      <description>Composite EFI and Governor data from Loweheiser equipment.  This message is created by the EFI unit based on its own data and data received from a governor attached to that EFI unit.</description>
+      <!-- Generator fields -->
+      <field type="float" name="volt_batt" units="V">Generator Battery voltage.</field>
+      <field type="float" name="curr_batt" units="A">Generator Battery current.</field>
+      <field type="float" name="curr_gen" units="A">Current being produced by generator.</field>
+      <field type="float" name="curr_rot" units="A">Load current being consumed by the UAV (sum of curr_gen and curr_batt)</field>
+      <field type="float" name="fuel_level" units="l">Generator fuel remaining in litres.</field>
+      <field type="float" name="throttle" units="%">Throttle Output.</field>
+      <field type="uint32_t" name="runtime" units="s">Seconds this generator has run since it was rebooted.</field>
+      <field type="int32_t" name="until_maintenance" units="s">Seconds until this generator requires maintenance.  A negative value indicates maintenance is past due.</field>
+      <field type="float" name="rectifier_temp" units="degC">The Temperature of the rectifier.</field>
+      <field type="float" name="generator_temp" units="degC">The temperature of the mechanical motor, fuel cell core or generator.</field>
+      <!-- EFI fields -->
+      <field type="float" name="efi_batt" units="V"> EFI Supply Voltage.</field>
+      <field type="float" name="efi_rpm" units="rpm">Motor RPM.</field>
+      <field type="float" name="efi_pw" units="ms">Injector pulse-width in milliseconds.</field>
+      <field type="float" name="efi_fuel_flow">Fuel flow rate in litres/hour.</field>
+      <field type="float" name="efi_fuel_consumed" units="l">Fuel consumed.</field>
+      <field type="float" name="efi_baro" units="kPa">Atmospheric pressure.</field>
+      <field type="float" name="efi_mat" units="degC">Manifold Air Temperature.</field>
+      <field type="float" name="efi_clt" units="degC">Cylinder Head Temperature.</field>
+      <field type="float" name="efi_tps" units="%">Throttle Position.</field>
+      <field type="float" name="efi_exhaust_gas_temperature" units="degC">Exhaust gas temperature.</field>
+      <!-- Status fields -->
+      <field type="uint8_t" name="efi_index" instance="true">EFI index.</field>
+      <field type="uint16_t" name="generator_status">Generator status.</field>
+      <field type="uint16_t" name="efi_status">EFI status.</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/matrixpilot.xml b/src/main/resources/mavlink/ardupilot/matrixpilot.xml
new file mode 100644
index 0000000..8a3b291
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/matrixpilot.xml
@@ -0,0 +1,349 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>common.xml</include>
+  <!-- note that UDB specific messages should use the command id
+      range from 150 to 250, to leave plenty of room for growth
+      of common.xml 
+
+      If you prototype a message here, then you should consider if it
+      is general enough to move into common.xml later
+    -->
+  <enums>
+    <enum name="MAV_PREFLIGHT_STORAGE_ACTION">
+      <description>Action required when performing CMD_PREFLIGHT_STORAGE</description>
+      <entry value="0" name="MAV_PFS_CMD_READ_ALL">
+        <description>Read all parameters from storage</description>
+      </entry>
+      <entry value="1" name="MAV_PFS_CMD_WRITE_ALL">
+        <description>Write all parameters to storage</description>
+      </entry>
+      <entry value="2" name="MAV_PFS_CMD_CLEAR_ALL">
+        <description>Clear all  parameters in storage</description>
+      </entry>
+      <entry value="3" name="MAV_PFS_CMD_READ_SPECIFIC">
+        <description>Read specific parameters from storage</description>
+      </entry>
+      <entry value="4" name="MAV_PFS_CMD_WRITE_SPECIFIC">
+        <description>Write specific parameters to storage</description>
+      </entry>
+      <entry value="5" name="MAV_PFS_CMD_CLEAR_SPECIFIC">
+        <description>Clear specific parameters in storage</description>
+      </entry>
+      <entry value="6" name="MAV_PFS_CMD_DO_NOTHING">
+        <description>do nothing</description>
+      </entry>
+    </enum>
+    <enum name="MAV_CMD">
+      <entry value="0" name="MAV_CMD_PREFLIGHT_STORAGE_ADVANCED">
+        <description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
+        <param index="1">Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED</param>
+        <param index="2">Storage area as defined by parameter database</param>
+        <param index="3">Storage flags as defined by parameter database</param>
+        <param index="4">Empty</param>
+        <param index="5">Empty</param>
+        <param index="6">Empty</param>
+        <param index="7">Empty</param>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="150" name="FLEXIFUNCTION_SET">
+      <description>Depreciated but used as a compiler flag.  Do not remove</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="151" name="FLEXIFUNCTION_READ_REQ">
+      <description>Request reading of flexifunction data</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="int16_t" name="read_req_type">Type of flexifunction data requested</field>
+      <field type="int16_t" name="data_index">index into data where needed</field>
+    </message>
+    <message id="152" name="FLEXIFUNCTION_BUFFER_FUNCTION">
+      <description>Flexifunction type and parameters for component at function index from buffer</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="func_index">Function index</field>
+      <field type="uint16_t" name="func_count">Total count of functions</field>
+      <field type="uint16_t" name="data_address">Address in the flexifunction data, Set to 0xFFFF to use address in target memory</field>
+      <field type="uint16_t" name="data_size">Size of the </field>
+      <field type="int8_t[48]" name="data">Settings data</field>
+    </message>
+    <message id="153" name="FLEXIFUNCTION_BUFFER_FUNCTION_ACK">
+      <description>Flexifunction type and parameters for component at function index from buffer</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="func_index">Function index</field>
+      <field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field>
+    </message>
+    <message id="155" name="FLEXIFUNCTION_DIRECTORY">
+      <description>Acknowledge success or failure of a flexifunction command</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field>
+      <field type="uint8_t" name="start_index">index of first directory entry to write</field>
+      <field type="uint8_t" name="count">count of directory entries to write</field>
+      <field type="int8_t[48]" name="directory_data">Settings data</field>
+    </message>
+    <message id="156" name="FLEXIFUNCTION_DIRECTORY_ACK">
+      <description>Acknowledge success or failure of a flexifunction command</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="directory_type">0=inputs, 1=outputs</field>
+      <field type="uint8_t" name="start_index">index of first directory entry to write</field>
+      <field type="uint8_t" name="count">count of directory entries to write</field>
+      <field type="uint16_t" name="result">result of acknowledge, 0=fail, 1=good</field>
+    </message>
+    <message id="157" name="FLEXIFUNCTION_COMMAND">
+      <description>Acknowledge success or failure of a flexifunction command</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="command_type">Flexifunction command type</field>
+    </message>
+    <message id="158" name="FLEXIFUNCTION_COMMAND_ACK">
+      <description>Acknowledge success or failure of a flexifunction command</description>
+      <field type="uint16_t" name="command_type">Command acknowledged</field>
+      <field type="uint16_t" name="result">result of acknowledge</field>
+    </message>
+    <message id="170" name="SERIAL_UDB_EXTRA_F2_A">
+      <description>Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A</description>
+      <field type="uint32_t" name="sue_time">Serial UDB Extra Time</field>
+      <field type="uint8_t" name="sue_status">Serial UDB Extra Status</field>
+      <field type="int32_t" name="sue_latitude">Serial UDB Extra Latitude</field>
+      <field type="int32_t" name="sue_longitude">Serial UDB Extra Longitude</field>
+      <field type="int32_t" name="sue_altitude">Serial UDB Extra Altitude</field>
+      <field type="uint16_t" name="sue_waypoint_index">Serial UDB Extra Waypoint Index</field>
+      <field type="int16_t" name="sue_rmat0">Serial UDB Extra Rmat 0</field>
+      <field type="int16_t" name="sue_rmat1">Serial UDB Extra Rmat 1</field>
+      <field type="int16_t" name="sue_rmat2">Serial UDB Extra Rmat 2</field>
+      <field type="int16_t" name="sue_rmat3">Serial UDB Extra Rmat 3</field>
+      <field type="int16_t" name="sue_rmat4">Serial UDB Extra Rmat 4</field>
+      <field type="int16_t" name="sue_rmat5">Serial UDB Extra Rmat 5</field>
+      <field type="int16_t" name="sue_rmat6">Serial UDB Extra Rmat 6</field>
+      <field type="int16_t" name="sue_rmat7">Serial UDB Extra Rmat 7</field>
+      <field type="int16_t" name="sue_rmat8">Serial UDB Extra Rmat 8</field>
+      <field type="uint16_t" name="sue_cog">Serial UDB Extra GPS Course Over Ground</field>
+      <field type="int16_t" name="sue_sog">Serial UDB Extra Speed Over Ground</field>
+      <field type="uint16_t" name="sue_cpu_load">Serial UDB Extra CPU Load</field>
+      <field type="uint16_t" name="sue_air_speed_3DIMU">Serial UDB Extra 3D IMU Air Speed</field>
+      <field type="int16_t" name="sue_estimated_wind_0">Serial UDB Extra Estimated Wind 0</field>
+      <field type="int16_t" name="sue_estimated_wind_1">Serial UDB Extra Estimated Wind 1</field>
+      <field type="int16_t" name="sue_estimated_wind_2">Serial UDB Extra Estimated Wind 2</field>
+      <field type="int16_t" name="sue_magFieldEarth0">Serial UDB Extra Magnetic Field Earth 0 </field>
+      <field type="int16_t" name="sue_magFieldEarth1">Serial UDB Extra Magnetic Field Earth 1 </field>
+      <field type="int16_t" name="sue_magFieldEarth2">Serial UDB Extra Magnetic Field Earth 2 </field>
+      <field type="int16_t" name="sue_svs">Serial UDB Extra Number of Satellites in View</field>
+      <field type="int16_t" name="sue_hdop">Serial UDB Extra GPS Horizontal Dilution of Precision</field>
+    </message>
+    <message id="171" name="SERIAL_UDB_EXTRA_F2_B">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B</description>
+      <field type="uint32_t" name="sue_time">Serial UDB Extra Time</field>
+      <field type="int16_t" name="sue_pwm_input_1">Serial UDB Extra PWM Input Channel 1</field>
+      <field type="int16_t" name="sue_pwm_input_2">Serial UDB Extra PWM Input Channel 2</field>
+      <field type="int16_t" name="sue_pwm_input_3">Serial UDB Extra PWM Input Channel 3</field>
+      <field type="int16_t" name="sue_pwm_input_4">Serial UDB Extra PWM Input Channel 4</field>
+      <field type="int16_t" name="sue_pwm_input_5">Serial UDB Extra PWM Input Channel 5</field>
+      <field type="int16_t" name="sue_pwm_input_6">Serial UDB Extra PWM Input Channel 6</field>
+      <field type="int16_t" name="sue_pwm_input_7">Serial UDB Extra PWM Input Channel 7</field>
+      <field type="int16_t" name="sue_pwm_input_8">Serial UDB Extra PWM Input Channel 8</field>
+      <field type="int16_t" name="sue_pwm_input_9">Serial UDB Extra PWM Input Channel 9</field>
+      <field type="int16_t" name="sue_pwm_input_10">Serial UDB Extra PWM Input Channel 10</field>
+      <field type="int16_t" name="sue_pwm_input_11">Serial UDB Extra PWM Input Channel 11</field>
+      <field type="int16_t" name="sue_pwm_input_12">Serial UDB Extra PWM Input Channel 12</field>
+      <field type="int16_t" name="sue_pwm_output_1">Serial UDB Extra PWM Output Channel 1</field>
+      <field type="int16_t" name="sue_pwm_output_2">Serial UDB Extra PWM Output Channel 2</field>
+      <field type="int16_t" name="sue_pwm_output_3">Serial UDB Extra PWM Output Channel 3</field>
+      <field type="int16_t" name="sue_pwm_output_4">Serial UDB Extra PWM Output Channel 4</field>
+      <field type="int16_t" name="sue_pwm_output_5">Serial UDB Extra PWM Output Channel 5</field>
+      <field type="int16_t" name="sue_pwm_output_6">Serial UDB Extra PWM Output Channel 6</field>
+      <field type="int16_t" name="sue_pwm_output_7">Serial UDB Extra PWM Output Channel 7</field>
+      <field type="int16_t" name="sue_pwm_output_8">Serial UDB Extra PWM Output Channel 8</field>
+      <field type="int16_t" name="sue_pwm_output_9">Serial UDB Extra PWM Output Channel 9</field>
+      <field type="int16_t" name="sue_pwm_output_10">Serial UDB Extra PWM Output Channel 10</field>
+      <field type="int16_t" name="sue_pwm_output_11">Serial UDB Extra PWM Output Channel 11</field>
+      <field type="int16_t" name="sue_pwm_output_12">Serial UDB Extra PWM Output Channel 12</field>
+      <field type="int16_t" name="sue_imu_location_x">Serial UDB Extra IMU Location X</field>
+      <field type="int16_t" name="sue_imu_location_y">Serial UDB Extra IMU Location Y</field>
+      <field type="int16_t" name="sue_imu_location_z">Serial UDB Extra IMU Location Z</field>
+      <field type="int16_t" name="sue_location_error_earth_x">Serial UDB Location Error Earth X</field>
+      <field type="int16_t" name="sue_location_error_earth_y">Serial UDB Location Error Earth Y</field>
+      <field type="int16_t" name="sue_location_error_earth_z">Serial UDB Location Error Earth Z</field>
+      <field type="uint32_t" name="sue_flags">Serial UDB Extra Status Flags</field>
+      <field type="int16_t" name="sue_osc_fails">Serial UDB Extra Oscillator Failure Count</field>
+      <field type="int16_t" name="sue_imu_velocity_x">Serial UDB Extra IMU Velocity X</field>
+      <field type="int16_t" name="sue_imu_velocity_y">Serial UDB Extra IMU Velocity Y</field>
+      <field type="int16_t" name="sue_imu_velocity_z">Serial UDB Extra IMU Velocity Z</field>
+      <field type="int16_t" name="sue_waypoint_goal_x">Serial UDB Extra Current Waypoint Goal X</field>
+      <field type="int16_t" name="sue_waypoint_goal_y">Serial UDB Extra Current Waypoint Goal Y</field>
+      <field type="int16_t" name="sue_waypoint_goal_z">Serial UDB Extra Current Waypoint Goal Z</field>
+      <field type="int16_t" name="sue_aero_x">Aeroforce in UDB X Axis</field>
+      <field type="int16_t" name="sue_aero_y">Aeroforce in UDB Y Axis</field>
+      <field type="int16_t" name="sue_aero_z">Aeroforce in UDB Z axis</field>
+      <field type="int16_t" name="sue_barom_temp">SUE barometer temperature</field>
+      <field type="int32_t" name="sue_barom_press">SUE barometer pressure</field>
+      <field type="int32_t" name="sue_barom_alt">SUE barometer altitude</field>
+      <field type="int16_t" name="sue_bat_volt">SUE battery voltage</field>
+      <field type="int16_t" name="sue_bat_amp">SUE battery current</field>
+      <field type="int16_t" name="sue_bat_amp_hours">SUE battery milli amp hours used</field>
+      <field type="int16_t" name="sue_desired_height">Sue autopilot desired height</field>
+      <field type="int16_t" name="sue_memory_stack_free">Serial UDB Extra Stack Memory Free</field>
+    </message>
+    <message id="172" name="SERIAL_UDB_EXTRA_F4">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F4: format</description>
+      <field type="uint8_t" name="sue_ROLL_STABILIZATION_AILERONS">Serial UDB Extra Roll Stabilization with Ailerons Enabled</field>
+      <field type="uint8_t" name="sue_ROLL_STABILIZATION_RUDDER">Serial UDB Extra Roll Stabilization with Rudder Enabled</field>
+      <field type="uint8_t" name="sue_PITCH_STABILIZATION">Serial UDB Extra Pitch Stabilization Enabled</field>
+      <field type="uint8_t" name="sue_YAW_STABILIZATION_RUDDER">Serial UDB Extra Yaw Stabilization using Rudder Enabled</field>
+      <field type="uint8_t" name="sue_YAW_STABILIZATION_AILERON">Serial UDB Extra Yaw Stabilization using Ailerons Enabled</field>
+      <field type="uint8_t" name="sue_AILERON_NAVIGATION">Serial UDB Extra Navigation with Ailerons Enabled</field>
+      <field type="uint8_t" name="sue_RUDDER_NAVIGATION">Serial UDB Extra Navigation with Rudder Enabled</field>
+      <field type="uint8_t" name="sue_ALTITUDEHOLD_STABILIZED">Serial UDB Extra Type of Alitude Hold when in Stabilized Mode</field>
+      <field type="uint8_t" name="sue_ALTITUDEHOLD_WAYPOINT">Serial UDB Extra Type of Alitude Hold when in Waypoint Mode</field>
+      <field type="uint8_t" name="sue_RACING_MODE">Serial UDB Extra Firmware racing mode enabled</field>
+    </message>
+    <message id="173" name="SERIAL_UDB_EXTRA_F5">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F5: format</description>
+      <field type="float" name="sue_YAWKP_AILERON">Serial UDB YAWKP_AILERON Gain for Proporional control of navigation</field>
+      <field type="float" name="sue_YAWKD_AILERON">Serial UDB YAWKD_AILERON Gain for Rate control of navigation</field>
+      <field type="float" name="sue_ROLLKP">Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization</field>
+      <field type="float" name="sue_ROLLKD">Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization</field>
+    </message>
+    <message id="174" name="SERIAL_UDB_EXTRA_F6">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F6: format</description>
+      <field type="float" name="sue_PITCHGAIN">Serial UDB Extra PITCHGAIN Proportional Control</field>
+      <field type="float" name="sue_PITCHKD">Serial UDB Extra Pitch Rate Control</field>
+      <field type="float" name="sue_RUDDER_ELEV_MIX">Serial UDB Extra Rudder to Elevator Mix</field>
+      <field type="float" name="sue_ROLL_ELEV_MIX">Serial UDB Extra Roll to Elevator Mix</field>
+      <field type="float" name="sue_ELEVATOR_BOOST">Gain For Boosting Manual Elevator control When Plane Stabilized</field>
+    </message>
+    <message id="175" name="SERIAL_UDB_EXTRA_F7">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F7: format</description>
+      <field type="float" name="sue_YAWKP_RUDDER">Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation</field>
+      <field type="float" name="sue_YAWKD_RUDDER">Serial UDB YAWKD_RUDDER Gain for Rate control of navigation</field>
+      <field type="float" name="sue_ROLLKP_RUDDER">Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization</field>
+      <field type="float" name="sue_ROLLKD_RUDDER">Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization</field>
+      <field type="float" name="sue_RUDDER_BOOST">SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized</field>
+      <field type="float" name="sue_RTL_PITCH_DOWN">Serial UDB Extra Return To Landing - Angle to Pitch Plane Down</field>
+    </message>
+    <message id="176" name="SERIAL_UDB_EXTRA_F8">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F8: format</description>
+      <field type="float" name="sue_HEIGHT_TARGET_MAX">Serial UDB Extra HEIGHT_TARGET_MAX</field>
+      <field type="float" name="sue_HEIGHT_TARGET_MIN">Serial UDB Extra HEIGHT_TARGET_MIN</field>
+      <field type="float" name="sue_ALT_HOLD_THROTTLE_MIN">Serial UDB Extra ALT_HOLD_THROTTLE_MIN</field>
+      <field type="float" name="sue_ALT_HOLD_THROTTLE_MAX">Serial UDB Extra ALT_HOLD_THROTTLE_MAX</field>
+      <field type="float" name="sue_ALT_HOLD_PITCH_MIN">Serial UDB Extra ALT_HOLD_PITCH_MIN</field>
+      <field type="float" name="sue_ALT_HOLD_PITCH_MAX">Serial UDB Extra ALT_HOLD_PITCH_MAX</field>
+      <field type="float" name="sue_ALT_HOLD_PITCH_HIGH">Serial UDB Extra ALT_HOLD_PITCH_HIGH</field>
+    </message>
+    <message id="177" name="SERIAL_UDB_EXTRA_F13">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F13: format</description>
+      <field type="int16_t" name="sue_week_no">Serial UDB Extra GPS Week Number</field>
+      <field type="int32_t" name="sue_lat_origin">Serial UDB Extra MP Origin Latitude</field>
+      <field type="int32_t" name="sue_lon_origin">Serial UDB Extra MP Origin Longitude</field>
+      <field type="int32_t" name="sue_alt_origin">Serial UDB Extra MP Origin Altitude Above Sea Level</field>
+    </message>
+    <message id="178" name="SERIAL_UDB_EXTRA_F14">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F14: format</description>
+      <field type="uint8_t" name="sue_WIND_ESTIMATION">Serial UDB Extra Wind Estimation Enabled</field>
+      <field type="uint8_t" name="sue_GPS_TYPE">Serial UDB Extra Type of GPS Unit</field>
+      <field type="uint8_t" name="sue_DR">Serial UDB Extra Dead Reckoning Enabled</field>
+      <field type="uint8_t" name="sue_BOARD_TYPE">Serial UDB Extra Type of UDB Hardware</field>
+      <field type="uint8_t" name="sue_AIRFRAME">Serial UDB Extra Type of Airframe</field>
+      <field type="int16_t" name="sue_RCON">Serial UDB Extra Reboot Register of DSPIC</field>
+      <field type="int16_t" name="sue_TRAP_FLAGS">Serial UDB Extra  Last dspic Trap Flags</field>
+      <field type="uint32_t" name="sue_TRAP_SOURCE">Serial UDB Extra Type Program Address of Last Trap</field>
+      <field type="int16_t" name="sue_osc_fail_count">Serial UDB Extra Number of Ocillator Failures</field>
+      <field type="uint8_t" name="sue_CLOCK_CONFIG">Serial UDB Extra UDB Internal Clock Configuration</field>
+      <field type="uint8_t" name="sue_FLIGHT_PLAN_TYPE">Serial UDB Extra Type of Flight Plan</field>
+    </message>
+    <message id="179" name="SERIAL_UDB_EXTRA_F15">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F15 format</description>
+      <field type="uint8_t[40]" name="sue_ID_VEHICLE_MODEL_NAME">Serial UDB Extra Model Name Of Vehicle</field>
+      <field type="uint8_t[20]" name="sue_ID_VEHICLE_REGISTRATION">Serial UDB Extra Registraton Number of Vehicle</field>
+    </message>
+    <message id="180" name="SERIAL_UDB_EXTRA_F16">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F16 format</description>
+      <field type="uint8_t[40]" name="sue_ID_LEAD_PILOT">Serial UDB Extra Name of Expected Lead Pilot</field>
+      <field type="uint8_t[70]" name="sue_ID_DIY_DRONES_URL">Serial UDB Extra URL of Lead Pilot or Team</field>
+    </message>
+    <message id="181" name="ALTITUDES">
+      <description>The altitude measured by sensors and IMU</description>
+      <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+      <field type="int32_t" name="alt_gps">GPS altitude (MSL) in meters, expressed as * 1000 (millimeters)</field>
+      <field type="int32_t" name="alt_imu">IMU altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+      <field type="int32_t" name="alt_barometric">barometeric altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+      <field type="int32_t" name="alt_optical_flow">Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+      <field type="int32_t" name="alt_range_finder">Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+      <field type="int32_t" name="alt_extra">Extra altitude above ground in meters, expressed as * 1000 (millimeters)</field>
+    </message>
+    <message id="182" name="AIRSPEEDS">
+      <description>The airspeed measured by sensors and IMU</description>
+      <field type="uint32_t" name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
+      <field type="int16_t" name="airspeed_imu">Airspeed estimate from IMU, cm/s</field>
+      <field type="int16_t" name="airspeed_pitot">Pitot measured forward airpseed, cm/s</field>
+      <field type="int16_t" name="airspeed_hot_wire">Hot wire anenometer measured airspeed, cm/s</field>
+      <field type="int16_t" name="airspeed_ultrasonic">Ultrasonic measured airspeed, cm/s</field>
+      <field type="int16_t" name="aoa">Angle of attack sensor, degrees * 10</field>
+      <field type="int16_t" name="aoy">Yaw angle sensor, degrees * 10</field>
+    </message>
+    <message id="183" name="SERIAL_UDB_EXTRA_F17">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F17 format</description>
+      <field type="float" name="sue_feed_forward">SUE Feed Forward Gain</field>
+      <field type="float" name="sue_turn_rate_nav">SUE Max Turn Rate when Navigating</field>
+      <field type="float" name="sue_turn_rate_fbw">SUE Max Turn Rate in Fly By Wire Mode</field>
+    </message>
+    <message id="184" name="SERIAL_UDB_EXTRA_F18">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F18 format</description>
+      <field type="float" name="angle_of_attack_normal">SUE Angle of Attack Normal</field>
+      <field type="float" name="angle_of_attack_inverted">SUE Angle of Attack Inverted</field>
+      <field type="float" name="elevator_trim_normal">SUE Elevator Trim Normal</field>
+      <field type="float" name="elevator_trim_inverted">SUE Elevator Trim Inverted</field>
+      <field type="float" name="reference_speed">SUE reference_speed</field>
+    </message>
+    <message id="185" name="SERIAL_UDB_EXTRA_F19">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F19 format</description>
+      <field type="uint8_t" name="sue_aileron_output_channel">SUE aileron output channel</field>
+      <field type="uint8_t" name="sue_aileron_reversed">SUE aileron reversed</field>
+      <field type="uint8_t" name="sue_elevator_output_channel">SUE elevator output channel</field>
+      <field type="uint8_t" name="sue_elevator_reversed">SUE elevator reversed</field>
+      <field type="uint8_t" name="sue_throttle_output_channel">SUE throttle output channel</field>
+      <field type="uint8_t" name="sue_throttle_reversed">SUE throttle reversed</field>
+      <field type="uint8_t" name="sue_rudder_output_channel">SUE rudder output channel</field>
+      <field type="uint8_t" name="sue_rudder_reversed">SUE rudder reversed</field>
+    </message>
+    <message id="186" name="SERIAL_UDB_EXTRA_F20">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F20 format</description>
+      <field type="uint8_t" name="sue_number_of_inputs">SUE Number of Input Channels</field>
+      <field type="int16_t" name="sue_trim_value_input_1">SUE UDB PWM Trim Value on Input 1</field>
+      <field type="int16_t" name="sue_trim_value_input_2">SUE UDB PWM Trim Value on Input 2</field>
+      <field type="int16_t" name="sue_trim_value_input_3">SUE UDB PWM Trim Value on Input 3</field>
+      <field type="int16_t" name="sue_trim_value_input_4">SUE UDB PWM Trim Value on Input 4</field>
+      <field type="int16_t" name="sue_trim_value_input_5">SUE UDB PWM Trim Value on Input 5</field>
+      <field type="int16_t" name="sue_trim_value_input_6">SUE UDB PWM Trim Value on Input 6</field>
+      <field type="int16_t" name="sue_trim_value_input_7">SUE UDB PWM Trim Value on Input 7</field>
+      <field type="int16_t" name="sue_trim_value_input_8">SUE UDB PWM Trim Value on Input 8</field>
+      <field type="int16_t" name="sue_trim_value_input_9">SUE UDB PWM Trim Value on Input 9</field>
+      <field type="int16_t" name="sue_trim_value_input_10">SUE UDB PWM Trim Value on Input 10</field>
+      <field type="int16_t" name="sue_trim_value_input_11">SUE UDB PWM Trim Value on Input 11</field>
+      <field type="int16_t" name="sue_trim_value_input_12">SUE UDB PWM Trim Value on Input 12</field>
+    </message>
+    <message id="187" name="SERIAL_UDB_EXTRA_F21">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F21 format</description>
+      <field type="int16_t" name="sue_accel_x_offset">SUE X accelerometer offset</field>
+      <field type="int16_t" name="sue_accel_y_offset">SUE Y accelerometer offset</field>
+      <field type="int16_t" name="sue_accel_z_offset">SUE Z accelerometer offset</field>
+      <field type="int16_t" name="sue_gyro_x_offset">SUE X gyro offset</field>
+      <field type="int16_t" name="sue_gyro_y_offset">SUE Y gyro offset</field>
+      <field type="int16_t" name="sue_gyro_z_offset">SUE Z gyro offset</field>
+    </message>
+    <message id="188" name="SERIAL_UDB_EXTRA_F22">
+      <description>Backwards compatible version of SERIAL_UDB_EXTRA F22 format</description>
+      <field type="int16_t" name="sue_accel_x_at_calibration">SUE X accelerometer at calibration time</field>
+      <field type="int16_t" name="sue_accel_y_at_calibration">SUE Y accelerometer at calibration time</field>
+      <field type="int16_t" name="sue_accel_z_at_calibration">SUE Z accelerometer at calibration time</field>
+      <field type="int16_t" name="sue_gyro_x_at_calibration">SUE X gyro at calibration time</field>
+      <field type="int16_t" name="sue_gyro_y_at_calibration">SUE Y gyro at calibration time</field>
+      <field type="int16_t" name="sue_gyro_z_at_calibration">SUE Z gyro at calibration time</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/minimal.xml b/src/main/resources/mavlink/ardupilot/minimal.xml
new file mode 100644
index 0000000..a64e841
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/minimal.xml
@@ -0,0 +1,733 @@
+<?xml version="1.0"?>
+<mavlink>
+  <version>3</version>
+  <enums>
+    <enum name="MAV_AUTOPILOT">
+      <description>Micro air vehicle / autopilot classes. This identifies the individual model.</description>
+      <entry value="0" name="MAV_AUTOPILOT_GENERIC">
+        <description>Generic autopilot, full support for everything</description>
+      </entry>
+      <entry value="1" name="MAV_AUTOPILOT_RESERVED">
+        <description>Reserved for future use.</description>
+      </entry>
+      <entry value="2" name="MAV_AUTOPILOT_SLUGS">
+        <description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description>
+      </entry>
+      <entry value="3" name="MAV_AUTOPILOT_ARDUPILOTMEGA">
+        <description>ArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org</description>
+      </entry>
+      <entry value="4" name="MAV_AUTOPILOT_OPENPILOT">
+        <description>OpenPilot, http://openpilot.org</description>
+      </entry>
+      <entry value="5" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY">
+        <description>Generic autopilot only supporting simple waypoints</description>
+      </entry>
+      <entry value="6" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY">
+        <description>Generic autopilot supporting waypoints and other simple navigation commands</description>
+      </entry>
+      <entry value="7" name="MAV_AUTOPILOT_GENERIC_MISSION_FULL">
+        <description>Generic autopilot supporting the full mission command set</description>
+      </entry>
+      <entry value="8" name="MAV_AUTOPILOT_INVALID">
+        <description>No valid autopilot, e.g. a GCS or other MAVLink component</description>
+      </entry>
+      <entry value="9" name="MAV_AUTOPILOT_PPZ">
+        <description>PPZ UAV - http://nongnu.org/paparazzi</description>
+      </entry>
+      <entry value="10" name="MAV_AUTOPILOT_UDB">
+        <description>UAV Dev Board</description>
+      </entry>
+      <entry value="11" name="MAV_AUTOPILOT_FP">
+        <description>FlexiPilot</description>
+      </entry>
+      <entry value="12" name="MAV_AUTOPILOT_PX4">
+        <description>PX4 Autopilot - http://px4.io/</description>
+      </entry>
+      <entry value="13" name="MAV_AUTOPILOT_SMACCMPILOT">
+        <description>SMACCMPilot - http://smaccmpilot.org</description>
+      </entry>
+      <entry value="14" name="MAV_AUTOPILOT_AUTOQUAD">
+        <description>AutoQuad -- http://autoquad.org</description>
+      </entry>
+      <entry value="15" name="MAV_AUTOPILOT_ARMAZILA">
+        <description>Armazila -- http://armazila.com</description>
+      </entry>
+      <entry value="16" name="MAV_AUTOPILOT_AEROB">
+        <description>Aerob -- http://aerob.ru</description>
+      </entry>
+      <entry value="17" name="MAV_AUTOPILOT_ASLUAV">
+        <description>ASLUAV autopilot -- http://www.asl.ethz.ch</description>
+      </entry>
+      <entry value="18" name="MAV_AUTOPILOT_SMARTAP">
+        <description>SmartAP Autopilot - http://sky-drones.com</description>
+      </entry>
+      <entry value="19" name="MAV_AUTOPILOT_AIRRAILS">
+        <description>AirRails - http://uaventure.com</description>
+      </entry>
+      <entry value="20" name="MAV_AUTOPILOT_REFLEX">
+        <description>Fusion Reflex - https://fusion.engineering</description>
+      </entry>
+    </enum>
+    <enum name="MAV_TYPE">
+      <description>MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).</description>
+      <entry value="0" name="MAV_TYPE_GENERIC">
+        <description>Generic micro air vehicle</description>
+      </entry>
+      <entry value="1" name="MAV_TYPE_FIXED_WING">
+        <description>Fixed wing aircraft.</description>
+      </entry>
+      <entry value="2" name="MAV_TYPE_QUADROTOR">
+        <description>Quadrotor</description>
+      </entry>
+      <entry value="3" name="MAV_TYPE_COAXIAL">
+        <description>Coaxial helicopter</description>
+      </entry>
+      <entry value="4" name="MAV_TYPE_HELICOPTER">
+        <description>Normal helicopter with tail rotor.</description>
+      </entry>
+      <entry value="5" name="MAV_TYPE_ANTENNA_TRACKER">
+        <description>Ground installation</description>
+      </entry>
+      <entry value="6" name="MAV_TYPE_GCS">
+        <description>Operator control unit / ground control station</description>
+      </entry>
+      <entry value="7" name="MAV_TYPE_AIRSHIP">
+        <description>Airship, controlled</description>
+      </entry>
+      <entry value="8" name="MAV_TYPE_FREE_BALLOON">
+        <description>Free balloon, uncontrolled</description>
+      </entry>
+      <entry value="9" name="MAV_TYPE_ROCKET">
+        <description>Rocket</description>
+      </entry>
+      <entry value="10" name="MAV_TYPE_GROUND_ROVER">
+        <description>Ground rover</description>
+      </entry>
+      <entry value="11" name="MAV_TYPE_SURFACE_BOAT">
+        <description>Surface vessel, boat, ship</description>
+      </entry>
+      <entry value="12" name="MAV_TYPE_SUBMARINE">
+        <description>Submarine</description>
+      </entry>
+      <entry value="13" name="MAV_TYPE_HEXAROTOR">
+        <description>Hexarotor</description>
+      </entry>
+      <entry value="14" name="MAV_TYPE_OCTOROTOR">
+        <description>Octorotor</description>
+      </entry>
+      <entry value="15" name="MAV_TYPE_TRICOPTER">
+        <description>Tricopter</description>
+      </entry>
+      <entry value="16" name="MAV_TYPE_FLAPPING_WING">
+        <description>Flapping wing</description>
+      </entry>
+      <entry value="17" name="MAV_TYPE_KITE">
+        <description>Kite</description>
+      </entry>
+      <entry value="18" name="MAV_TYPE_ONBOARD_CONTROLLER">
+        <description>Onboard companion controller</description>
+      </entry>
+      <entry value="19" name="MAV_TYPE_VTOL_DUOROTOR">
+        <description>Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.</description>
+      </entry>
+      <entry value="20" name="MAV_TYPE_VTOL_QUADROTOR">
+        <description>Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</description>
+      </entry>
+      <entry value="21" name="MAV_TYPE_VTOL_TILTROTOR">
+        <description>Tiltrotor VTOL</description>
+      </entry>
+      <!-- Entries up to 25 reserved for other VTOL airframes -->
+      <entry value="22" name="MAV_TYPE_VTOL_RESERVED2">
+        <description>VTOL reserved 2</description>
+      </entry>
+      <entry value="23" name="MAV_TYPE_VTOL_RESERVED3">
+        <description>VTOL reserved 3</description>
+      </entry>
+      <entry value="24" name="MAV_TYPE_VTOL_RESERVED4">
+        <description>VTOL reserved 4</description>
+      </entry>
+      <entry value="25" name="MAV_TYPE_VTOL_RESERVED5">
+        <description>VTOL reserved 5</description>
+      </entry>
+      <entry value="26" name="MAV_TYPE_GIMBAL">
+        <description>Gimbal</description>
+      </entry>
+      <entry value="27" name="MAV_TYPE_ADSB">
+        <description>ADSB system</description>
+      </entry>
+      <entry value="28" name="MAV_TYPE_PARAFOIL">
+        <description>Steerable, nonrigid airfoil</description>
+      </entry>
+      <entry value="29" name="MAV_TYPE_DODECAROTOR">
+        <description>Dodecarotor</description>
+      </entry>
+      <entry value="30" name="MAV_TYPE_CAMERA">
+        <description>Camera</description>
+      </entry>
+      <entry value="31" name="MAV_TYPE_CHARGING_STATION">
+        <description>Charging station</description>
+      </entry>
+      <entry value="32" name="MAV_TYPE_FLARM">
+        <description>FLARM collision avoidance system</description>
+      </entry>
+      <entry value="33" name="MAV_TYPE_SERVO">
+        <description>Servo</description>
+      </entry>
+      <entry value="34" name="MAV_TYPE_ODID">
+        <description>Open Drone ID. See https://mavlink.io/en/services/opendroneid.html.</description>
+      </entry>
+      <entry value="35" name="MAV_TYPE_DECAROTOR">
+        <description>Decarotor</description>
+      </entry>
+      <entry value="36" name="MAV_TYPE_BATTERY">
+        <description>Battery</description>
+      </entry>
+      <entry value="37" name="MAV_TYPE_PARACHUTE">
+        <description>Parachute</description>
+      </entry>
+      <entry value="38" name="MAV_TYPE_LOG">
+        <description>Log</description>
+      </entry>
+      <entry value="39" name="MAV_TYPE_OSD">
+        <description>OSD</description>
+      </entry>
+      <entry value="40" name="MAV_TYPE_IMU">
+        <description>IMU</description>
+      </entry>
+      <entry value="41" name="MAV_TYPE_GPS">
+        <description>GPS</description>
+      </entry>
+      <entry value="42" name="MAV_TYPE_WINCH">
+        <description>Winch</description>
+      </entry>
+      <entry value="43" name="MAV_TYPE_GENERIC_MULTIROTOR">
+        <description>Generic multirotor that does not fit into a specific type or whose type is unknown</description>
+      </entry>
+      <entry value="44" name="MAV_TYPE_ILLUMINATOR">
+        <description>Illuminator. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).</description>
+      </entry>
+      <entry value="45" name="MAV_TYPE_SPACECRAFT_ORBITER">
+        <description>Orbiter spacecraft. Includes satellites orbiting terrestrial and extra-terrestrial bodies. Follows NASA Spacecraft Classification.</description>
+      </entry>
+      <entry value="46" name="MAV_TYPE_GROUND_QUADRUPED">
+        <description>A generic four-legged ground vehicle (e.g., a robot dog).</description>
+      </entry>
+      <entry value="47" name="MAV_TYPE_VTOL_GYRODYNE">
+        <description>VTOL hybrid of helicopter and autogyro. It has a main rotor for lift and separate propellers for forward flight. The rotor must be powered for hover but can autorotate in cruise flight. See: https://en.wikipedia.org/wiki/Gyrodyne</description>
+      </entry>
+      <entry value="48" name="MAV_TYPE_GRIPPER">
+        <description>Gripper</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MODE_FLAG" bitmask="true">
+      <description>These flags encode the MAV mode, see MAV_MODE enum for useful combinations.</description>
+      <entry value="128" name="MAV_MODE_FLAG_SAFETY_ARMED">
+        <description>0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.</description>
+      </entry>
+      <entry value="64" name="MAV_MODE_FLAG_MANUAL_INPUT_ENABLED">
+        <description>0b01000000 remote control input is enabled.</description>
+      </entry>
+      <entry value="32" name="MAV_MODE_FLAG_HIL_ENABLED">
+        <description>0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.</description>
+      </entry>
+      <entry value="16" name="MAV_MODE_FLAG_STABILIZE_ENABLED">
+        <description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
+      </entry>
+      <entry value="8" name="MAV_MODE_FLAG_GUIDED_ENABLED">
+        <description>0b00001000 guided mode enabled, system flies waypoints / mission items.</description>
+      </entry>
+      <entry value="4" name="MAV_MODE_FLAG_AUTO_ENABLED">
+        <description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
+      </entry>
+      <entry value="2" name="MAV_MODE_FLAG_TEST_ENABLED">
+        <description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
+      </entry>
+      <entry value="1" name="MAV_MODE_FLAG_CUSTOM_MODE_ENABLED">
+        <description>0b00000001 Reserved for future use.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_MODE_FLAG_DECODE_POSITION" bitmask="true">
+      <description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
+      <entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
+        <description>First bit:  10000000</description>
+      </entry>
+      <entry value="64" name="MAV_MODE_FLAG_DECODE_POSITION_MANUAL">
+        <description>Second bit: 01000000</description>
+      </entry>
+      <entry value="32" name="MAV_MODE_FLAG_DECODE_POSITION_HIL">
+        <description>Third bit:  00100000</description>
+      </entry>
+      <entry value="16" name="MAV_MODE_FLAG_DECODE_POSITION_STABILIZE">
+        <description>Fourth bit: 00010000</description>
+      </entry>
+      <entry value="8" name="MAV_MODE_FLAG_DECODE_POSITION_GUIDED">
+        <description>Fifth bit:  00001000</description>
+      </entry>
+      <entry value="4" name="MAV_MODE_FLAG_DECODE_POSITION_AUTO">
+        <description>Sixth bit:   00000100</description>
+      </entry>
+      <entry value="2" name="MAV_MODE_FLAG_DECODE_POSITION_TEST">
+        <description>Seventh bit: 00000010</description>
+      </entry>
+      <entry value="1" name="MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE">
+        <description>Eighth bit: 00000001</description>
+      </entry>
+    </enum>
+    <enum name="MAV_STATE">
+      <entry value="0" name="MAV_STATE_UNINIT">
+        <description>Uninitialized system, state is unknown.</description>
+      </entry>
+      <entry value="1" name="MAV_STATE_BOOT">
+        <description>System is booting up.</description>
+      </entry>
+      <entry value="2" name="MAV_STATE_CALIBRATING">
+        <description>System is calibrating and not flight-ready.</description>
+      </entry>
+      <entry value="3" name="MAV_STATE_STANDBY">
+        <description>System is grounded and on standby. It can be launched any time.</description>
+      </entry>
+      <entry value="4" name="MAV_STATE_ACTIVE">
+        <description>System is active and might be already airborne. Motors are engaged.</description>
+      </entry>
+      <entry value="5" name="MAV_STATE_CRITICAL">
+        <description>System is in a non-normal flight mode (failsafe). It can however still navigate.</description>
+      </entry>
+      <entry value="6" name="MAV_STATE_EMERGENCY">
+        <description>System is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
+      </entry>
+      <entry value="7" name="MAV_STATE_POWEROFF">
+        <description>System just initialized its power-down sequence, will shut down now.</description>
+      </entry>
+      <entry value="8" name="MAV_STATE_FLIGHT_TERMINATION">
+        <description>System is terminating itself (failsafe or commanded).</description>
+      </entry>
+    </enum>
+    <enum name="MAV_COMPONENT">
+      <description>Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).
+      Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components.
+      When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.</description>
+      <entry value="0" name="MAV_COMP_ID_ALL">
+        <description>Target id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.</description>
+      </entry>
+      <entry value="1" name="MAV_COMP_ID_AUTOPILOT1">
+        <description>System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.</description>
+      </entry>
+      <!-- Component ids from 25-99 are reserved for private OEM component definitions (and may be incompatible with other private components). Note that if this range is later reduced, higher ids will be reallocated first. -->
+      <entry value="25" name="MAV_COMP_ID_USER1">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="26" name="MAV_COMP_ID_USER2">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="27" name="MAV_COMP_ID_USER3">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="28" name="MAV_COMP_ID_USER4">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="29" name="MAV_COMP_ID_USER5">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="30" name="MAV_COMP_ID_USER6">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="31" name="MAV_COMP_ID_USER7">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="32" name="MAV_COMP_ID_USER8">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="33" name="MAV_COMP_ID_USER9">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="34" name="MAV_COMP_ID_USER10">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="35" name="MAV_COMP_ID_USER11">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="36" name="MAV_COMP_ID_USER12">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="37" name="MAV_COMP_ID_USER13">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="38" name="MAV_COMP_ID_USER14">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="39" name="MAV_COMP_ID_USER15">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="40" name="MAV_COMP_ID_USER16">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="41" name="MAV_COMP_ID_USER17">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="42" name="MAV_COMP_ID_USER18">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="43" name="MAV_COMP_ID_USER19">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="44" name="MAV_COMP_ID_USER20">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="45" name="MAV_COMP_ID_USER21">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="46" name="MAV_COMP_ID_USER22">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="47" name="MAV_COMP_ID_USER23">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="48" name="MAV_COMP_ID_USER24">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="49" name="MAV_COMP_ID_USER25">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="50" name="MAV_COMP_ID_USER26">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="51" name="MAV_COMP_ID_USER27">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="52" name="MAV_COMP_ID_USER28">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="53" name="MAV_COMP_ID_USER29">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="54" name="MAV_COMP_ID_USER30">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="55" name="MAV_COMP_ID_USER31">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="56" name="MAV_COMP_ID_USER32">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="57" name="MAV_COMP_ID_USER33">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="58" name="MAV_COMP_ID_USER34">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="59" name="MAV_COMP_ID_USER35">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="60" name="MAV_COMP_ID_USER36">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="61" name="MAV_COMP_ID_USER37">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="62" name="MAV_COMP_ID_USER38">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="63" name="MAV_COMP_ID_USER39">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="64" name="MAV_COMP_ID_USER40">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="65" name="MAV_COMP_ID_USER41">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="66" name="MAV_COMP_ID_USER42">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="67" name="MAV_COMP_ID_USER43">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="68" name="MAV_COMP_ID_TELEMETRY_RADIO">
+        <description>Telemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).</description>
+      </entry>
+      <entry value="69" name="MAV_COMP_ID_USER45">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="70" name="MAV_COMP_ID_USER46">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="71" name="MAV_COMP_ID_USER47">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="72" name="MAV_COMP_ID_USER48">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="73" name="MAV_COMP_ID_USER49">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="74" name="MAV_COMP_ID_USER50">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="75" name="MAV_COMP_ID_USER51">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="76" name="MAV_COMP_ID_USER52">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="77" name="MAV_COMP_ID_USER53">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="78" name="MAV_COMP_ID_USER54">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="79" name="MAV_COMP_ID_USER55">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="80" name="MAV_COMP_ID_USER56">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="81" name="MAV_COMP_ID_USER57">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="82" name="MAV_COMP_ID_USER58">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="83" name="MAV_COMP_ID_USER59">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="84" name="MAV_COMP_ID_USER60">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="85" name="MAV_COMP_ID_USER61">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="86" name="MAV_COMP_ID_USER62">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="87" name="MAV_COMP_ID_USER63">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="88" name="MAV_COMP_ID_USER64">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="89" name="MAV_COMP_ID_USER65">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="90" name="MAV_COMP_ID_USER66">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="91" name="MAV_COMP_ID_USER67">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="92" name="MAV_COMP_ID_USER68">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="93" name="MAV_COMP_ID_USER69">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="94" name="MAV_COMP_ID_USER70">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="95" name="MAV_COMP_ID_USER71">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="96" name="MAV_COMP_ID_USER72">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="97" name="MAV_COMP_ID_USER73">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="98" name="MAV_COMP_ID_USER74">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="99" name="MAV_COMP_ID_USER75">
+        <description>Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.</description>
+      </entry>
+      <entry value="100" name="MAV_COMP_ID_CAMERA">
+        <description>Camera #1.</description>
+      </entry>
+      <entry value="101" name="MAV_COMP_ID_CAMERA2">
+        <description>Camera #2.</description>
+      </entry>
+      <entry value="102" name="MAV_COMP_ID_CAMERA3">
+        <description>Camera #3.</description>
+      </entry>
+      <entry value="103" name="MAV_COMP_ID_CAMERA4">
+        <description>Camera #4.</description>
+      </entry>
+      <entry value="104" name="MAV_COMP_ID_CAMERA5">
+        <description>Camera #5.</description>
+      </entry>
+      <entry value="105" name="MAV_COMP_ID_CAMERA6">
+        <description>Camera #6.</description>
+      </entry>
+      <entry value="140" name="MAV_COMP_ID_SERVO1">
+        <description>Servo #1.</description>
+      </entry>
+      <entry value="141" name="MAV_COMP_ID_SERVO2">
+        <description>Servo #2.</description>
+      </entry>
+      <entry value="142" name="MAV_COMP_ID_SERVO3">
+        <description>Servo #3.</description>
+      </entry>
+      <entry value="143" name="MAV_COMP_ID_SERVO4">
+        <description>Servo #4.</description>
+      </entry>
+      <entry value="144" name="MAV_COMP_ID_SERVO5">
+        <description>Servo #5.</description>
+      </entry>
+      <entry value="145" name="MAV_COMP_ID_SERVO6">
+        <description>Servo #6.</description>
+      </entry>
+      <entry value="146" name="MAV_COMP_ID_SERVO7">
+        <description>Servo #7.</description>
+      </entry>
+      <entry value="147" name="MAV_COMP_ID_SERVO8">
+        <description>Servo #8.</description>
+      </entry>
+      <entry value="148" name="MAV_COMP_ID_SERVO9">
+        <description>Servo #9.</description>
+      </entry>
+      <entry value="149" name="MAV_COMP_ID_SERVO10">
+        <description>Servo #10.</description>
+      </entry>
+      <entry value="150" name="MAV_COMP_ID_SERVO11">
+        <description>Servo #11.</description>
+      </entry>
+      <entry value="151" name="MAV_COMP_ID_SERVO12">
+        <description>Servo #12.</description>
+      </entry>
+      <entry value="152" name="MAV_COMP_ID_SERVO13">
+        <description>Servo #13.</description>
+      </entry>
+      <entry value="153" name="MAV_COMP_ID_SERVO14">
+        <description>Servo #14.</description>
+      </entry>
+      <entry value="154" name="MAV_COMP_ID_GIMBAL">
+        <description>Gimbal #1.</description>
+      </entry>
+      <entry value="155" name="MAV_COMP_ID_LOG">
+        <description>Logging component.</description>
+      </entry>
+      <entry value="156" name="MAV_COMP_ID_ADSB">
+        <description>Automatic Dependent Surveillance-Broadcast (ADS-B) component.</description>
+      </entry>
+      <entry value="157" name="MAV_COMP_ID_OSD">
+        <description>On Screen Display (OSD) devices for video links.</description>
+      </entry>
+      <entry value="158" name="MAV_COMP_ID_PERIPHERAL">
+        <description>Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.</description>
+      </entry>
+      <entry value="159" name="MAV_COMP_ID_QX1_GIMBAL">
+        <deprecated since="2018-11" replaced_by="MAV_COMP_ID_GIMBAL">All gimbals should use MAV_COMP_ID_GIMBAL.</deprecated>
+        <description>Gimbal ID for QX1.</description>
+      </entry>
+      <entry value="160" name="MAV_COMP_ID_FLARM">
+        <description>FLARM collision alert component.</description>
+      </entry>
+      <entry value="161" name="MAV_COMP_ID_PARACHUTE">
+        <description>Parachute component.</description>
+      </entry>
+      <entry value="169" name="MAV_COMP_ID_WINCH">
+        <description>Winch component.</description>
+      </entry>
+      <entry value="171" name="MAV_COMP_ID_GIMBAL2">
+        <description>Gimbal #2.</description>
+      </entry>
+      <entry value="172" name="MAV_COMP_ID_GIMBAL3">
+        <description>Gimbal #3.</description>
+      </entry>
+      <entry value="173" name="MAV_COMP_ID_GIMBAL4">
+        <description>Gimbal #4</description>
+      </entry>
+      <entry value="174" name="MAV_COMP_ID_GIMBAL5">
+        <description>Gimbal #5.</description>
+      </entry>
+      <entry value="175" name="MAV_COMP_ID_GIMBAL6">
+        <description>Gimbal #6.</description>
+      </entry>
+      <entry value="180" name="MAV_COMP_ID_BATTERY">
+        <description>Battery #1.</description>
+      </entry>
+      <entry value="181" name="MAV_COMP_ID_BATTERY2">
+        <description>Battery #2.</description>
+      </entry>
+      <entry value="189" name="MAV_COMP_ID_MAVCAN">
+        <description>CAN over MAVLink client.</description>
+      </entry>
+      <entry value="190" name="MAV_COMP_ID_MISSIONPLANNER">
+        <description>Component that can generate/supply a mission flight plan (e.g. GCS or developer API).</description>
+      </entry>
+      <entry value="191" name="MAV_COMP_ID_ONBOARD_COMPUTER">
+        <description>Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.</description>
+      </entry>
+      <entry value="192" name="MAV_COMP_ID_ONBOARD_COMPUTER2">
+        <description>Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.</description>
+      </entry>
+      <entry value="193" name="MAV_COMP_ID_ONBOARD_COMPUTER3">
+        <description>Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.</description>
+      </entry>
+      <entry value="194" name="MAV_COMP_ID_ONBOARD_COMPUTER4">
+        <description>Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.</description>
+      </entry>
+      <entry value="195" name="MAV_COMP_ID_PATHPLANNER">
+        <description>Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).</description>
+      </entry>
+      <entry value="196" name="MAV_COMP_ID_OBSTACLE_AVOIDANCE">
+        <description>Component that plans a collision free path between two points.</description>
+      </entry>
+      <entry value="197" name="MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY">
+        <description>Component that provides position estimates using VIO techniques.</description>
+      </entry>
+      <entry value="198" name="MAV_COMP_ID_PAIRING_MANAGER">
+        <description>Component that manages pairing of vehicle and GCS.</description>
+      </entry>
+      <entry value="200" name="MAV_COMP_ID_IMU">
+        <description>Inertial Measurement Unit (IMU) #1.</description>
+      </entry>
+      <entry value="201" name="MAV_COMP_ID_IMU_2">
+        <description>Inertial Measurement Unit (IMU) #2.</description>
+      </entry>
+      <entry value="202" name="MAV_COMP_ID_IMU_3">
+        <description>Inertial Measurement Unit (IMU) #3.</description>
+      </entry>
+      <entry value="220" name="MAV_COMP_ID_GPS">
+        <description>GPS #1.</description>
+      </entry>
+      <entry value="221" name="MAV_COMP_ID_GPS2">
+        <description>GPS #2.</description>
+      </entry>
+      <entry value="236" name="MAV_COMP_ID_ODID_TXRX_1">
+        <description>Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).</description>
+      </entry>
+      <entry value="237" name="MAV_COMP_ID_ODID_TXRX_2">
+        <description>Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).</description>
+      </entry>
+      <entry value="238" name="MAV_COMP_ID_ODID_TXRX_3">
+        <description>Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).</description>
+      </entry>
+      <entry value="240" name="MAV_COMP_ID_UDP_BRIDGE">
+        <description>Component to bridge MAVLink to UDP (i.e. from a UART).</description>
+      </entry>
+      <entry value="241" name="MAV_COMP_ID_UART_BRIDGE">
+        <description>Component to bridge to UART (i.e. from UDP).</description>
+      </entry>
+      <entry value="242" name="MAV_COMP_ID_TUNNEL_NODE">
+        <description>Component handling TUNNEL messages (e.g. vendor specific GUI of a component).</description>
+      </entry>
+      <entry value="243" name="MAV_COMP_ID_ILLUMINATOR">
+        <description>Illuminator</description>
+      </entry>
+      <entry value="250" name="MAV_COMP_ID_SYSTEM_CONTROL">
+        <deprecated since="2018-11" replaced_by="MAV_COMP_ID_ALL">System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.</deprecated>
+        <description>Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="0" name="HEARTBEAT">
+      <description>The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html</description>
+      <field type="uint8_t" name="type" enum="MAV_TYPE">Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.</field>
+      <field type="uint8_t" name="autopilot" enum="MAV_AUTOPILOT">Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.</field>
+      <field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG">System mode bitmap.</field>
+      <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags</field>
+      <field type="uint8_t" name="system_status" enum="MAV_STATE">System status flag.</field>
+      <field type="uint8_t_mavlink_version" name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/paparazzi.xml b/src/main/resources/mavlink/ardupilot/paparazzi.xml
new file mode 100755
index 0000000..45c9ec5
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/paparazzi.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>common.xml</include>
+  <version>3</version>
+  <enums>
+    </enums>
+  <messages>
+    <!-- Messages specifically designated for the Paparazzi autopilot -->
+    <message id="180" name="SCRIPT_ITEM">
+      <description>Message encoding a mission script item. This message is emitted upon a request for the next script item.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+      <field type="char[50]" name="name">The name of the mission script, NULL terminated.</field>
+    </message>
+    <message id="181" name="SCRIPT_REQUEST">
+      <description>Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="seq">Sequence</field>
+    </message>
+    <message id="182" name="SCRIPT_REQUEST_LIST">
+      <description>Request the overall list of mission items from the system/component.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+    </message>
+    <message id="183" name="SCRIPT_COUNT">
+      <description>This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint16_t" name="count">Number of script items in the sequence</field>
+    </message>
+    <message id="184" name="SCRIPT_CURRENT">
+      <description>This message informs about the currently active SCRIPT.</description>
+      <field type="uint16_t" name="seq">Active Sequence</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/python_array_test.xml b/src/main/resources/mavlink/ardupilot/python_array_test.xml
new file mode 100644
index 0000000..7e4b72e
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/python_array_test.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<!-- MESSAGE IDs 150 - 240: Space for custom messages in individual projectname_messages.xml files -->
+<mavlink>
+  <include>common.xml</include>
+  <messages>
+    <message id="17150" name="ARRAY_TEST_0">
+      <description>Array test #0.</description>
+      <field type="uint8_t" name="v1">Stub field</field>
+      <field type="int8_t[4]" name="ar_i8">Value array</field>
+      <field type="uint8_t[4]" name="ar_u8">Value array</field>
+      <field type="uint16_t[4]" name="ar_u16">Value array</field>
+      <field type="uint32_t[4]" name="ar_u32">Value array</field>
+    </message>
+    <message id="17151" name="ARRAY_TEST_1">
+      <description>Array test #1.</description>
+      <field type="uint32_t[4]" name="ar_u32">Value array</field>
+    </message>
+    <message id="17153" name="ARRAY_TEST_3">
+      <description>Array test #3.</description>
+      <field type="uint8_t" name="v">Stub field</field>
+      <field type="uint32_t[4]" name="ar_u32">Value array</field>
+    </message>
+    <message id="17154" name="ARRAY_TEST_4">
+      <description>Array test #4.</description>
+      <field type="uint32_t[4]" name="ar_u32">Value array</field>
+      <field type="uint8_t" name="v">Stub field</field>
+    </message>
+    <message id="17155" name="ARRAY_TEST_5">
+      <description>Array test #5.</description>
+      <field type="char[5]" name="c1">Value array</field>
+      <field type="char[5]" name="c2">Value array</field>
+    </message>
+    <message id="17156" name="ARRAY_TEST_6">
+      <description>Array test #6.</description>
+      <field type="uint8_t" name="v1">Stub field</field>
+      <field type="uint16_t" name="v2">Stub field</field>
+      <field type="uint32_t" name="v3">Stub field</field>
+      <field type="uint32_t[2]" name="ar_u32">Value array</field>
+      <field type="int32_t[2]" name="ar_i32">Value array</field>
+      <field type="uint16_t[2]" name="ar_u16">Value array</field>
+      <field type="int16_t[2]" name="ar_i16">Value array</field>
+      <field type="uint8_t[2]" name="ar_u8">Value array</field>
+      <field type="int8_t[2]" name="ar_i8">Value array</field>
+      <field type="char[32]" name="ar_c">Value array</field>
+      <field type="double[2]" name="ar_d">Value array</field>
+      <field type="float[2]" name="ar_f">Value array</field>
+    </message>
+    <message id="17157" name="ARRAY_TEST_7">
+      <description>Array test #7.</description>
+      <field type="double[2]" name="ar_d">Value array</field>
+      <field type="float[2]" name="ar_f">Value array</field>
+      <field type="uint32_t[2]" name="ar_u32">Value array</field>
+      <field type="int32_t[2]" name="ar_i32">Value array</field>
+      <field type="uint16_t[2]" name="ar_u16">Value array</field>
+      <field type="int16_t[2]" name="ar_i16">Value array</field>
+      <field type="uint8_t[2]" name="ar_u8">Value array</field>
+      <field type="int8_t[2]" name="ar_i8">Value array</field>
+      <field type="char[32]" name="ar_c">Value array</field>
+    </message>
+    <message id="17158" name="ARRAY_TEST_8">
+      <description>Array test #8.</description>
+      <field type="uint32_t" name="v3">Stub field</field>
+      <field type="double[2]" name="ar_d">Value array</field>
+      <field type="uint16_t[2]" name="ar_u16">Value array</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/standard.xml b/src/main/resources/mavlink/ardupilot/standard.xml
new file mode 100644
index 0000000..df63c93
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/standard.xml
@@ -0,0 +1,146 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- MAVLink standard messages -->
+  <include>minimal.xml</include>
+  <dialect>0</dialect>
+  <enums>
+    <enum name="MAV_BOOL" bitmask="true">
+      <description>Enum used to indicate true or false (also: success or failure, enabled or disabled, active or inactive).</description>
+      <entry value="0" name="MAV_BOOL_FALSE">
+        <description>False.</description>
+      </entry>
+      <entry value="1" name="MAV_BOOL_TRUE">
+        <description>True.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_PROTOCOL_CAPABILITY" bitmask="true">
+      <description>Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.</description>
+      <entry value="1" name="MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT">
+        <description>Autopilot supports the MISSION_ITEM float message type.
+          Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_ITEM_INT instead.
+        </description>
+      </entry>
+      <entry value="2" name="MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT">
+        <deprecated since="2022-03" replaced_by="MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST"/>
+        <description>Autopilot supports the new param float message type.</description>
+      </entry>
+      <entry value="4" name="MAV_PROTOCOL_CAPABILITY_MISSION_INT">
+        <description>Autopilot supports MISSION_ITEM_INT scaled integer message type.
+          Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
+        </description>
+      </entry>
+      <entry value="8" name="MAV_PROTOCOL_CAPABILITY_COMMAND_INT">
+        <description>Autopilot supports COMMAND_INT scaled integer message type.</description>
+      </entry>
+      <entry value="16" name="MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE">
+        <description>Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
+          Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
+        </description>
+      </entry>
+      <entry value="32" name="MAV_PROTOCOL_CAPABILITY_FTP">
+        <description>Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.</description>
+      </entry>
+      <entry value="64" name="MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET">
+        <description>Autopilot supports commanding attitude offboard.</description>
+      </entry>
+      <entry value="128" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED">
+        <description>Autopilot supports commanding position and velocity targets in local NED frame.</description>
+      </entry>
+      <entry value="256" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT">
+        <description>Autopilot supports commanding position and velocity targets in global scaled integers.</description>
+      </entry>
+      <entry value="512" name="MAV_PROTOCOL_CAPABILITY_TERRAIN">
+        <description>Autopilot supports terrain protocol / data handling.</description>
+      </entry>
+      <entry value="1024" name="MAV_PROTOCOL_CAPABILITY_RESERVED3">
+        <description>Reserved for future use.</description>
+      </entry>
+      <entry value="2048" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION">
+        <description>Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).</description>
+      </entry>
+      <entry value="4096" name="MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION">
+        <description>Autopilot supports onboard compass calibration.</description>
+      </entry>
+      <entry value="8192" name="MAV_PROTOCOL_CAPABILITY_MAVLINK2">
+        <description>Autopilot supports MAVLink version 2.</description>
+      </entry>
+      <entry value="16384" name="MAV_PROTOCOL_CAPABILITY_MISSION_FENCE">
+        <description>Autopilot supports mission fence protocol.</description>
+      </entry>
+      <entry value="32768" name="MAV_PROTOCOL_CAPABILITY_MISSION_RALLY">
+        <description>Autopilot supports mission rally point protocol.</description>
+      </entry>
+      <entry value="65536" name="MAV_PROTOCOL_CAPABILITY_RESERVED2">
+        <description>Reserved for future use.</description>
+      </entry>
+      <entry value="131072" name="MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST">
+        <description>Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
+          Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
+        </description>
+      </entry>
+      <entry value="262144" name="MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER">
+        <description>This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
+        </description>
+      </entry>
+      <entry value="524288" name="MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL">
+        <wip/>
+        <description>Component supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).</description>
+      </entry>
+      <entry value="1048576" name="MAV_PROTOCOL_CAPABILITY_GRIPPER">
+        <wip/>
+        <description>Autopilot has a connected gripper. MAVLink Grippers would set MAV_TYPE_GRIPPER instead.</description>
+      </entry>
+    </enum>
+    <enum name="FIRMWARE_VERSION_TYPE">
+      <description>These values define the type of firmware release.  These values indicate the first version or release of this type.  For example the first alpha release would be 64, the second would be 65.</description>
+      <entry value="0" name="FIRMWARE_VERSION_TYPE_DEV">
+        <description>development release</description>
+      </entry>
+      <entry value="64" name="FIRMWARE_VERSION_TYPE_ALPHA">
+        <description>alpha release</description>
+      </entry>
+      <entry value="128" name="FIRMWARE_VERSION_TYPE_BETA">
+        <description>beta release</description>
+      </entry>
+      <entry value="192" name="FIRMWARE_VERSION_TYPE_RC">
+        <description>release candidate</description>
+      </entry>
+      <entry value="255" name="FIRMWARE_VERSION_TYPE_OFFICIAL">
+        <description>official stable release</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <!-- also includes minimal.xml messages -->
+    <message id="33" name="GLOBAL_POSITION_INT">
+      <description>The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="int32_t" name="lat" units="degE7">Latitude, expressed</field>
+      <field type="int32_t" name="lon" units="degE7">Longitude, expressed</field>
+      <field type="int32_t" name="alt" units="mm">Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</field>
+      <field type="int32_t" name="relative_alt" units="mm">Altitude above home</field>
+      <field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude, positive north)</field>
+      <field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude, positive east)</field>
+      <field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude, positive down)</field>
+      <field type="uint16_t" name="hdg" units="cdeg" invalid="UINT16_MAX">Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
+    </message>
+    <message id="148" name="AUTOPILOT_VERSION">
+      <description>Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.</description>
+      <field type="uint64_t" name="capabilities" enum="MAV_PROTOCOL_CAPABILITY">Bitmap of capabilities</field>
+      <field type="uint32_t" name="flight_sw_version">Firmware version number.
+        The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE).
+      </field>
+      <field type="uint32_t" name="middleware_sw_version">Middleware version number</field>
+      <field type="uint32_t" name="os_sw_version">Operating system version number</field>
+      <field type="uint32_t" name="board_version">HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt</field>
+      <field type="uint8_t[8]" name="flight_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
+      <field type="uint8_t[8]" name="middleware_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
+      <field type="uint8_t[8]" name="os_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
+      <field type="uint16_t" name="vendor_id">ID of the board vendor</field>
+      <field type="uint16_t" name="product_id">ID of the product</field>
+      <field type="uint64_t" name="uid">UID if provided by hardware (see uid2)</field>
+      <extensions/>
+      <field type="uint8_t[18]" name="uid2">UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/storm32.xml b/src/main/resources/mavlink/ardupilot/storm32.xml
new file mode 100644
index 0000000..6510fec
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/storm32.xml
@@ -0,0 +1,467 @@
+<?xml version="1.0"?>
+<!--
+Contact:
+  - github user name: @olliw42 (to ping)
+  - raise an issue in the https://github.com/olliw42/storm32bgc github repository
+  - send a PM to user OlliW at https://www.rcgroups.com
+Range of IDs:
+  messages: 60000 - 60049
+  commands: 60000 - 60049
+Documentation:
+  STorM32 and QSHOT additions
+  with mLRS additions merged
+  7. Mai. 2025
+  All messages are technically WIP, but some are quite stable now.
+  Quite stable means that it is in practical use, but may see extension.
+  A more detailed description of the concept underlying the STORM32 and QSHOT messages can be found here:
+  http://www.olliw.eu/2020/mavlink-gimbal-protocol-v2/
+-->
+<mavlink>
+  <include>ardupilotmega.xml</include>
+  <version>1</version>
+  <dialect>1</dialect>
+  <enums>
+    <!-- #############################
+    STorM32 enums
+    ############################# -->
+    <!-- ***************************
+    STorM32 tunnel enum, this is merely a redefinition for convennience
+    *************************** -->
+    <enum name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE">
+      <!-- Stable -->
+      <entry value="200" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN">
+        <description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
+      </entry>
+      <entry value="201" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT">
+        <description>Registered for STorM32 gimbal controller. For communication with gimbal or camera.</description>
+      </entry>
+      <entry value="202" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN">
+        <description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
+      </entry>
+      <entry value="203" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT">
+        <description>Registered for STorM32 gimbal controller. For communication with gimbal.</description>
+      </entry>
+      <entry value="204" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN">
+        <description>Registered for STorM32 gimbal controller. For communication with camera.</description>
+      </entry>
+      <entry value="205" name="MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT">
+        <description>Registered for STorM32 gimbal controller. For communication with camera.</description>
+      </entry>
+    </enum>
+    <!-- ***************************
+    STorM32 gimbal prearm check flags
+    COMPONENT_PREARM_STATUS deprecated 7.Dez.2022
+    PREARM_FLAGS & CAMERA_PREARM_FLAGS enums removed 3.Mai.2025
+    *************************** -->
+    <!-- ***************************
+    STorM32 gimbal device enums
+    deprecated 21.Nov.2022, replaced by gimbal protocol v2 flags
+    removed to force migration
+    *************************** -->
+    <!-- ***************************
+    STorM32 gimbal manager enums
+    *************************** -->
+    <enum name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS" bitmask="true">
+      <!-- WIP -->
+      <description>Gimbal manager capability flags.</description>
+      <entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES">
+        <description>The gimbal manager supports several profiles.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_STORM32_GIMBAL_MANAGER_FLAGS" bitmask="true">
+      <!-- Stable, may grow however -->
+      <description>Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
+      <entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE">
+        <description>Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.</description>
+      </entry>
+      <entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE">
+        <description>Request to set onboard/companion computer client to active, or report this client is active.</description>
+      </entry>
+      <entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE">
+        <description>Request to set autopliot client to active, or report this client is active.</description>
+      </entry>
+      <entry value="8" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE">
+        <description>Request to set GCS client to active, or report this client is active.</description>
+      </entry>
+      <entry value="16" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE">
+        <description>Request to set camera client to active, or report this client is active.</description>
+      </entry>
+      <entry value="32" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE">
+        <description>Request to set GCS2 client to active, or report this client is active.</description>
+      </entry>
+      <entry value="64" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE">
+        <description>Request to set camera2 client to active, or report this client is active.</description>
+      </entry>
+      <entry value="128" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE">
+        <description>Request to set custom client to active, or report this client is active.</description>
+      </entry>
+      <entry value="256" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE">
+        <description>Request to set custom2 client to active, or report this client is active.</description>
+      </entry>
+      <entry value="512" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON">
+        <description>Request supervision. This flag is only for setting, it is not reported.</description>
+      </entry>
+      <entry value="1024" name="MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE">
+        <description>Release supervision. This flag is only for setting, it is not reported.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_STORM32_GIMBAL_MANAGER_CLIENT">
+      <!-- Stable, may grow however -->
+      <description>Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 &gt; onboard &gt; GCS &gt; autopilot/camera &gt; GCS2 &gt; custom2.</description>
+      <entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE">
+        <description>For convenience.</description>
+      </entry>
+      <entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD">
+        <description>This is the onboard/companion computer client.</description>
+      </entry>
+      <entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT">
+        <description>This is the autopilot client.</description>
+      </entry>
+      <entry value="3" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS">
+        <description>This is the GCS client.</description>
+      </entry>
+      <entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA">
+        <description>This is the camera client.</description>
+      </entry>
+      <entry value="5" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2">
+        <description>This is the GCS2 client.</description>
+      </entry>
+      <entry value="6" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2">
+        <description>This is the camera2 client.</description>
+      </entry>
+      <entry value="7" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM">
+        <description>This is the custom client.</description>
+      </entry>
+      <entry value="8" name="MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2">
+        <description>This is the custom2 client.</description>
+      </entry>
+    </enum>
+    <enum name="MAV_STORM32_GIMBAL_MANAGER_PROFILE">
+      <!-- WIP -->
+      <description>Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values &gt; 16.</description>
+      <entry value="0" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT">
+        <description>Default profile. Implementation specific.</description>
+      </entry>
+      <entry value="1" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM">
+        <description>Not supported/deprecated.</description>
+      </entry>
+      <entry value="2" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE">
+        <description>Profile with cooperative behavior.</description>
+      </entry>
+      <entry value="3" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE">
+        <description>Profile with exclusive behavior.</description>
+      </entry>
+      <entry value="4" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE">
+        <description>Profile with priority and cooperative behavior for equal priority.</description>
+      </entry>
+      <entry value="5" name="MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE">
+        <description>Profile with priority and exclusive behavior for equal priority.</description>
+      </entry>
+    </enum>
+    <!-- ***************************
+    QSHOT manager mode enums
+    *************************** -->
+    <enum name="MAV_QSHOT_MODE">
+      <!-- Quite stable, may grow however -->
+      <description>Enumeration of possible shot modes.</description>
+      <entry value="0" name="MAV_QSHOT_MODE_UNDEFINED">
+        <description>Undefined shot mode. Can be used to determine if qshots should be used or not.</description>
+      </entry>
+      <entry value="1" name="MAV_QSHOT_MODE_DEFAULT">
+        <description>Start normal gimbal operation. Is usually used to return back from a shot.</description>
+      </entry>
+      <entry value="2" name="MAV_QSHOT_MODE_GIMBAL_RETRACT">
+        <description>Load and keep safe gimbal position and stop stabilization.</description>
+      </entry>
+      <entry value="3" name="MAV_QSHOT_MODE_GIMBAL_NEUTRAL">
+        <description>Load neutral gimbal position and keep it while stabilizing.</description>
+      </entry>
+      <entry value="4" name="MAV_QSHOT_MODE_GIMBAL_MISSION">
+        <description>Start mission with gimbal control.</description>
+      </entry>
+      <entry value="5" name="MAV_QSHOT_MODE_GIMBAL_RC_CONTROL">
+        <description>Start RC gimbal control.</description>
+      </entry>
+      <entry value="6" name="MAV_QSHOT_MODE_POI_TARGETING">
+        <description>Start gimbal tracking the point specified by Lat, Lon, Alt.</description>
+      </entry>
+      <entry value="7" name="MAV_QSHOT_MODE_SYSID_TARGETING">
+        <description>Start gimbal tracking the system with specified system ID.</description>
+      </entry>
+      <entry value="8" name="MAV_QSHOT_MODE_CABLECAM_2POINT">
+        <description>Start 2-point cable cam quick shot.</description>
+      </entry>
+      <entry value="9" name="MAV_QSHOT_MODE_HOME_TARGETING">
+        <description>Start gimbal tracking the home location.</description>
+      </entry>
+    </enum>
+    <!-- ***************************
+    STorM32 and QSHOT cmds
+    *************************** -->
+    <enum name="MAV_CMD">
+      <!-- leave room for 60001 gimbal manager configure -->
+      <entry value="60002" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW" hasLocation="false" isDestination="false">
+        <!-- Stable -->
+        <description>Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.</description>
+        <param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</param>
+        <param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
+        <param index="3" label="Pitch rate" units="deg/s">Pitch/tilt rate (positive: tilt up). NaN to be ignored.</param>
+        <param index="4" label="Yaw rate" units="deg/s">Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</param>
+        <param index="5" label="Gimbal device flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags to be applied.</param>
+        <param index="6" label="Gimbal manager flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags to be applied.</param>
+        <param index="7" label="Gimbal ID and client">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.</param>
+      </entry>
+      <entry value="60010" name="MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP" hasLocation="false" isDestination="false">
+        <wip/>
+        <!-- WIP -->
+        <description>Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.</description>
+        <param index="1" label="Profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Gimbal manager profile (0 = default).</param>
+        <param index="7" label="Gimbal ID">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</param>
+      </entry>
+      <entry value="60020" name="MAV_CMD_QSHOT_DO_CONFIGURE" hasLocation="false" isDestination="false">
+        <wip/>
+        <!-- WIP -->
+        <description>Command to set the shot manager mode.</description>
+        <param index="1" label="Mode" enum="MAV_QSHOT_MODE">Set shot mode.</param>
+        <param index="2" label="Shot state or command">Set shot state or command. The allowed values are specific to the selected shot mode.</param>
+      </entry>
+    </enum>
+    <!-- #############################
+    Auxiliary enums
+    ############################# -->
+    <enum name="MLRS_RADIO_LINK_STATS_FLAGS" bitmask="true">
+      <!-- Stable -->
+      <description>RADIO_LINK_STATS flags (bitmask).
+        The RX_RECEIVE and TX_RECEIVE flags indicate from which antenna the received data are taken for processing.
+        If a flag is set then the data received on antenna2 is processed, else the data received on antenna1 is used.
+        The RX_TRANSMIT and TX_TRANSMIT flags specify which antenna are transmitting data.
+        Both antenna 1 and antenna 2 transmit flags can be set simultaneously, e.g., in case of dual-band or dual-frequency systems.
+        If neither flag is set then antenna 1 should be assumed.
+      </description>
+      <entry value="0x0001" name="MLRS_RADIO_LINK_STATS_FLAGS_RSSI_DBM">
+        <description>Rssi values are in negative dBm. Values 1..254 corresponds to -1..-254 dBm. 0: no reception, UINT8_MAX: unknown.</description>
+      </entry>
+      <entry value="0x0002" name="MLRS_RADIO_LINK_STATS_FLAGS_RX_RECEIVE_ANTENNA2">
+        <description>Rx receive antenna. When set the data received on antenna 2 are taken, else the data stems from antenna 1.</description>
+      </entry>
+      <entry value="0x0004" name="MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA1">
+        <description>Rx transmit antenna. Data are transmitted on antenna 1.</description>
+      </entry>
+      <entry value="0x0008" name="MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA2">
+        <description>Rx transmit antenna. Data are transmitted on antenna 2.</description>
+      </entry>
+      <entry value="0x0010" name="MLRS_RADIO_LINK_STATS_FLAGS_TX_RECEIVE_ANTENNA2">
+        <description>Tx receive antenna. When set the data received on antenna 2 are taken, else the data stems from antenna 1.</description>
+      </entry>
+      <entry value="0x0020" name="MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA1">
+        <description>Tx transmit antenna. Data are transmitted on antenna 1.</description>
+      </entry>
+      <entry value="0x0040" name="MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA2">
+        <description>Tx transmit antenna. Data are transmitted on antenna 2.</description>
+      </entry>
+    </enum>
+    <enum name="MLRS_RADIO_LINK_TYPE">
+      <!-- Stable -->
+      <description>RADIO_LINK_TYPE enum.</description>
+      <entry value="0" name="MLRS_RADIO_LINK_TYPE_GENERIC">
+        <description>Unknown radio link type.</description>
+      </entry>
+      <entry value="1" name="MLRS_RADIO_LINK_TYPE_HERELINK">
+        <description>Radio link is HereLink.</description>
+      </entry>
+      <entry value="2" name="MLRS_RADIO_LINK_TYPE_DRAGONLINK">
+        <description>Radio link is Dragon Link.</description>
+      </entry>
+      <entry value="3" name="MLRS_RADIO_LINK_TYPE_RFD900">
+        <description>Radio link is RFD900.</description>
+      </entry>
+      <entry value="4" name="MLRS_RADIO_LINK_TYPE_CROSSFIRE">
+        <description>Radio link is Crossfire.</description>
+      </entry>
+      <entry value="5" name="MLRS_RADIO_LINK_TYPE_EXPRESSLRS">
+        <description>Radio link is ExpressLRS.</description>
+      </entry>
+      <entry value="6" name="MLRS_RADIO_LINK_TYPE_MLRS">
+        <description>Radio link is mLRS.</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <!-- #############################
+    STorM32 messages
+    ############################# -->
+    <!-- ***************************
+    STorM32 gimbal device messages
+    deprecated 21.Nov.2022, replaced by gimbal protocol v2 gimbal device messages
+    removed to force migration
+    *************************** -->
+    <!-- ***************************
+    STorM32 gimbal manager messages
+    revised 27.Nov.2022, to account for usage of gimbal protocol v2 gimbal device messages/commands/flags
+    STORM32_GIMBAL_MANAGER_PROFILE removed, MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP gets the job done
+    *************************** -->
+    <message id="60010" name="STORM32_GIMBAL_MANAGER_INFORMATION">
+      <!-- Stable, may grow however -->
+      <description>Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.</description>
+      <field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
+      <field type="uint32_t" name="device_cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS">Gimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).</field>
+      <field type="uint32_t" name="manager_cap_flags" enum="MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS">Gimbal manager capability flags.</field>
+      <field type="float" name="roll_min" units="rad" invalid="NaN">Hardware minimum roll angle (positive: roll to the right). NaN if unknown.</field>
+      <field type="float" name="roll_max" units="rad" invalid="NaN">Hardware maximum roll angle (positive: roll to the right). NaN if unknown.</field>
+      <field type="float" name="pitch_min" units="rad" invalid="NaN">Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
+      <field type="float" name="pitch_max" units="rad" invalid="NaN">Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.</field>
+      <field type="float" name="yaw_min" units="rad" invalid="NaN">Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
+      <field type="float" name="yaw_max" units="rad" invalid="NaN">Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.</field>
+    </message>
+    <message id="60011" name="STORM32_GIMBAL_MANAGER_STATUS">
+      <!-- Stable, may grow however -->
+      <description>Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).</description>
+      <field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.</field>
+      <field type="uint8_t" name="supervisor" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client who is currently supervisor (0 = none).</field>
+      <field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS">Gimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.</field>
+      <field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS">Gimbal manager flags currently applied.</field>
+      <field type="uint8_t" name="profile" enum="MAV_STORM32_GIMBAL_MANAGER_PROFILE">Profile currently applied (0 = default).</field>
+    </message>
+    <message id="60012" name="STORM32_GIMBAL_MANAGER_CONTROL">
+      <!-- Stable -->
+      <description>Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
+      <field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
+      <field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
+      <field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
+      <field type="float[4]" name="q" invalid="[NaN:]">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
+      <field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: roll to the right). NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: tilt up). NaN to be ignored.</field>
+      <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
+    </message>
+    <message id="60013" name="STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW">
+      <!-- Stable -->
+      <description>Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
+      <field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
+      <field type="uint16_t" name="device_flags" enum="GIMBAL_DEVICE_FLAGS" invalid="UINT16_MAX">Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.</field>
+      <field type="uint16_t" name="manager_flags" enum="MAV_STORM32_GIMBAL_MANAGER_FLAGS" invalid="0">Gimbal manager flags to be applied (0 to be ignored).</field>
+      <field type="float" name="pitch" units="rad" invalid="NaN">Pitch/tilt angle (positive: tilt up). NaN to be ignored.</field>
+      <field type="float" name="yaw" units="rad" invalid="NaN">Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
+      <field type="float" name="pitch_rate" units="rad/s" invalid="NaN">Pitch/tilt angular rate (positive: tilt up). NaN to be ignored.</field>
+      <field type="float" name="yaw_rate" units="rad/s" invalid="NaN">Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.</field>
+    </message>
+    <message id="60014" name="STORM32_GIMBAL_MANAGER_CORRECT_ROLL">
+      <!-- Quite stable -->
+      <description>Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint8_t" name="gimbal_id" instance="true">Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.</field>
+      <field type="uint8_t" name="client" enum="MAV_STORM32_GIMBAL_MANAGER_CLIENT">Client which is contacting the gimbal manager (must be set).</field>
+      <field type="float" name="roll" units="rad">Roll angle (positive to roll to the right).</field>
+    </message>
+    <!-- ***************************
+    QSHOT manager messages
+    *************************** -->
+    <message id="60020" name="QSHOT_STATUS">
+      <wip/>
+      <!-- WIP -->
+      <description>Information about the shot operation.</description>
+      <field type="uint16_t" name="mode" enum="MAV_QSHOT_MODE">Current shot mode.</field>
+      <field type="uint16_t" name="shot_state">Current state in the shot. States are specific to the selected shot mode.</field>
+    </message>
+    <!-- #############################
+    Auxiliary messages
+    ############################# -->
+    <!-- ***************************
+    COMPONENT_PREARM_STATUS deprecated 7.Dez.2022, replaced by 32th bit in HEARTBEAT custom mode
+    *************************** -->
+    <message id="60000" name="AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_EXT">
+      <wip/>
+      <description>Addition to message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.</description>
+      <field type="uint8_t" name="target_system">System ID.</field>
+      <field type="uint8_t" name="target_component">Component ID.</field>
+      <field type="uint64_t" name="time_boot_us" units="us">Timestamp (time since system boot).</field>
+      <field type="float" name="wind_x" units="m/s" invalid="NaN">Wind X speed in NED (North,Est, Down). NAN if unknown.</field>
+      <field type="float" name="wind_y" units="m/s" invalid="NaN">Wind Y speed in NED (North, East, Down). NAN if unknown.</field>
+      <field type="float" name="wind_correction_angle" units="rad" invalid="NaN">Correction angle due to wind. NaN if unknown.</field>
+    </message>
+    <message id="60040" name="FRSKY_PASSTHROUGH_ARRAY">
+      <!-- Stable -->
+      <description>Frsky SPort passthrough multi packet container.</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="count">Number of passthrough packets in this message.</field>
+      <field type="uint8_t[240]" name="packet_buf">Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.</field>
+    </message>
+    <message id="60041" name="PARAM_VALUE_ARRAY">
+      <wip/>
+      <description>Parameter multi param value container.</description>
+      <field type="uint16_t" name="param_count">Total number of onboard parameters.</field>
+      <field type="uint16_t" name="param_index_first">Index of the first onboard parameter in this array.</field>
+      <field type="uint8_t" name="param_array_len">Number of onboard parameters in this array.</field>
+      <field type="uint16_t" name="flags">Flags.</field>
+      <field type="uint8_t[248]" name="packet_buf">Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specified elsewhere.</field>
+    </message>
+    <message id="60045" name="MLRS_RADIO_LINK_STATS">
+      <!-- Stable -->
+      <description>Radio link statistics for a MAVLink RC receiver or transmitter and other links. Tx: ground-side device, Rx: vehicle-side device.
+        The message is normally emitted in regular time intervals upon each actual or expected reception of an over-the-air data packet on the link.
+        A MAVLink RC receiver should emit it shortly after it emits a RADIO_RC_CHANNELS message (if it is emitting that message).
+        Per default, rssi values are in MAVLink units: 0 represents weakest signal, 254 represents maximum signal, UINT8_MAX represents unknown.
+        The RADIO_LINK_STATS_FLAGS_RSSI_DBM flag is set if the rssi units are negative dBm: 1..254 correspond to -1..-254 dBm, 0 represents no reception, UINT8_MAX represents unknown.
+        The target_system field should normally be set to the system id of the system the link is connected to, typically the flight controller.
+        The target_component field can normally be set to 0, so that all components of the system can receive the message.
+        Note: The frequency fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.
+      </description>
+      <field type="uint8_t" name="target_system">System ID (ID of target system, normally flight controller).</field>
+      <field type="uint8_t" name="target_component">Component ID (normally 0 for broadcast).</field>
+      <field type="uint16_t" name="flags" enum="MLRS_RADIO_LINK_STATS_FLAGS" display="bitmask">Radio link statistics flags.</field>
+      <field type="uint8_t" name="rx_LQ_rc" units="c%" invalid="UINT8_MAX">Link quality of RC data stream from Tx to Rx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.</field>
+      <field type="uint8_t" name="rx_LQ_ser" units="c%" invalid="UINT8_MAX">Link quality of serial MAVLink data stream from Tx to Rx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.</field>
+      <field type="uint8_t" name="rx_rssi1" invalid="UINT8_MAX">Rssi of antenna 1. 0: no reception, UINT8_MAX: unknown.</field>
+      <field type="int8_t" name="rx_snr1" invalid="INT8_MAX">Noise on antenna 1. Radio link dependent. INT8_MAX: unknown.</field>
+      <field type="uint8_t" name="tx_LQ_ser" units="c%" invalid="UINT8_MAX">Link quality of serial MAVLink data stream from Rx to Tx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.</field>
+      <field type="uint8_t" name="tx_rssi1" invalid="UINT8_MAX">Rssi of antenna 1. 0: no reception. UINT8_MAX: unknown.</field>
+      <field type="int8_t" name="tx_snr1" invalid="INT8_MAX">Noise on antenna 1. Radio link dependent. INT8_MAX: unknown.</field>
+      <field type="uint8_t" name="rx_rssi2" invalid="UINT8_MAX">Rssi of antenna 2. 0: no reception, UINT8_MAX: use rx_rssi1 if it is known else unknown.</field>
+      <field type="int8_t" name="rx_snr2" invalid="INT8_MAX">Noise on antenna 2. Radio link dependent. INT8_MAX: use rx_snr1 if it is known else unknown.</field>
+      <field type="uint8_t" name="tx_rssi2" invalid="UINT8_MAX">Rssi of antenna 2. 0: no reception. UINT8_MAX: use tx_rssi1 if it is known else unknown.</field>
+      <field type="int8_t" name="tx_snr2" invalid="INT8_MAX">Noise on antenna 2. Radio link dependent. INT8_MAX: use tx_snr1 if it is known else unknown.</field>
+      <extensions/>
+      <field type="float" name="frequency1" units="Hz" invalid="0">Frequency on antenna1 in Hz. 0: unknown.</field>
+      <field type="float" name="frequency2" units="Hz" invalid="0">Frequency on antenna2 in Hz. 0: unknown.</field>
+    </message>
+    <message id="60046" name="MLRS_RADIO_LINK_INFORMATION">
+      <!-- Stable -->
+      <description>Radio link information. Tx: ground-side device, Rx: vehicle-side device.
+        The values of the fields in this message do normally not or only slowly change with time, and for most times the message can be send at a low rate, like 0.2 Hz.
+        If values change then the message should temporarily be send more often to inform the system about the changes.
+        The target_system field should normally be set to the system id of the system the link is connected to, typically the flight controller.
+        The target_component field can normally be set to 0, so that all components of the system can receive the message.
+      </description>
+      <field type="uint8_t" name="target_system">System ID (ID of target system, normally flight controller).</field>
+      <field type="uint8_t" name="target_component">Component ID (normally 0 for broadcast).</field>
+      <field type="uint8_t" name="type" enum="MLRS_RADIO_LINK_TYPE" invalid="0">Radio link type. 0: unknown/generic type.</field>
+      <field type="uint8_t" name="mode" invalid="UINT8_MAX">Operation mode. Radio link dependent. UINT8_MAX: ignore/unknown.</field>
+      <field type="int8_t" name="tx_power" units="dBm" invalid="INT8_MAX">Tx transmit power in dBm. INT8_MAX: unknown.</field>
+      <field type="int8_t" name="rx_power" units="dBm" invalid="INT8_MAX">Rx transmit power in dBm. INT8_MAX: unknown.</field>
+      <field type="uint16_t" name="tx_frame_rate" units="Hz" invalid="0">Frame rate in Hz (frames per second) for Tx to Rx transmission. 0: unknown.</field>
+      <field type="uint16_t" name="rx_frame_rate" units="Hz" invalid="0">Frame rate in Hz (frames per second) for Rx to Tx transmission. Normally equal to tx_packet_rate. 0: unknown.</field>
+      <field type="char[6]" name="mode_str">Operation mode as human readable string. Radio link dependent. Terminated by NULL if the string length is less than 6 chars and WITHOUT NULL termination if the length is exactly 6 chars - applications have to provide 6+1 bytes storage if the mode is stored as string. Use a zero-length string if not known.</field>
+      <field type="char[6]" name="band_str">Frequency band as human readable string. Radio link dependent. Terminated by NULL if the string length is less than 6 chars and WITHOUT NULL termination if the length is exactly 6 chars - applications have to provide 6+1 bytes storage if the mode is stored as string. Use a zero-length string if not known.</field>
+      <field type="uint16_t" name="tx_ser_data_rate" invalid="0">Maximum data rate of serial stream in bytes/s for Tx to Rx transmission. 0: unknown. UINT16_MAX: data rate is 64 KBytes/s or larger.</field>
+      <field type="uint16_t" name="rx_ser_data_rate" invalid="0">Maximum data rate of serial stream in bytes/s for Rx to Tx transmission. 0: unknown. UINT16_MAX: data rate is 64 KBytes/s or larger.</field>
+      <field type="uint8_t" name="tx_receive_sensitivity" invalid="0">Receive sensitivity of Tx in inverted dBm. 1..255 represents -1..-255 dBm, 0: unknown.</field>
+      <field type="uint8_t" name="rx_receive_sensitivity" invalid="0">Receive sensitivity of Rx in inverted dBm. 1..255 represents -1..-255 dBm, 0: unknown.</field>
+    </message>
+    <message id="60047" name="MLRS_RADIO_LINK_FLOW_CONTROL">
+      <wip/>
+      <!-- WIP -->
+      <description>Injected by a radio link endpoint into the MAVLink stream for purposes of flow control. Should be emitted only by components with component id MAV_COMP_ID_TELEMETRY_RADIO.</description>
+      <field type="uint16_t" name="tx_ser_rate" units="bytes/s" invalid="UINT16_MAX">Transmitted bytes per second, UINT16_MAX: invalid/unknown.</field>
+      <field type="uint16_t" name="rx_ser_rate" units="bytes/s" invalid="UINT16_MAX">Received bytes per second, UINT16_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="tx_used_ser_bandwidth" units="c%" invalid="UINT8_MAX">Transmit bandwidth consumption. Values: 0..100, UINT8_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="rx_used_ser_bandwidth" units="c%" invalid="UINT8_MAX">Receive bandwidth consumption. Values: 0..100, UINT8_MAX: invalid/unknown.</field>
+      <field type="uint8_t" name="txbuf" units="c%" invalid="UINT8_MAX">For compatibility with legacy method. UINT8_MAX: unknown.</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/test.xml b/src/main/resources/mavlink/ardupilot/test.xml
new file mode 100644
index 0000000..c680207
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/test.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<mavlink>
+  <version>3</version>
+  <messages>
+    <message id="17000" name="TEST_TYPES">
+      <description>Test all field types</description>
+      <field type="char" name="c">char</field>
+      <field type="char[10]" name="s">string</field>
+      <field type="uint8_t" name="u8">uint8_t</field>
+      <field type="uint16_t" name="u16">uint16_t</field>
+      <field print_format="0x%08x" type="uint32_t" name="u32">uint32_t</field>
+      <field type="uint64_t" name="u64">uint64_t</field>
+      <field type="int8_t" name="s8">int8_t</field>
+      <field type="int16_t" name="s16">int16_t</field>
+      <field type="int32_t" name="s32">int32_t</field>
+      <field type="int64_t" name="s64">int64_t</field>
+      <field type="float" name="f">float</field>
+      <field type="double" name="d">double</field>
+      <field type="uint8_t[3]" name="u8_array">uint8_t_array</field>
+      <field type="uint16_t[3]" name="u16_array">uint16_t_array</field>
+      <field type="uint32_t[3]" name="u32_array">uint32_t_array</field>
+      <field type="uint64_t[3]" name="u64_array">uint64_t_array</field>
+      <field type="int8_t[3]" name="s8_array">int8_t_array</field>
+      <field type="int16_t[3]" name="s16_array">int16_t_array</field>
+      <field type="int32_t[3]" name="s32_array">int32_t_array</field>
+      <field type="int64_t[3]" name="s64_array">int64_t_array</field>
+      <field type="float[3]" name="f_array">float_array</field>
+      <field type="double[3]" name="d_array">double_array</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/uAvionix.xml b/src/main/resources/mavlink/ardupilot/uAvionix.xml
new file mode 100644
index 0000000..63a33e3
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/uAvionix.xml
@@ -0,0 +1,208 @@
+<?xml version="1.0"?>
+<mavlink>
+  <!-- uAvionix contact info:                                     -->
+  <!-- company URL: http://www.uAvionix.com                       -->
+  <!-- email contact: matt@uAvionix.com or jeff@uAvionix.com      -->
+  <!-- mavlink ID range: 10000 - 10099                            -->
+  <include>common.xml</include>
+  <enums>
+    <enum name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE" bitmask="true">
+      <description>State flags for ADS-B transponder dynamic report</description>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED"/>
+      <entry value="8" name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND"/>
+      <entry value="16" name="UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_RF_SELECT" bitmask="true">
+      <description>Transceiver RF control flags for ADS-B transponder dynamic reports</description>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX">
+      <description>Status for ADS-B transponder dynamic input</description>
+      <entry value="0" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0"/>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D"/>
+      <entry value="3" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS"/>
+      <entry value="5" name="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_RF_HEALTH" bitmask="true">
+      <description>Status flags for ADS-B transponder dynamic output</description>
+      <entry value="1" name="UAVIONIX_ADSB_RF_HEALTH_OK"/>
+      <entry value="2" name="UAVIONIX_ADSB_RF_HEALTH_FAIL_TX"/>
+      <entry value="16" name="UAVIONIX_ADSB_RF_HEALTH_FAIL_RX"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE">
+      <description>Definitions for aircraft size</description>
+      <entry value="0" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA"/>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M"/>
+      <entry value="3" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M"/>
+      <entry value="5" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M"/>
+      <entry value="6" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M"/>
+      <entry value="7" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M"/>
+      <entry value="8" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M"/>
+      <entry value="9" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M"/>
+      <entry value="10" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M"/>
+      <entry value="11" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M"/>
+      <entry value="12" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M"/>
+      <entry value="13" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M"/>
+      <entry value="14" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M"/>
+      <entry value="15" name="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT">
+      <description>GPS lataral offset encoding</description>
+      <entry value="0" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA"/>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M"/>
+      <entry value="3" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M"/>
+      <entry value="5" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M"/>
+      <entry value="6" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M"/>
+      <entry value="7" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON">
+      <description>GPS longitudinal offset encoding</description>
+      <entry value="0" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA"/>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_EMERGENCY_STATUS">
+      <description>Emergency status encoding</description>
+      <entry value="0" name="UAVIONIX_ADSB_OUT_NO_EMERGENCY"/>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY"/>
+      <entry value="3" name="UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY"/>
+      <entry value="5" name="UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY"/>
+      <entry value="6" name="UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY"/>
+      <entry value="7" name="UAVIONIX_ADSB_OUT_RESERVED"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_CONTROL_STATE" bitmask="true">
+      <description>State flags for ADS-B transponder dynamic report</description>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_EXTERNAL_BARO_CROSSCHECKED"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_ON_GROUND"/>
+      <entry value="8" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_IDENT_BUTTON_ACTIVE"/>
+      <entry value="16" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_A_ENABLED"/>
+      <entry value="32" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_C_ENABLED"/>
+      <entry value="64" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_MODE_S_ENABLED"/>
+      <entry value="128" name="UAVIONIX_ADSB_OUT_CONTROL_STATE_1090ES_TX_ENABLED"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_XBIT" bitmask="true">
+      <description>State flags for X-Bit and reserved fields.</description>
+      <entry value="128" name="UAVIONIX_ADSB_XBIT_ENABLED"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_STATUS_STATE" bitmask="true">
+      <description>State flags for ADS-B transponder status report</description>
+      <entry value="1" name="UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND"/>
+      <entry value="2" name="UAVIONIX_ADSB_OUT_STATUS_STATE_INTERROGATED_SINCE_LAST"/>
+      <entry value="4" name="UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED"/>
+      <entry value="8" name="UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE"/>
+      <entry value="16" name="UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED"/>
+      <entry value="32" name="UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED"/>
+      <entry value="64" name="UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED"/>
+      <entry value="128" name="UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_STATUS_NIC_NACP">
+      <description>State flags for ADS-B transponder status report</description>
+      <entry value="1" name="UAVIONIX_ADSB_NIC_CR_20_NM"/>
+      <entry value="2" name="UAVIONIX_ADSB_NIC_CR_8_NM"/>
+      <entry value="3" name="UAVIONIX_ADSB_NIC_CR_4_NM"/>
+      <entry value="4" name="UAVIONIX_ADSB_NIC_CR_2_NM"/>
+      <entry value="5" name="UAVIONIX_ADSB_NIC_CR_1_NM"/>
+      <entry value="6" name="UAVIONIX_ADSB_NIC_CR_0_3_NM"/>
+      <entry value="7" name="UAVIONIX_ADSB_NIC_CR_0_2_NM"/>
+      <entry value="8" name="UAVIONIX_ADSB_NIC_CR_0_1_NM"/>
+      <entry value="9" name="UAVIONIX_ADSB_NIC_CR_75_M"/>
+      <entry value="10" name="UAVIONIX_ADSB_NIC_CR_25_M"/>
+      <entry value="11" name="UAVIONIX_ADSB_NIC_CR_7_5_M"/>
+      <entry value="16" name="UAVIONIX_ADSB_NACP_EPU_10_NM"/>
+      <entry value="32" name="UAVIONIX_ADSB_NACP_EPU_4_NM"/>
+      <entry value="48" name="UAVIONIX_ADSB_NACP_EPU_2_NM"/>
+      <entry value="64" name="UAVIONIX_ADSB_NACP_EPU_1_NM"/>
+      <entry value="80" name="UAVIONIX_ADSB_NACP_EPU_0_5_NM"/>
+      <entry value="96" name="UAVIONIX_ADSB_NACP_EPU_0_3_NM"/>
+      <entry value="112" name="UAVIONIX_ADSB_NACP_EPU_0_1_NM"/>
+      <entry value="128" name="UAVIONIX_ADSB_NACP_EPU_0_05_NM"/>
+      <entry value="144" name="UAVIONIX_ADSB_NACP_EPU_30_M"/>
+      <entry value="160" name="UAVIONIX_ADSB_NACP_EPU_10_M"/>
+      <entry value="176" name="UAVIONIX_ADSB_NACP_EPU_3_M"/>
+    </enum>
+    <enum name="UAVIONIX_ADSB_OUT_STATUS_FAULT" bitmask="true">
+      <description>State flags for ADS-B transponder fault report</description>
+      <entry value="8" name="UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL"/>
+      <entry value="16" name="UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_NO_POS"/>
+      <entry value="32" name="UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_UNAVAIL"/>
+      <entry value="64" name="UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL"/>
+      <entry value="128" name="UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ"/>
+    </enum>
+  </enums>
+  <messages>
+    <message id="10001" name="UAVIONIX_ADSB_OUT_CFG">
+      <description>Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)</description>
+      <field type="uint32_t" name="ICAO">Vehicle address (24 bit)</field>
+      <field type="char[9]" name="callsign">Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)</field>
+      <field type="uint8_t" name="emitterType" enum="ADSB_EMITTER_TYPE">Transmitting vehicle type. See ADSB_EMITTER_TYPE enum</field>
+      <field type="uint8_t" name="aircraftSize" enum="UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE">Aircraft length and width encoding (table 2-35 of DO-282B)</field>
+      <field type="uint8_t" name="gpsOffsetLat" enum="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT">GPS antenna lateral offset (table 2-36 of DO-282B)</field>
+      <field type="uint8_t" name="gpsOffsetLon" enum="UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON">GPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)</field>
+      <field type="uint16_t" name="stallSpeed" units="cm/s">Aircraft stall speed in cm/s</field>
+      <field type="uint8_t" name="rfSelect" enum="UAVIONIX_ADSB_OUT_RF_SELECT">ADS-B transponder receiver and transmit enable flags</field>
+    </message>
+    <message id="10002" name="UAVIONIX_ADSB_OUT_DYNAMIC">
+      <description>Dynamic data used to generate ADS-B out transponder data (send at 5Hz)</description>
+      <field type="uint32_t" name="utcTime" units="s">UTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX</field>
+      <field type="int32_t" name="gpsLat" units="degE7">Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX</field>
+      <field type="int32_t" name="gpsLon" units="degE7">Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX</field>
+      <field type="int32_t" name="gpsAlt" units="mm">Altitude (WGS84). UP +ve. If unknown set to INT32_MAX</field>
+      <field type="uint8_t" name="gpsFix" enum="UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX">0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK</field>
+      <field type="uint8_t" name="numSats">Number of satellites visible. If unknown set to UINT8_MAX</field>
+      <field type="int32_t" name="baroAltMSL" units="mbar">Barometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX</field>
+      <field type="uint32_t" name="accuracyHor" units="mm">Horizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX</field>
+      <field type="uint16_t" name="accuracyVert" units="cm">Vertical accuracy in cm. If unknown set to UINT16_MAX</field>
+      <field type="uint16_t" name="accuracyVel" units="mm/s">Velocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX</field>
+      <field type="int16_t" name="velVert" units="cm/s">GPS vertical speed in cm/s. If unknown set to INT16_MAX</field>
+      <field type="int16_t" name="velNS" units="cm/s">North-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX</field>
+      <field type="int16_t" name="VelEW" units="cm/s">East-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX</field>
+      <field type="uint8_t" name="emergencyStatus" enum="UAVIONIX_ADSB_EMERGENCY_STATUS">Emergency status</field>
+      <field type="uint16_t" name="state" enum="UAVIONIX_ADSB_OUT_DYNAMIC_STATE">ADS-B transponder dynamic input state flags</field>
+      <field type="uint16_t" name="squawk">Mode A code (typically 1200 [0x04B0] for VFR)</field>
+    </message>
+    <message id="10003" name="UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT">
+      <description>Transceiver heartbeat with health report (updated every 10s)</description>
+      <field type="uint8_t" name="rfHealth" enum="UAVIONIX_ADSB_RF_HEALTH">ADS-B transponder messages</field>
+    </message>
+    <message id="10004" name="UAVIONIX_ADSB_OUT_CFG_REGISTRATION">
+      <description>Aircraft Registration.</description>
+      <field type="char[9]" name="registration">Aircraft Registration (ASCII string A-Z, 0-9 only), e.g. "N8644B ". Trailing spaces (0x20) only. This is null-terminated.</field>
+    </message>
+    <message id="10005" name="UAVIONIX_ADSB_OUT_CFG_FLIGHTID">
+      <description>Flight Identification for ADSB-Out vehicles.</description>
+      <field type="char[9]" name="flight_id">Flight Identification: 8 ASCII characters, '0' through '9', 'A' through 'Z' or space. Spaces (0x20) used as a trailing pad character, or when call sign is unavailable. Reflects Control message setting. This is null-terminated.</field>
+    </message>
+    <message id="10006" name="UAVIONIX_ADSB_GET">
+      <description>Request messages.</description>
+      <field type="uint32_t" name="ReqMessageId">Message ID to request. Supports any message in this 10000-10099 range</field>
+    </message>
+    <message id="10007" name="UAVIONIX_ADSB_OUT_CONTROL">
+      <description>Control message with all data sent in UCP control message.</description>
+      <field type="uint8_t" name="state" enum="UAVIONIX_ADSB_OUT_CONTROL_STATE">ADS-B transponder control state flags</field>
+      <field type="int32_t" name="baroAltMSL" units="mbar">Barometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX</field>
+      <field type="uint16_t" name="squawk">Mode A code (typically 1200 [0x04B0] for VFR)</field>
+      <field type="uint8_t" name="emergencyStatus" enum="UAVIONIX_ADSB_EMERGENCY_STATUS">Emergency status</field>
+      <field type="char[8]" name="flight_id">Flight Identification: 8 ASCII characters, '0' through '9', 'A' through 'Z' or space. Spaces (0x20) used as a trailing pad character, or when call sign is unavailable.</field>
+      <field type="uint8_t" name="x_bit" enum="UAVIONIX_ADSB_XBIT">X-Bit enable (military transponders only)</field>
+    </message>
+    <message id="10008" name="UAVIONIX_ADSB_OUT_STATUS">
+      <description>Status message with information from UCP Heartbeat and Status messages.</description>
+      <field type="uint8_t" name="state" enum="UAVIONIX_ADSB_OUT_STATUS_STATE">ADS-B transponder status state flags</field>
+      <field type="uint16_t" name="squawk">Mode A code (typically 1200 [0x04B0] for VFR)</field>
+      <field type="uint8_t" name="NIC_NACp" enum="UAVIONIX_ADSB_OUT_STATUS_NIC_NACP">Integrity and Accuracy of traffic reported as a 4-bit value for each field (NACp 7:4, NIC 3:0) and encoded by Containment Radius (HPL) and Estimated Position Uncertainty (HFOM), respectively</field>
+      <field type="uint8_t" name="boardTemp">Board temperature in C</field>
+      <field type="uint8_t" name="fault" enum="UAVIONIX_ADSB_OUT_STATUS_FAULT">ADS-B transponder fault flags</field>
+      <field type="char[8]" name="flight_id">Flight Identification: 8 ASCII characters, '0' through '9', 'A' through 'Z' or space. Spaces (0x20) used as a trailing pad character, or when call sign is unavailable.</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/src/main/resources/mavlink/ardupilot/ualberta.xml b/src/main/resources/mavlink/ardupilot/ualberta.xml
new file mode 100644
index 0000000..e0a6214
--- /dev/null
+++ b/src/main/resources/mavlink/ardupilot/ualberta.xml
@@ -0,0 +1,76 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>common.xml</include>
+  <enums>
+    <enum name="UALBERTA_AUTOPILOT_MODE">
+      <description>Available autopilot modes for ualberta uav</description>
+      <entry value="1" name="MODE_MANUAL_DIRECT">
+        <description>Raw input pulse widts sent to output</description>
+      </entry>
+      <entry value="2" name="MODE_MANUAL_SCALED">
+        <description>Inputs are normalized using calibration, the converted back to raw pulse widths for output</description>
+      </entry>
+      <entry value="3" name="MODE_AUTO_PID_ATT">
+        <description> dfsdfs</description>
+      </entry>
+      <entry value="4" name="MODE_AUTO_PID_VEL">
+        <description> dfsfds</description>
+      </entry>
+      <entry value="5" name="MODE_AUTO_PID_POS">
+        <description> dfsdfsdfs</description>
+      </entry>
+    </enum>
+    <enum name="UALBERTA_NAV_MODE">
+      <description>Navigation filter mode</description>
+      <entry value="1" name="NAV_AHRS_INIT"/>
+      <entry value="2" name="NAV_AHRS">
+        <description>AHRS mode</description>
+      </entry>
+      <entry value="3" name="NAV_INS_GPS_INIT">
+        <description>INS/GPS initialization mode</description>
+      </entry>
+      <entry value="4" name="NAV_INS_GPS">
+        <description>INS/GPS mode</description>
+      </entry>
+    </enum>
+    <enum name="UALBERTA_PILOT_MODE">
+      <description>Mode currently commanded by pilot</description>
+      <entry value="1" name="PILOT_MANUAL">
+        <description> sdf</description>
+      </entry>
+      <entry value="2" name="PILOT_AUTO">
+        <description> dfs</description>
+      </entry>
+      <entry value="3" name="PILOT_ROTO">
+        <description> Rotomotion mode </description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message id="220" name="NAV_FILTER_BIAS">
+      <description>Accelerometer and Gyro biases from the navigation filter</description>
+      <field type="uint64_t" name="usec">Timestamp (microseconds)</field>
+      <field type="float" name="accel_0">b_f[0]</field>
+      <field type="float" name="accel_1">b_f[1]</field>
+      <field type="float" name="accel_2">b_f[2]</field>
+      <field type="float" name="gyro_0">b_f[0]</field>
+      <field type="float" name="gyro_1">b_f[1]</field>
+      <field type="float" name="gyro_2">b_f[2]</field>
+    </message>
+    <message id="221" name="RADIO_CALIBRATION">
+      <description>Complete set of calibration parameters for the radio</description>
+      <field type="uint16_t[3]" name="aileron">Aileron setpoints: left, center, right</field>
+      <field type="uint16_t[3]" name="elevator">Elevator setpoints: nose down, center, nose up</field>
+      <field type="uint16_t[3]" name="rudder">Rudder setpoints: nose left, center, nose right</field>
+      <field type="uint16_t[2]" name="gyro">Tail gyro mode/gain setpoints: heading hold, rate mode</field>
+      <field type="uint16_t[5]" name="pitch">Pitch curve setpoints (every 25%)</field>
+      <field type="uint16_t[5]" name="throttle">Throttle curve setpoints (every 25%)</field>
+    </message>
+    <message id="222" name="UALBERTA_SYS_STATUS">
+      <description>System status specific to ualberta uav</description>
+      <field type="uint8_t" name="mode">System mode, see UALBERTA_AUTOPILOT_MODE ENUM</field>
+      <field type="uint8_t" name="nav_mode">Navigation mode, see UALBERTA_NAV_MODE ENUM</field>
+      <field type="uint8_t" name="pilot">Pilot mode, see UALBERTA_PILOT_MODE</field>
+    </message>
+  </messages>
+</mavlink>

From bfaaf5235627e440efca24a1351e481b1add688d Mon Sep 17 00:00:00 2001
From: Matthew Buckton <matthew@buckton.org>
Date: Sun, 26 Apr 2026 20:34:13 +1000
Subject: [PATCH 29/34] test(mavlink): remove legacy
 `MavlinkFrameRoundTripAllMessagesTest` and refactor test coverage

Removed `MavlinkFrameRoundTripAllMessagesTest` as its functionality is now consolidated into `MavlinkRoundTripAllMessagesTest` with enhanced dialect support. Refactored `RandomValueFactory` for improved random value generation and added dialect-specific handling of message round trips.
---
 .../mavlink/MavlinkDialectLoadTest.java       |   2 +-
 .../MavlinkFrameRoundTripAllMessagesTest.java | 221 -------------
 .../MavlinkRoundTripAllMessagesTest.java      | 274 +++++++++++-----
 .../mavlink/MavlinkTestSupport.java           |   6 +
 .../mavlink/RandomValueFactory.java           | 309 ++++++++++++------
 5 files changed, 414 insertions(+), 398 deletions(-)
 delete mode 100644 src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java

diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java
index 83b213a..5b9e470 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkDialectLoadTest.java
@@ -91,7 +91,7 @@ void testArduPilotDialectLoadsFullIncludeChain() throws Exception {
     );
   }
 
-  private static Path resourcePath(String resourceName) throws URISyntaxException {
+  public static Path resourcePath(String resourceName) throws URISyntaxException {
     ClassLoader classLoader = Thread.currentThread().getContextClassLoader();
     URL resource = classLoader.getResource(resourceName);
 
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
deleted file mode 100644
index 12c13b2..0000000
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkFrameRoundTripAllMessagesTest.java
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- *  Copyright [ 2020 - 2024 ] Matthew Buckton
- *  Copyright [ 2024 - 2026 ] MapsMessaging B.V.
- *
- *  Licensed under the Apache License, Version 2.0 with the Commons Clause
- *  (the "License"); you may not use this file except in compliance with the License.
- *  You may obtain a copy of the License at:
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *      https://commonsclause.com/
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- *
- */
-
-package io.mapsmessaging.mavlink;
-
-import io.mapsmessaging.mavlink.codec.MavlinkCodec;
-import io.mapsmessaging.mavlink.codec.MavlinkFrameCodec;
-import io.mapsmessaging.mavlink.context.FrameFailureReason;
-import io.mapsmessaging.mavlink.framing.SigningKeyProvider;
-import io.mapsmessaging.mavlink.message.CompiledMessage;
-import io.mapsmessaging.mavlink.message.Frame;
-import io.mapsmessaging.mavlink.message.MessageRegistry;
-import io.mapsmessaging.mavlink.message.Version;
-import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
-import io.mapsmessaging.mavlink.signing.MapSigningKeyProvider;
-import io.mapsmessaging.mavlink.signing.NoSigningKeyProvider;
-import io.mapsmessaging.mavlink.signing.StaticSigningKeyProvider;
-import org.junit.jupiter.api.DynamicTest;
-import org.junit.jupiter.api.TestFactory;
-
-import java.nio.ByteBuffer;
-import java.util.*;
-import java.util.stream.Stream;
-
-import static org.junit.jupiter.api.Assertions.*;
-
-class MavlinkFrameRoundTripAllMessagesTest extends BaseRoudTripTest {
-
-  private static final byte[] TEST_SIGNING_KEY = buildTestSigningKey();
-
-  private static byte[] buildTestSigningKey() {
-    Random random = new Random();
-    byte[] key = new byte[32];
-    random.nextBytes(key);
-    return key;
-  }
-
-  @TestFactory
-  Stream<DynamicTest> allMessages_frame_roundTrip_v2_unsigned_fullPayload() throws Exception {
-    return buildRoundTripTests(false);
-  }
-
-  @TestFactory
-  Stream<DynamicTest> allMessages_frame_roundTrip_v2_unsigned_fullPayload_allSigningProviders() throws Exception {
-    return buildRoundTripTests(false);
-  }
-
-  @TestFactory
-  Stream<DynamicTest> allMessages_frame_roundTrip_v2_signed_fullPayload_allSigningProviders() throws Exception {
-    return buildRoundTripTests(true);
-  }
-
-  private Stream<DynamicTest> buildRoundTripTests(boolean signFrames) throws Exception {
-    MavlinkCodec payloadCodec = MavlinkTestSupport.codec();
-    MessageRegistry registry = payloadCodec.getRegistry();
-
-    List<SigningProviderCase> signingProviderCases = buildSigningProviderCases(signFrames);
-
-    String signingSuffix = signFrames ? "signed" : "unsigned";
-
-    return signingProviderCases.stream()
-        .flatMap(signingProviderCase -> registry.getCompiledMessages().stream()
-            .map(message -> DynamicTest.dynamicTest(
-                message.getMessageId()
-                    + " "
-                    + message.getName()
-                    + " ("
-                    + signingSuffix
-                    + ", "
-                    + signingProviderCase.displayName
-                    + ")",
-                () -> runRoundTripCase(payloadCodec, registry, message, signFrames, signingProviderCase)
-            )));
-  }
-
-  private void runRoundTripCase(
-      MavlinkCodec payloadCodec,
-      MessageRegistry registry,
-      CompiledMessage message,
-      boolean signFrames,
-      SigningProviderCase signingProviderCase
-  ) throws Exception {
-
-    MavlinkFrameCodec frameCodec = new MavlinkFrameCodec(payloadCodec, signingProviderCase.signingKeyProvider);
-
-    if (signingProviderCase.expectSuccess) {
-      frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, message, signFrames);
-      return;
-    }
-
-    assertThrows(
-        Exception.class,
-        () -> frameRoundTripForMessageV2(frameCodec, payloadCodec, registry, message, signFrames),
-        "Expected failure for " + signingProviderCase.displayName + " when signFrames=" + signFrames
-    );
-  }
-
-  private List<SigningProviderCase> buildSigningProviderCases(boolean signFrames) {
-    List<SigningProviderCase> signingProviderCases = new ArrayList<>();
-
-    MapSigningKeyProvider mapSigningKeyProvider = new MapSigningKeyProvider();
-    mapSigningKeyProvider.register(1, 1, 0, TEST_SIGNING_KEY);
-
-    SigningKeyProvider staticSigningKeyProvider = new StaticSigningKeyProvider(TEST_SIGNING_KEY);
-
-    SigningKeyProvider noSigningKeyProvider = new NoSigningKeyProvider();
-
-    signingProviderCases.add(new SigningProviderCase("MapSigningKeyProvider", mapSigningKeyProvider, true));
-    signingProviderCases.add(new SigningProviderCase("StaticSigningKeyProvider", staticSigningKeyProvider, true));
-
-    boolean noSigningKeyProviderShouldSucceed = !signFrames;
-    signingProviderCases.add(new SigningProviderCase("NoSigningKeyProvider", noSigningKeyProvider, noSigningKeyProviderShouldSucceed));
-
-    return signingProviderCases;
-  }
-
-  private static final class SigningProviderCase {
-
-    private final String displayName;
-    private final SigningKeyProvider signingKeyProvider;
-    private final boolean expectSuccess;
-
-    private SigningProviderCase(String displayName, SigningKeyProvider signingKeyProvider, boolean expectSuccess) {
-      this.displayName = displayName;
-      this.signingKeyProvider = signingKeyProvider;
-      this.expectSuccess = expectSuccess;
-    }
-  }
-
-  private static void frameRoundTripForMessageV2(
-      MavlinkFrameCodec frameCodec,
-      MavlinkCodec payloadCodec,
-      MessageRegistry registry,
-      CompiledMessage msg,
-      boolean signFrame
-  ) throws Exception {
-
-    Map<String, Object> values =
-        RandomValueFactory.buildValues(registry, msg, MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT, BASE_SEED);
-
-    byte[] payload = payloadCodec.encodePayload(msg.getMessageId(), values);
-    assertNotNull(payload);
-
-    Frame frame = new Frame();
-    frame.setVersion(Version.V2);
-    frame.setSequence(42);
-    frame.setSystemId(1);
-    frame.setComponentId(1);
-    frame.setMessageId(msg.getMessageId());
-    frame.setPayload(payload);
-    frame.setPayloadLength(payload.length);
-
-    frame.setSigned(signFrame);
-    frame.setIncompatibilityFlags(signFrame ? (byte) 1 : (byte) 0);
-    frame.setCompatibilityFlags((byte) 0);
-    frame.setSignature(null);
-
-    ByteBuffer out = ByteBuffer.allocate(payload.length + 128);
-    frameCodec.packFrame(out, frame);
-
-    out.flip();
-
-    ByteBuffer networkOwned = ByteBuffer.allocate(out.remaining() + 16);
-    networkOwned.put(out);
-    networkOwned.flip();
-
-    Optional<Frame> decodedOpt = frameCodec.tryUnpackFrame(networkOwned);
-    assertTrue(decodedOpt.isPresent(), "Expected to decode a frame");
-
-    Frame decoded = decodedOpt.get();
-
-    if (signFrame) {
-      assertTrue(decoded.isSigned(), "Expected signed frame");
-      assertEquals(FrameFailureReason.OK, decoded.getValidated(),  "Expected signature validation to succeed");
-      assertNotNull(decoded.getSignature(), "Expected signature bytes");
-      assertEquals(13, decoded.getSignature().length, "Expected 13-byte MAVLink v2 signature block");
-    } else {
-      assertFalse(decoded.isSigned(), "Expected unsigned frame");
-      assertNotEquals(FrameFailureReason.OK, decoded.getValidated(),  "Expected validated=false for unsigned frame");
-      assertNull(decoded.getSignature(), "Expected signature to be null for unsigned frame");
-    }
-
-    assertEquals(frame.getVersion(), decoded.getVersion());
-    assertEquals(frame.getSequence(), decoded.getSequence());
-    assertEquals(frame.getSystemId(), decoded.getSystemId());
-    assertEquals(frame.getComponentId(), decoded.getComponentId());
-    assertEquals(frame.getMessageId(), decoded.getMessageId());
-
-    assertNotNull(decoded.getPayload());
-    assertArrayEquals(frame.getPayload(), decoded.getPayload(), "Payload bytes mismatch");
-
-    Map<String, Object> output = payloadCodec.parsePayload(decoded.getMessageId(), decoded.getPayload());
-
-    for (Map.Entry<String, Object> entry : values.entrySet()) {
-      String fieldName = entry.getKey();
-      Object expected = entry.getValue();
-      Object actual = output.get(fieldName);
-      assertNotNull(actual, "Missing field after decode: " + fieldName);
-
-      FieldDefinition fieldDefinition = RandomValueFactory.fieldByName(msg, fieldName);
-      ValueAssertions.assertFieldEquals(fieldDefinition, expected, actual, msg);
-    }
-  }
-}
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
index 275284c..15f22fb 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkRoundTripAllMessagesTest.java
@@ -28,59 +28,119 @@
 import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.TestFactory;
 
-import java.util.*;
-import java.util.concurrent.*;
+import java.nio.file.Path;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.Callable;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
+import java.util.concurrent.TimeUnit;
 import java.util.stream.Stream;
 
-import static org.junit.jupiter.api.Assertions.*;
-
-public class MavlinkRoundTripAllMessagesTest extends BaseRoudTripTest {
+import static io.mapsmessaging.mavlink.MavlinkDialectLoadTest.resourcePath;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.junit.jupiter.api.Assertions.fail;
 
+class MavlinkRoundTripAllMessagesTest extends BaseRoudTripTest {
 
   @TestFactory
   Stream<DynamicTest> allMessages_baseFields_roundTrip() throws Exception {
-    MavlinkCodec codec = MavlinkTestSupport.codec();
-    MessageRegistry registry = codec.getRegistry();
-
-    return registry.getCompiledMessages().stream()
-        .map(msg -> DynamicTest.dynamicTest(
-            msg.getMessageId() + " " + msg.getName(),
-            () -> roundTripForMessage(codec, registry, msg, ExtensionMode.OMIT_ALL)
-        ));
+    List<DynamicTest> dynamicTests = new ArrayList<>();
+
+    for (Map.Entry<String, Path> dialectEntry : buildDialectEntries()) {
+      MavlinkCodec codec = MavlinkTestSupport.loadPath(dialectEntry.getValue());
+      MessageRegistry registry = codec.getRegistry();
+
+      registry.getCompiledMessages().stream()
+          .map(message -> DynamicTest.dynamicTest(
+              dialectEntry.getKey()
+                  + " / "
+                  + message.getMessageId()
+                  + " "
+                  + message.getName(),
+              () -> roundTripForMessage(codec, registry, message, ExtensionMode.OMIT_ALL)
+          ))
+          .forEach(dynamicTests::add);
+    }
+
+    return dynamicTests.stream();
   }
 
   @TestFactory
   Stream<DynamicTest> allMessages_extensions_omitted_vs_present_payloadSizing() throws Exception {
-    MavlinkCodec codec = MavlinkTestSupport.codec();
-    MessageRegistry registry = codec.getRegistry();
-
-    return registry.getCompiledMessages().stream()
-        .filter(msg -> msg.getCompiledFields().stream().anyMatch(cf -> MavlinkTestSupport.fieldDefinition(cf).isExtension()))
-        .map(msg -> DynamicTest.dynamicTest(
-            msg.getMessageId() + " " + msg.getName(),
-            () -> extensionSizingForMessage(codec, registry, msg)
-        ));
+    List<DynamicTest> dynamicTests = new ArrayList<>();
+
+    for (Map.Entry<String, Path> dialectEntry : buildDialectEntries()) {
+      MavlinkCodec codec = MavlinkTestSupport.loadPath(dialectEntry.getValue());
+      MessageRegistry registry = codec.getRegistry();
+
+      registry.getCompiledMessages().stream()
+          .filter(message -> message.getCompiledFields().stream()
+              .anyMatch(compiledField -> MavlinkTestSupport.fieldDefinition(compiledField).isExtension()))
+          .map(message -> DynamicTest.dynamicTest(
+              dialectEntry.getKey()
+                  + " / "
+                  + message.getMessageId()
+                  + " "
+                  + message.getName(),
+              () -> extensionSizingForMessage(codec, registry, message)
+          ))
+          .forEach(dynamicTests::add);
+    }
+
+    return dynamicTests.stream();
   }
 
   @TestFactory
   Stream<DynamicTest> parallel_encode_decode_sanity_no_shared_state_per_message() throws Exception {
-    MavlinkCodec codec = MavlinkTestSupport.codec();
-    MessageRegistry registry = codec.getRegistry();
+    List<DynamicTest> dynamicTests = new ArrayList<>();
+
+    for (Map.Entry<String, Path> dialectEntry : buildDialectEntries()) {
+      MavlinkCodec codec = MavlinkTestSupport.loadPath(dialectEntry.getValue());
+      MessageRegistry registry = codec.getRegistry();
+
+      int threads = Math.max(2, Runtime.getRuntime().availableProcessors() / 2);
+      int tasksPerMessage = 8;
+
+      registry.getCompiledMessages().stream()
+          .map(message -> DynamicTest.dynamicTest(
+              dialectEntry.getKey()
+                  + " / "
+                  + message.getMessageId()
+                  + " "
+                  + message.getName(),
+              () -> runParallelRoundTrips(codec, registry, message, threads, tasksPerMessage)
+          ))
+          .forEach(dynamicTests::add);
+    }
+
+    return dynamicTests.stream();
+  }
+
+  private static List<Map.Entry<String, Path>> buildDialectEntries() throws Exception {
+    List<Map.Entry<String, Path>> dialectEntries = new ArrayList<>();
 
-    int threads = Math.max(2, Runtime.getRuntime().availableProcessors() / 2);
-    int tasksPerMessage = 8; // tune: enough to shake shared state without being silly
+    dialectEntries.add(Map.entry(
+        "common",
+        resourcePath("mavlink/common.xml")
+    ));
 
-    return registry.getCompiledMessages().stream()
-        .map(msg -> DynamicTest.dynamicTest(
-            msg.getMessageId() + " " + msg.getName(),
-            () -> runParallelRoundTrips(codec, registry, msg, threads, tasksPerMessage)
-        ));
+    dialectEntries.add(Map.entry(
+        "ardupilot all",
+        resourcePath("mavlink/ardupilot/all.xml")
+    ));
+
+    return dialectEntries;
   }
 
   private static void runParallelRoundTrips(
       MavlinkCodec codec,
       MessageRegistry registry,
-      CompiledMessage msg,
+      CompiledMessage message,
       int threads,
       int tasksPerMessage
   ) throws Exception {
@@ -89,102 +149,145 @@ private static void runParallelRoundTrips(
 
     try {
       List<Callable<Void>> callables = new ArrayList<>(tasksPerMessage);
-      for (int i = 0; i < tasksPerMessage; i++) {
-        final int taskIndex = i;
+
+      for (int taskIndex = 0; taskIndex < tasksPerMessage; taskIndex++) {
+        final int currentTaskIndex = taskIndex;
 
         callables.add(() -> {
-          // Vary seed per task so we don't just replay the same values in parallel.
-          long seed = BASE_SEED ^ (((long) msg.getMessageId()) << 32) ^ taskIndex;
-          Map<String, Object> input =
-              RandomValueFactory.buildValues(registry, msg, ExtensionMode.SOME_PRESENT, seed);
+          long seed = BASE_SEED ^ (((long) message.getMessageId()) << 32) ^ currentTaskIndex;
 
-          byte[] payload = codec.encodePayload(msg.getMessageId(), input);
-          Map<String, Object> output = codec.parsePayload(msg.getMessageId(), payload);
+          Map<String, Object> input = RandomValueFactory.buildValues(registry, message, ExtensionMode.SOME_PRESENT, seed);
+
+          byte[] payload = codec.encodePayload(message.getMessageId(), input);
+          Map<String, Object> output = codec.parsePayload(message.getMessageId(), payload);
 
           for (Map.Entry<String, Object> entry : input.entrySet()) {
             String fieldName = entry.getKey();
             Object expected = entry.getValue();
             Object actual = output.get(fieldName);
+
             if (actual == null) {
-              fail("Missing field after decode: message " + msg.getMessageId() + " (" + msg.getName() + ") field=" + fieldName);
+              fail(
+                  "Missing field after decode: message "
+                      + message.getMessageId()
+                      + " ("
+                      + message.getName()
+                      + ") field="
+                      + fieldName
+              );
             }
 
-            FieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
-            ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
+            FieldDefinition fieldDefinition = RandomValueFactory.fieldByName(message, fieldName);
+            ValueAssertions.assertFieldEquals(fieldDefinition, expected, actual, message);
           }
+
           return null;
         });
       }
 
       List<Future<Void>> futures = executor.invokeAll(callables, 30, TimeUnit.SECONDS);
-      for (Future<Void> f : futures) {
-        f.get();
+
+      for (Future<Void> future : futures) {
+        future.get();
       }
     } finally {
       executor.shutdownNow();
     }
   }
+
   private static void roundTripForMessage(
       MavlinkCodec codec,
       MessageRegistry registry,
-      CompiledMessage msg,
+      CompiledMessage message,
       ExtensionMode extensionMode
   ) throws Exception {
 
-    Map<String, Object> input = RandomValueFactory.buildValues(registry, msg, extensionMode, BASE_SEED);
-    byte[] payload = codec.encodePayload(msg.getMessageId(), input);
+    Map<String, Object> input = RandomValueFactory.buildValues(registry, message, extensionMode, BASE_SEED);
+
+    byte[] payload = codec.encodePayload(message.getMessageId(), input);
     assertNotNull(payload);
     assertTrue(payload.length > 0, "payload length must be > 0");
 
-    Map<String, Object> output = codec.parsePayload(msg.getMessageId(), payload);
+    Map<String, Object> output = codec.parsePayload(message.getMessageId(), payload);
     assertNotNull(output);
 
-    // Compare only the fields we provided.
-    // (If you want to enforce “missing required becomes 0”, add a separate test.)
     for (Map.Entry<String, Object> entry : input.entrySet()) {
       String fieldName = entry.getKey();
       Object expected = entry.getValue();
       Object actual = output.get(fieldName);
 
-      // Parser may omit trailing extension fields if payload shorter.
       if (actual == null) {
-        // If we set it, it should exist after decode.
-        fail("Missing field after decode for message " + msg.getMessageId() + " (" + msg.getName() + "): " + fieldName);
+        fail(
+            "Missing field after decode for message "
+                + message.getMessageId()
+                + " ("
+                + message.getName()
+                + "): "
+                + fieldName
+        );
       }
 
-      FieldDefinition fd = RandomValueFactory.fieldByName(msg, fieldName);
-      ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
+      FieldDefinition fieldDefinition = RandomValueFactory.fieldByName(message, fieldName);
+      ValueAssertions.assertFieldEquals(fieldDefinition, expected, actual, message);
     }
   }
 
   private static void extensionSizingForMessage(
       MavlinkCodec codec,
       MessageRegistry registry,
-      CompiledMessage msg
+      CompiledMessage message
   ) throws Exception {
 
-    int baseSize = PayloadSizing.computeBaseSize(msg);
-
-    Map<String, Object> baseOnly = RandomValueFactory.buildValues(registry, msg, ExtensionMode.OMIT_ALL, BASE_SEED);
-    byte[] basePayload = codec.encodePayload(msg.getMessageId(), baseOnly);
-    assertEquals(baseSize, basePayload.length,
-        "Base payload size mismatch for message " + msg.getMessageId() + " (" + msg.getName() + ")");
+    int baseSize = PayloadSizing.computeBaseSize(message);
+
+    Map<String, Object> baseOnly = RandomValueFactory.buildValues(
+        registry,
+        message,
+        ExtensionMode.OMIT_ALL,
+        BASE_SEED
+    );
+
+    byte[] basePayload = codec.encodePayload(message.getMessageId(), baseOnly);
+
+    assertEquals(
+        baseSize,
+        basePayload.length,
+        "Base payload size mismatch for message "
+            + message.getMessageId()
+            + " ("
+            + message.getName()
+            + ")"
+    );
+
+    Map<String, Object> withExtensions = RandomValueFactory.buildValues(
+        registry,
+        message,
+        ExtensionMode.SOME_PRESENT,
+        BASE_SEED
+    );
+
+    byte[] extensionPayload = codec.encodePayload(message.getMessageId(), withExtensions);
+
+    assertTrue(
+        extensionPayload.length >= baseSize,
+        "Extension payload should be >= base size for message "
+            + message.getMessageId()
+            + " ("
+            + message.getName()
+            + ")"
+    );
+
+    Map<String, Object> decoded = codec.parsePayload(message.getMessageId(), extensionPayload);
 
-    Map<String, Object> withExt = RandomValueFactory.buildValues(registry, msg, ExtensionMode.SOME_PRESENT, BASE_SEED);
-    byte[] extPayload = codec.encodePayload(msg.getMessageId(), withExt);
-    assertTrue(extPayload.length >= baseSize,
-        "Extension payload should be >= base size for message " + msg.getMessageId() + " (" + msg.getName() + ")");
-
-    // Decode should succeed and base fields should remain stable.
-    Map<String, Object> decoded = codec.parsePayload(msg.getMessageId(), extPayload);
     for (Map.Entry<String, Object> entry : baseOnly.entrySet()) {
-      String name = entry.getKey();
+      String fieldName = entry.getKey();
       Object expected = entry.getValue();
-      Object actual = decoded.get(name);
-      assertNotNull(actual, "Missing base field after extension decode: " + name);
+      Object actual = decoded.get(fieldName);
+
+      assertNotNull(actual, "Missing base field after extension decode: " + fieldName);
 
-      FieldDefinition fd = RandomValueFactory.fieldByName(msg, name);
-      ValueAssertions.assertFieldEquals(fd, expected, actual, msg);
+      FieldDefinition fieldDefinition = RandomValueFactory.fieldByName(message, fieldName);
+      ValueAssertions.assertFieldEquals(fieldDefinition, expected, actual, message);
     }
   }
 
@@ -195,20 +298,23 @@ public enum ExtensionMode {
 
   static final class PayloadSizing {
 
-    private PayloadSizing() {}
+    private PayloadSizing() {
+    }
 
-    static int computeBaseSize(CompiledMessage msg) {
+    static int computeBaseSize(CompiledMessage message) {
       int size = 0;
-      for (CompiledField cf : msg.getCompiledFields()) {
-        FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
-        if (fd.isExtension()) {
+
+      for (CompiledField compiledField : message.getCompiledFields()) {
+        FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+
+        if (fieldDefinition.isExtension()) {
           break;
         }
-        size += cf.getSizeInBytes();
+
+        size += compiledField.getSizeInBytes();
       }
+
       return size;
     }
   }
-
-
-}
+}
\ No newline at end of file
diff --git a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
index 14e069d..94b010a 100644
--- a/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
+++ b/src/test/java/io/mapsmessaging/mavlink/MavlinkTestSupport.java
@@ -27,6 +27,7 @@
 import io.mapsmessaging.mavlink.message.fields.FieldDefinition;
 
 import java.lang.reflect.Field;
+import java.nio.file.Path;
 import java.util.Comparator;
 import java.util.List;
 import java.util.Map;
@@ -42,6 +43,11 @@ public static MavlinkCodec codec() throws Exception {
     return loader.getDialectOrThrow("common");
   }
 
+  public static MavlinkCodec loadPath(Path path) throws Exception {
+    MavlinkMessageFormatLoader loader = MavlinkMessageFormatLoader.getInstance();
+    return loader.loadDialect(path);
+  }
+
   public static MessageRegistry registry(MavlinkCodec codec) {
     return codec.getRegistry();
   }
diff --git a/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java b/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java
index 32ec66b..231896e 100644
--- a/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java
+++ b/src/test/java/io/mapsmessaging/mavlink/RandomValueFactory.java
@@ -36,56 +36,66 @@
 
 public class RandomValueFactory {
 
-  protected RandomValueFactory() {}
+  protected RandomValueFactory() {
+  }
 
   public static Map<String, Object> buildValues(
       MessageRegistry registry,
-      CompiledMessage msg,
+      CompiledMessage message,
       MavlinkRoundTripAllMessagesTest.ExtensionMode extensionMode,
       long baseSeed
   ) throws IOException {
 
     Map<String, Object> values = new LinkedHashMap<>();
-    List<CompiledField> fields = msg.getCompiledFields();
+    List<CompiledField> fields = message.getCompiledFields();
 
-    for (int i = 0; i < fields.size(); i++) {
-      CompiledField cf = fields.get(i);
-      FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
+    for (int fieldIndex = 0; fieldIndex < fields.size(); fieldIndex++) {
+      CompiledField compiledField = fields.get(fieldIndex);
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
 
-      if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.OMIT_ALL) {
+      if (fieldDefinition.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.OMIT_ALL) {
         continue;
       }
 
-      if (fd.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT) {
-        // include some extensions deterministically (not all)
-        long seed = perFieldSeed(baseSeed, msg.getMessageId(), i);
+      if (fieldDefinition.isExtension() && extensionMode == MavlinkRoundTripAllMessagesTest.ExtensionMode.SOME_PRESENT) {
+        long seed = perFieldSeed(baseSeed, message.getMessageId(), fieldIndex);
         Random random = new Random(seed);
+
         if (random.nextInt(100) < 60) {
-          continue; // omit ~60% of extension fields
+          continue;
         }
       }
 
-      Object value = generateValueForField(registry, msg.getMessageId(), fd, i, baseSeed);
-      values.put(fd.getName(), value);
+      Object value = generateValueForField(
+          registry,
+          message.getMessageId(),
+          fieldDefinition,
+          fieldIndex,
+          baseSeed
+      );
+
+      values.put(fieldDefinition.getName(), value);
     }
 
     return values;
   }
 
-  static FieldDefinition fieldByName(CompiledMessage msg, String fieldName) {
-    for (CompiledField cf : msg.getCompiledFields()) {
-      FieldDefinition fd = MavlinkTestSupport.fieldDefinition(cf);
-      if (fieldName.equals(fd.getName())) {
-        return fd;
+  static FieldDefinition fieldByName(CompiledMessage message, String fieldName) {
+    for (CompiledField compiledField : message.getCompiledFields()) {
+      FieldDefinition fieldDefinition = MavlinkTestSupport.fieldDefinition(compiledField);
+
+      if (fieldName.equals(fieldDefinition.getName())) {
+        return fieldDefinition;
       }
     }
-    throw new IllegalStateException("Unknown field '" + fieldName + "' in message " + msg.getMessageId());
+
+    throw new IllegalStateException("Unknown field '" + fieldName + "' in message " + message.getMessageId());
   }
 
   protected static Object generateValueForField(
       MessageRegistry registry,
       int messageId,
-      FieldDefinition fd,
+      FieldDefinition fieldDefinition,
       int fieldIndex,
       long baseSeed
   ) throws IOException {
@@ -93,34 +103,52 @@ protected static Object generateValueForField(
     long seed = perFieldSeed(baseSeed, messageId, fieldIndex);
     Random random = new Random(seed);
 
-    if (fd.isArray()) {
-      if (isCharType(fd)) {
-        return randomAsciiString(fd.getArrayLength(), messageId, fd.getName(), random);
+    if (fieldDefinition.isArray()) {
+      if (isCharType(fieldDefinition)) {
+        return randomAsciiString(fieldDefinition.getArrayLength(), messageId, fieldDefinition.getName(), random);
       }
-      Object[] arr = new Object[fd.getArrayLength()];
-      for (int i = 0; i < arr.length; i++) {
-        arr[i] = generateScalar(registry, fd, random);
+
+      Object[] values = new Object[fieldDefinition.getArrayLength()];
+
+      for (int arrayIndex = 0; arrayIndex < values.length; arrayIndex++) {
+        values[arrayIndex] = generateScalar(registry, fieldDefinition, random);
       }
-      return arr;
+
+      return values;
     }
 
-    return generateScalar(registry, fd, random);
+    return generateScalar(registry, fieldDefinition, random);
   }
 
-  protected static Object generateScalar(MessageRegistry registry, FieldDefinition fd, Random random) throws IOException {
-    String enumName = fd.getEnumName();
+  protected static Object generateScalar(
+      MessageRegistry registry,
+      FieldDefinition fieldDefinition,
+      Random random
+  ) throws IOException {
+
+    String enumName = fieldDefinition.getEnumName();
+
     if (enumName != null && !enumName.isEmpty()) {
-      EnumDefinition def = registry.getEnumsByName().get(enumName);
-      if (def != null && def.getEntries() != null && !def.getEntries().isEmpty()) {
-        if (def.isBitmask()) {
-          return pickBitmask(def, random);
+      EnumDefinition enumDefinition = registry.getEnumsByName().get(enumName);
+
+      if (
+          enumDefinition != null
+              && enumDefinition.getEntries() != null
+              && !enumDefinition.getEntries().isEmpty()
+      ) {
+        long enumValue;
+
+        if (enumDefinition.isBitmask()) {
+          enumValue = pickBitmask(enumDefinition, random);
+        } else {
+          enumValue = pickEnumValue(enumDefinition, random);
         }
-        return pickEnumValue(def, random);
+
+        return coerceValueToFieldType(fieldDefinition, enumValue);
       }
-      // If enum metadata missing, fall back to numeric in-range.
     }
 
-    String type = normalizeType(fd.getType());
+    String type = normalizeType(fieldDefinition.getType());
 
     return switch (type) {
       case "uint8_t" -> Integer.valueOf(random.nextInt(256));
@@ -129,62 +157,114 @@ protected static Object generateScalar(MessageRegistry registry, FieldDefinition
       case "uint16_t" -> Integer.valueOf(random.nextInt(65536));
       case "int16_t" -> Integer.valueOf(random.nextInt(65536) - 32768);
 
-      case "uint32_t" -> Long.valueOf(nextLongBounded(random, 0L, 0xFFFF_FFFFL));
+      case "uint32_t" -> Long.valueOf(nextUnsignedIntValue(random));
       case "int32_t" -> Integer.valueOf(random.nextInt());
 
-      case "uint64_t" -> Long.valueOf(nextLongBounded(random, 0L, Long.MAX_VALUE));
+      case "uint64_t" -> Long.valueOf(nextPositiveLongValue(random));
       case "int64_t" -> Long.valueOf(random.nextLong());
 
       case "float" -> Float.valueOf(nextFloatBounded(random, -10_000f, 10_000f));
       case "double" -> Double.valueOf(nextDoubleBounded(random, -10_000d, 10_000d));
 
-      // Some dialects use "char" for scalar, though rare.
       case "char" -> Integer.valueOf(random.nextInt(128));
 
-      default -> throw new IOException("Unsupported MAVLink field type: " + fd.getType() + " (normalized=" + type + ")");
+      default -> throw new IOException(
+          "Unsupported MAVLink field type: "
+              + fieldDefinition.getType()
+              + " (normalized="
+              + type
+              + ")"
+      );
+    };
+  }
+
+  protected static Object coerceValueToFieldType(
+      FieldDefinition fieldDefinition,
+      long value
+  ) throws IOException {
+
+    String type = normalizeType(fieldDefinition.getType());
+
+    return switch (type) {
+      case "uint8_t" -> Integer.valueOf((int) (value & 0xFFL));
+      case "int8_t" -> Integer.valueOf((byte) value);
+
+      case "uint16_t" -> Integer.valueOf((int) (value & 0xFFFFL));
+      case "int16_t" -> Integer.valueOf((short) value);
+
+      case "uint32_t" -> Long.valueOf(value & 0xFFFF_FFFFL);
+      case "int32_t" -> Integer.valueOf((int) value);
+
+      case "uint64_t" -> Long.valueOf(value);
+      case "int64_t" -> Long.valueOf(value);
+
+      case "char" -> Integer.valueOf((int) (value & 0x7FL));
+
+      default -> throw new IOException(
+          "Unsupported MAVLink enum field type: "
+              + fieldDefinition.getType()
+              + " (normalized="
+              + type
+              + ")"
+      );
     };
   }
 
-  protected static long pickEnumValue(EnumDefinition def, Random random) {
-    List<EnumEntry> entries = def.getEntries();
+  protected static long pickEnumValue(
+      EnumDefinition enumDefinition,
+      Random random
+  ) {
+    List<EnumEntry> entries = enumDefinition.getEntries();
     EnumEntry entry = entries.get(random.nextInt(entries.size()));
+
     return entry.getValue();
   }
 
-  protected static long pickBitmask(EnumDefinition def, Random random) {
-    List<EnumEntry> entries = def.getEntries();
+  protected static long pickBitmask(
+      EnumDefinition enumDefinition,
+      Random random
+  ) {
+    List<EnumEntry> entries = enumDefinition.getEntries();
     int count = Math.min(entries.size(), 1 + random.nextInt(3));
     long mask = 0L;
 
-    for (int i = 0; i < count; i++) {
+    for (int index = 0; index < count; index++) {
       EnumEntry entry = entries.get(random.nextInt(entries.size()));
       mask |= entry.getValue();
     }
+
     return mask;
   }
 
-  protected static boolean isCharType(FieldDefinition fd) {
-    String type = normalizeType(fd.getType());
+  protected static boolean isCharType(FieldDefinition fieldDefinition) {
+    String type = normalizeType(fieldDefinition.getType());
+
     return "char".equals(type);
   }
 
-  protected static String randomAsciiString(int maxLen, int messageId, String fieldName, Random random) {
-    // Stable-ish prefix helps debugging.
+  protected static String randomAsciiString(
+      int maxLength,
+      int messageId,
+      String fieldName,
+      Random random
+  ) {
     String prefix = "M" + messageId + "_" + fieldName + "_";
-    byte[] bytes = new byte[Math.max(1, maxLen)];
+    byte[] bytes = new byte[Math.max(1, maxLength)];
     byte[] prefixBytes = prefix.getBytes(StandardCharsets.US_ASCII);
 
-    int pos = 0;
-    for (int i = 0; i < prefixBytes.length && pos < bytes.length; i++) {
-      bytes[pos++] = prefixBytes[i];
+    int position = 0;
+
+    for (int index = 0; index < prefixBytes.length && position < bytes.length; index++) {
+      bytes[position] = prefixBytes[index];
+      position++;
     }
-    while (pos < bytes.length) {
-      int c = 32 + random.nextInt(95); // printable ASCII 32..126
-      bytes[pos++] = (byte) c;
+
+    while (position < bytes.length) {
+      int character = 32 + random.nextInt(95);
+      bytes[position] = (byte) character;
+      position++;
     }
 
-    // Return String to match your packer expectation for char arrays.
-    // If you prefer byte[], swap this line.
     return new String(bytes, StandardCharsets.US_ASCII);
   }
 
@@ -192,48 +272,93 @@ protected static String normalizeType(String type) {
     if (type == null) {
       return "";
     }
-    // Your pipeline already normalizes decorated types; keep this defensive.
-    String t = type.trim();
-    if (t.endsWith("_t")) {
-      return t;
+
+    String trimmedType = type.trim();
+
+    if (trimmedType.endsWith("_t")) {
+      return trimmedType;
+    }
+
+    if (trimmedType.contains("uint8_t")) {
+      return "uint8_t";
+    }
+
+    if (trimmedType.contains("int8_t")) {
+      return "int8_t";
+    }
+
+    if (trimmedType.contains("uint16_t")) {
+      return "uint16_t";
+    }
+
+    if (trimmedType.contains("int16_t")) {
+      return "int16_t";
+    }
+
+    if (trimmedType.contains("uint32_t")) {
+      return "uint32_t";
+    }
+
+    if (trimmedType.contains("int32_t")) {
+      return "int32_t";
+    }
+
+    if (trimmedType.contains("uint64_t")) {
+      return "uint64_t";
+    }
+
+    if (trimmedType.contains("int64_t")) {
+      return "int64_t";
+    }
+
+    if (trimmedType.equals("float")) {
+      return "float";
+    }
+
+    if (trimmedType.equals("double")) {
+      return "double";
     }
-    if (t.contains("uint8_t")) return "uint8_t";
-    if (t.contains("int8_t")) return "int8_t";
-    if (t.contains("uint16_t")) return "uint16_t";
-    if (t.contains("int16_t")) return "int16_t";
-    if (t.contains("uint32_t")) return "uint32_t";
-    if (t.contains("int32_t")) return "int32_t";
-    if (t.contains("uint64_t")) return "uint64_t";
-    if (t.contains("int64_t")) return "int64_t";
-    if (t.equals("float")) return "float";
-    if (t.equals("double")) return "double";
-    if (t.equals("char")) return "char";
-    return t;
+
+    if (trimmedType.equals("char")) {
+      return "char";
+    }
+
+    return trimmedType;
   }
 
-  protected static long perFieldSeed(long baseSeed, int messageId, int fieldIndex) {
-    long s = baseSeed;
-    s ^= (long) messageId * 0x9E37_79B9_7F4A_7C15L;
-    s ^= (long) fieldIndex * 0xC2B2_AE3D_27D4_EB4FL;
-    return s;
+  protected static long perFieldSeed(
+      long baseSeed,
+      int messageId,
+      int fieldIndex
+  ) {
+    long seed = baseSeed;
+    seed ^= (long) messageId * 0x9E37_79B9_7F4A_7C15L;
+    seed ^= (long) fieldIndex * 0xC2B2_AE3D_27D4_EB4FL;
+
+    return seed;
   }
 
-  protected static long nextLongBounded(Random random, long minInclusive, long maxInclusive) {
-    if (minInclusive > maxInclusive) {
-      throw new IllegalArgumentException("min > max");
-    }
-    long bound = maxInclusive - minInclusive + 1;
-    long r = random.nextLong();
-    long v = Math.floorMod(r, bound);
-    return minInclusive + v;
+  protected static long nextUnsignedIntValue(Random random) {
+    return Integer.toUnsignedLong(random.nextInt());
   }
 
+  protected static long nextPositiveLongValue(Random random) {
+    return random.nextLong() & Long.MAX_VALUE;
+  }
 
-  protected static float nextFloatBounded(Random random, float min, float max) {
-    return min + random.nextFloat() * (max - min);
+  protected static float nextFloatBounded(
+      Random random,
+      float minimum,
+      float maximum
+  ) {
+    return minimum + random.nextFloat() * (maximum - minimum);
   }
 
-  protected static double nextDoubleBounded(Random random, double min, double max) {
-    return min + random.nextDouble() * (max - min);
+  protected static double nextDoubleBounded(
+      Random random,
+      double minimum,
+      double maximum
+  ) {
+    return minimum + random.nextDouble() * (maximum - minimum);
   }
 }
\ No newline at end of file

From 085c63930b3ce65f0c959d2168ab37a24affe710 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 19 May 2026 04:31:45 +0000
Subject: [PATCH 30/34] Bump org.apache.maven.plugins:maven-source-plugin from
 3.3.1 to 3.4.0

Bumps [org.apache.maven.plugins:maven-source-plugin](https://github.com/apache/maven-source-plugin) from 3.3.1 to 3.4.0.
- [Release notes](https://github.com/apache/maven-source-plugin/releases)
- [Commits](https://github.com/apache/maven-source-plugin/compare/maven-source-plugin-3.3.1...maven-source-plugin-3.4.0)

---
updated-dependencies:
- dependency-name: org.apache.maven.plugins:maven-source-plugin
  dependency-version: 3.4.0
  dependency-type: direct:development
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index be34c46..44a0a0b 100644
--- a/pom.xml
+++ b/pom.xml
@@ -229,7 +229,7 @@
             <plugin>
                 <groupId>org.apache.maven.plugins</groupId>
                 <artifactId>maven-source-plugin</artifactId>
-                <version>3.3.1</version>
+                <version>3.4.0</version>
                 <executions>
                     <execution>
                         <id>attach-sources</id>

From 7ee1d2f4d6ceb8cfe66010f7a2a0f3154fb907fd Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 19 May 2026 04:31:49 +0000
Subject: [PATCH 31/34] Bump org.apache.maven.plugins:maven-surefire-plugin
 from 3.5.4 to 3.5.5

Bumps [org.apache.maven.plugins:maven-surefire-plugin](https://github.com/apache/maven-surefire) from 3.5.4 to 3.5.5.
- [Release notes](https://github.com/apache/maven-surefire/releases)
- [Commits](https://github.com/apache/maven-surefire/compare/surefire-3.5.4...surefire-3.5.5)

---
updated-dependencies:
- dependency-name: org.apache.maven.plugins:maven-surefire-plugin
  dependency-version: 3.5.5
  dependency-type: direct:development
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index be34c46..7b0cbe2 100644
--- a/pom.xml
+++ b/pom.xml
@@ -281,7 +281,7 @@
                     </includes>
                 </configuration>
                 <groupId>org.apache.maven.plugins</groupId>
-                <version>3.5.4</version>
+                <version>3.5.5</version>
             </plugin>
 
             <!-- sBOM  generator -->

From 096b777cbb0335a8aaa4aa58be62cdfb07a154b8 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 19 May 2026 04:31:50 +0000
Subject: [PATCH 32/34] Bump io.swagger.core.v3:swagger-annotations from 2.2.41
 to 2.2.50

Bumps io.swagger.core.v3:swagger-annotations from 2.2.41 to 2.2.50.

---
updated-dependencies:
- dependency-name: io.swagger.core.v3:swagger-annotations
  dependency-version: 2.2.50
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index be34c46..22f273b 100644
--- a/pom.xml
+++ b/pom.xml
@@ -374,7 +374,7 @@
         <dependency>
             <groupId>io.swagger.core.v3</groupId>
             <artifactId>swagger-annotations</artifactId>
-            <version>2.2.41</version>
+            <version>2.2.50</version>
             <scope>compile</scope>
         </dependency>
 

From b80483242b60b464c9c11c75bc1d14373ff1eef0 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 19 May 2026 04:31:57 +0000
Subject: [PATCH 33/34] Bump org.mockito:mockito-junit-jupiter from 5.21.0 to
 5.23.0

Bumps [org.mockito:mockito-junit-jupiter](https://github.com/mockito/mockito) from 5.21.0 to 5.23.0.
- [Release notes](https://github.com/mockito/mockito/releases)
- [Commits](https://github.com/mockito/mockito/compare/v5.21.0...v5.23.0)

---
updated-dependencies:
- dependency-name: org.mockito:mockito-junit-jupiter
  dependency-version: 5.23.0
  dependency-type: direct:development
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index be34c46..76b8b1b 100644
--- a/pom.xml
+++ b/pom.xml
@@ -396,7 +396,7 @@
         <dependency>
             <groupId>org.mockito</groupId>
             <artifactId>mockito-junit-jupiter</artifactId>
-            <version>5.21.0</version>
+            <version>5.23.0</version>
             <scope>test</scope>
         </dependency>
         <!-- Source: https://mvnrepository.com/artifact/org.mockito/mockito-core -->

From e60e7be771f2570a6c10dbf57fb81a4af115e37e Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 19 May 2026 04:32:04 +0000
Subject: [PATCH 34/34] Bump org.mockito:mockito-core from 5.21.0 to 5.23.0

Bumps [org.mockito:mockito-core](https://github.com/mockito/mockito) from 5.21.0 to 5.23.0.
- [Release notes](https://github.com/mockito/mockito/releases)
- [Commits](https://github.com/mockito/mockito/compare/v5.21.0...v5.23.0)

---
updated-dependencies:
- dependency-name: org.mockito:mockito-core
  dependency-version: 5.23.0
  dependency-type: direct:development
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 pom.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pom.xml b/pom.xml
index be34c46..0cb8022 100644
--- a/pom.xml
+++ b/pom.xml
@@ -403,7 +403,7 @@
         <dependency>
             <groupId>org.mockito</groupId>
             <artifactId>mockito-core</artifactId>
-            <version>5.21.0</version>
+            <version>5.23.0</version>
             <scope>test</scope>
         </dependency>
     </dependencies>