diff --git a/message_definitions/v1.0/development.xml b/message_definitions/v1.0/development.xml
index cf3dddb528b..33079b1dad6 100644
--- a/message_definitions/v1.0/development.xml
+++ b/message_definitions/v1.0/development.xml
@@ -339,11 +339,7 @@
-
- Allows for enable/disable control over function(s) of a generic payload.
- Index of Function
- 0: Disable, 1: Enable
-
+
Allows setting an AT S command of an SiK radio.
@@ -572,6 +568,48 @@
RAIM integrity check failed.
+
+ Control mode for generic payload functions.
+
+ Function maintains its state until explicitly changed (toggle on/off).
+
+
+ Function is active when commanded and automatically deactivates after timeout_ms milliseconds. If timeout_ms is 0, a default timeout of 100ms is used.
+
+
+
+ Data type for generic payload function values.
+
+ 32-bit signed integer.
+
+
+ 32-bit unsigned integer.
+
+
+ 32-bit IEEE-754 floating point.
+
+
+ 64-bit signed integer.
+
+
+ 64-bit unsigned integer.
+
+
+ 64-bit IEEE-754 floating point.
+
+
+
+ Type of generic payload function.
+
+ Logical state control (true/false, on/off, high/low).
+
+
+ Continuous value control (e.g., servo angle, motor speed). Uses min/max for range.
+
+
+ Discrete value selection (e.g., mode number, PWM frequency). Uses min/max for valid range.
+
+
There is an error with the generic payload's software.
@@ -692,22 +730,67 @@
Fuel type. Defines units for fuel capacity and consumption fields above.
- Generic payload status.
- Time since the start-up of the generic payload in ms
- Generic payload name to be used in UI. This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, a generic name is shown to the user.
- Total number of functions on the generic payload that can be controlled.
- Errors
- Bitmap used to show custom error flags.
- The power draw of the generic payload. NaN: field not provided
- Generic payload weight. 0: field not provided.
- Temperature in Celsius. NaN: field not provided.
+ Status and discovery message for a generic payload. This should be broadcast at a low rate (nominally 1 Hz) to announce the payload's presence and capabilities.
+ Time since payload boot.
+ Current error flags.
+ Bitmap for custom error flags specific to this payload type.
+ Number of functions this payload provides.
+ Number of telemetry channels this payload provides.
+ Name of the generic payload for UI display. NULL terminated string.
+
+ Power consumption of the payload. 0 if not available.
+ Temperature of the payload (0.002 degrees Celsius per unit, 0 = -40C). UINT16_MAX if not available.
+ Weight of the payload. 0 if not available.
Generic payload function status.
- Generic payload function name to be used in UI. This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, a generic name is shown to the user.
Index of this function on the generic payload.
+ Type of function.
+ Data type for value/min/max fields.
+ 0: Disabled, 1: Enabled
+ Lower 32 bits of current value. For 32-bit types, this is the entire value. For 64-bit types, this is the least significant word.
+ Lower 32 bits of minimum value (for CONTINUOUS/DISCRETE types).
+ Lower 32 bits of maximum value (for CONTINUOUS/DISCRETE types).
+ Control behavior of the function.
+ Timeout in milliseconds for MOMENTARY mode. 0 means use default timeout (100ms).
+ Name of the function for UI display. NULL terminated string.
+ Units for the value field (optional). NULL terminated string.
+
+ Upper 32 bits of current value. Only used for 64-bit types.
+ Upper 32 bits of minimum value. Only used for 64-bit types.
+ Upper 32 bits of maximum value. Only used for 64-bit types.
+
+
+ Generic payload telemetry channel status.
+ Index of this telemetry channel on the generic payload.
+ Data type for value/min/max fields.
+ Rate at which the value is updated (0 if unknown).
+ Lower 32 bits of current value. For 32-bit types, this is the entire value. For 64-bit types, this is the least significant word.
+ Lower 32 bits of minimum value. Used for scaling/display.
+ Lower 32 bits of maximum value. Used for scaling/display.
+ Name of the telemetry channel for UI display. NULL terminated string.
+ Units for the value field (optional). NULL terminated string.
+
+ Upper 32 bits of current value. Only used for 64-bit types.
+ Upper 32 bits of minimum value. Only used for 64-bit types.
+ Upper 32 bits of maximum value. Only used for 64-bit types.
+
+
+ Command to control a generic payload function.
+ Index of this function on the generic payload.
+ Data type for value field.
0: Disable, 1: Enable
- Total number of functions on the generic payload that can be controlled.
+ Lower 32 bits of value to set. For 32-bit types, this is the entire value. For 64-bit types, this is the least significant word.
+
+ Upper 32 bits of value to set. Only used for 64-bit types.
+
+
+
+ Lightweight telemetry data message for streaming values.
+ Index of this telemetry channel on the generic payload.
+ Lower 32 bits of current value. For 32-bit types, this is the entire value. For 64-bit types, this is the least significant word.
+
+ Upper 32 bits of current value. Only used for 64-bit types.
Emitted during mission execution when control reaches MAV_CMD_GROUP_START.