From c9d2ae7e2ad2d5f81c44188abe34cfeb2621d501 Mon Sep 17 00:00:00 2001
From: Valentin Bugrov <valentin.bugrov@inertiallabs.com>
Date: Tue, 19 Nov 2024 15:45:20 -0500
Subject: [PATCH] development.xml: Add AHRS commands

---
 message_definitions/v1.0/development.xml | 41 ++++++++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/message_definitions/v1.0/development.xml b/message_definitions/v1.0/development.xml
index 2f037d9819..ac090cc8fc 100644
--- a/message_definitions/v1.0/development.xml
+++ b/message_definitions/v1.0/development.xml
@@ -163,6 +163,47 @@
         <param index="6" reserved="true" default="0"/>
         <param index="7" reserved="true" default="NaN"/>
       </entry>
+      <!-- AHRS commands (32000 to 32099) -->
+      <entry value="33000" name="MAV_CMD_AHRS_START" hasLocation="false" isDestination="false">
+        <description>Start measuring by AHRS</description>
+        <param index="1" label="Instance" minValue="0" increment="1">AHRS instance 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 value="33001" name="MAV_CMD_AHRS_STOP" hasLocation="false" isDestination="false">
+        <description>Stop measuring by AHRS</description>
+        <param index="1" label="Instance" minValue="0" increment="1">AHRS instance 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 value="33002" name="MAV_CMD_AHRS_GPS_ENABLE" hasLocation="false" isDestination="false">
+        <description>Enable GPS use by AHRS</description>
+        <param index="1" label="Instance" minValue="0" increment="1">AHRS instance 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 value="33003" name="MAV_CMD_AHRS_GPS_DISABLE" hasLocation="false" isDestination="false">
+        <description>Disable GPS use by AHRS</description>
+        <param index="1" label="Instance" minValue="0" increment="1">AHRS instance 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>
     </enum>
     <enum name="GPS_SYSTEM_ERROR_FLAGS" bitmask="true">
       <description>Flags indicating errors in a GPS receiver.</description>