Added custom navdata messages and message generator

msg/matrix33.msg

@@ -0,0 +1,9 @@
+float32 m11
+float32 m12
+float32 m13
+float32 m21
+float32 m22
+float32 m23
+float32 m31
+float32 m32
+float32 m33

msg/navdata_adc_data_frame.msg

@@ -0,0 +1,5 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 version
+uint8[] data_frame

msg/navdata_altitude.msg

@@ -0,0 +1,13 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 altitude_vision
+float32 altitude_vz
+int32 altitude_ref
+int32 altitude_raw
+float32 obs_accZ
+float32 obs_alt
+ardrone_autonomy::vector31 obs_x
+uint32 obs_state
+ardrone_autonomy::vector21 est_vb
+uint32 est_state

msg/navdata_demo.msg

@@ -0,0 +1,14 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 ctrl_state
+uint32 vbat_flying_percentage
+float32 theta
+float32 phi
+float32 psi
+int32 altitude
+float32 vx
+float32 vy
+float32 vz
+uint32 num_frames
+uint32 detection_camera_type

msg/navdata_euler_angles.msg

@@ -0,0 +1,5 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 theta_a
+float32 phi_a

msg/navdata_games.msg

@@ -0,0 +1,5 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 double_tap_counter
+uint32 finish_line_counter

msg/navdata_gyros_offsets.msg

@@ -0,0 +1,4 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32[] offset_g

msg/navdata_hdvideo_stream.msg

@@ -0,0 +1,10 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 hdvideo_state
+uint32 storage_fifo_nb_packets
+uint32 storage_fifo_size
+uint32 usbkey_size
+uint32 usbkey_freespace
+uint32 frame_number
+uint32 usbkey_remaining_time

msg/navdata_kalman_pressure.msg

@@ -0,0 +1,20 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 offset_pressure
+float32 est_z
+float32 est_zdot
+float32 est_bias_PWM
+float32 est_biais_pression
+float32 offset_US
+float32 prediction_US
+float32 cov_alt
+float32 cov_PWM
+float32 cov_vitesse
+int32 bool_effet_sol
+float32 somme_inno
+int32 flag_rejet_US
+float32 u_multisinus
+float32 gaz_altitude
+int32 Flag_multisinus
+int32 Flag_multisinus_debut

msg/navdata_magneto.msg

@@ -0,0 +1,17 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int16 mx
+int16 my
+int16 mz
+ardrone_autonomy::vector31 magneto_raw
+ardrone_autonomy::vector31 magneto_rectified
+ardrone_autonomy::vector31 magneto_offset
+float32 heading_unwrapped
+float32 heading_gyro_unwrapped
+float32 heading_fusion_unwrapped
+uint8 magneto_calibration_ok
+uint32 magneto_state
+float32 magneto_radius
+float32 error_mean
+float32 error_var

msg/navdata_phys_measures.msg

@@ -0,0 +1,10 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 accs_temp
+uint16 gyro_temp
+float32[] phys_accs
+float32[] phys_gyros
+uint32 alim3V3
+uint32 vrefEpson
+uint32 vrefIDG

msg/navdata_pressure_raw.msg

@@ -0,0 +1,7 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 up
+int16 ut
+int32 Temperature_meas
+int32 Pression_meas

msg/navdata_pwm.msg

@@ -0,0 +1,29 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint8 motor1
+uint8 motor2
+uint8 motor3
+uint8 motor4
+uint8 sat_motor1
+uint8 sat_motor2
+uint8 sat_motor3
+uint8 sat_motor4
+float32 gaz_feed_forward
+float32 gaz_altitude
+float32 altitude_integral
+float32 vz_ref
+int32 u_pitch
+int32 u_roll
+int32 u_yaw
+float32 yaw_u_I
+int32 u_pitch_planif
+int32 u_roll_planif
+int32 u_yaw_planif
+float32 u_gaz_planif
+uint16 current_motor1
+uint16 current_motor2
+uint16 current_motor3
+uint16 current_motor4
+float32 altitude_prop
+float32 altitude_der

msg/navdata_raw_measures.msg

@@ -0,0 +1,20 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint16[] raw_accs
+int16[] raw_gyros
+int16[] raw_gyros_110
+uint32 vbat_raw
+uint16 us_debut_echo
+uint16 us_fin_echo
+uint16 us_association_echo
+uint16 us_distance_echo
+uint16 us_courbe_temps
+uint16 us_courbe_valeur
+uint16 us_courbe_ref
+uint16 flag_echo_ini
+uint16 frame_number
+uint16 nb_echo
+uint32 sum_echo
+int32 alt_temp_raw
+int16 gradient

msg/navdata_rc_references.msg

@@ -0,0 +1,8 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 rc_ref_pitch
+int32 rc_ref_roll
+int32 rc_ref_yaw
+int32 rc_ref_gaz
+int32 rc_ref_ag

msg/navdata_references.msg

@@ -0,0 +1,24 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 ref_theta
+int32 ref_phi
+int32 ref_theta_I
+int32 ref_phi_I
+int32 ref_pitch
+int32 ref_roll
+int32 ref_yaw
+int32 ref_psi
+float32 vx_ref
+float32 vy_ref
+float32 theta_mod
+float32 phi_mod
+float32 k_v_x
+float32 k_v_y
+uint32 k_mode
+float32 ui_time
+float32 ui_theta
+float32 ui_phi
+float32 ui_psi
+float32 ui_psi_accuracy
+int32 ui_seq

msg/navdata_time.msg

@@ -0,0 +1,4 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 time

msg/navdata_trackers_send.msg

@@ -0,0 +1,3 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size

msg/navdata_trims.msg

@@ -0,0 +1,6 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 angular_rates_trim_r
+float32 euler_angles_trim_theta
+float32 euler_angles_trim_phi

msg/navdata_video_stream.msg

@@ -0,0 +1,19 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint8 quant
+uint32 frame_size
+uint32 frame_number
+uint32 atcmd_ref_seq
+uint32 atcmd_mean_ref_gap
+float32 atcmd_var_ref_gap
+uint32 atcmd_ref_quality
+uint32 out_bitrate
+uint32 desired_bitrate
+int32 data1
+int32 data2
+int32 data3
+int32 data4
+int32 data5
+uint32 tcp_queue_level
+uint32 fifo_queue_level

msg/navdata_vision.msg

@@ -0,0 +1,23 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 vision_state
+int32 vision_misc
+float32 vision_phi_trim
+float32 vision_phi_ref_prop
+float32 vision_theta_trim
+float32 vision_theta_ref_prop
+int32 new_raw_picture
+float32 theta_capture
+float32 phi_capture
+float32 psi_capture
+int32 altitude_capture
+uint32 time_capture
+ardrone_autonomy::vector31 body_v
+float32 delta_phi
+float32 delta_theta
+float32 delta_psi
+uint32 gold_defined
+uint32 gold_reset
+float32 gold_x
+float32 gold_y

msg/navdata_vision_detect.msg

@@ -0,0 +1,14 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 nb_detected
+uint32[] type
+uint32[] xc
+uint32[] yc
+uint32[] width
+uint32[] height
+uint32[] dist
+float32[] orientation_angle
+ardrone_autonomy::matrix33[] rotation
+ardrone_autonomy::vector31[] translation
+uint32[] camera_source

msg/navdata_vision_of.msg

@@ -0,0 +1,5 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32[] of_dx
+float32[] of_dy

msg/navdata_vision_perf.msg

@@ -0,0 +1,10 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 time_szo
+float32 time_corners
+float32 time_compute
+float32 time_tracking
+float32 time_trans
+float32 time_update
+float32[] time_custom

msg/navdata_vision_raw.msg

@@ -0,0 +1,6 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 vision_tx_raw
+float32 vision_ty_raw
+float32 vision_tz_raw

msg/navdata_watchdog.msg

@@ -0,0 +1,4 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 watchdog

msg/navdata_wifi.msg

@@ -0,0 +1,4 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+uint32 link_quality

msg/navdata_wind_speed.msg

@@ -0,0 +1,16 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+float32 wind_speed
+float32 wind_angle
+float32 wind_compensation_theta
+float32 wind_compensation_phi
+float32 state_x1
+float32 state_x2
+float32 state_x3
+float32 state_x4
+float32 state_x5
+float32 state_x6
+float32 magneto_debug1
+float32 magneto_debug2
+float32 magneto_debug3

msg/navdata_zimmu_3000.msg

@@ -0,0 +1,5 @@
+Header header
+float32 drone_timeuint16 tag
+uint16 size
+int32 vzimmuLSB
+float32 vzfind

msg/vector21.msg

@@ -0,0 +1,2 @@
+float32 x
+float32 y

msg/vector31.msg

@@ -0,0 +1,3 @@
+float32 x
+float32 y
+float32 z

scripts/CreateNavdataFormat.py

@@ -0,0 +1,90 @@
+import re
+
+PATH_NAVDATA_KEYS = '../ARDroneLib/Soft/Common/navdata_keys.h'
+PATH_NAVDATA_COMMON = '../ARDroneLib/Soft/Common/navdata_common.h'
+
+keys = []
+
+r_keys = re.compile(r'''
+			^\s*[^#]?\s*?
+			(NAVDATA_OPTION(?:_DEMO)?)
+			\s*\(\s*
+			((?P<structure>\w+))
+			\s*,\s*
+			((?P<name>\w+))
+			\s*,\s*
+			((?P<tag>\w+))
+			\s*\)\s*$
+			''', re.X)
+
+print 'Parsing Navdata Struct Names'
+with open(PATH_NAVDATA_KEYS,'r') as navdata_keys:
+	for line in navdata_keys:
+		matches = re.search(r_keys,line)
+		if matches:
+			print '-- '+matches.group('name')
+			keys.append(matches.group('structure','name','tag'))
+
+contents = ''
+with open(PATH_NAVDATA_COMMON,'r') as navdata_common:
+	contents = navdata_common.read()
+
+ros_datatypes = {'uint32_t':'uint32',
+				 'uint16_t':'uint16',
+				 'uint8_t' :'uint8',
+				 'int32_t':'int32',
+				 'int16_t':'int16',
+				 'int8_t' :'int8',
+				 'float64_t':'float64',
+				 'float32_t':'float32',
+				 'matrix33_t':'ardrone_autonomy::matrix33',
+				 'vector31_t':'ardrone_autonomy::vector31',
+				 'vector21_t':'ardrone_autonomy::vector21',
+				 'velocities_t':'ardrone_autonomy::vector31',
+				 'char':'uint8',
+				 'bool_t':'int32'}
+
+structs = []
+print 'Parsing Navdata Struct Contents'
+for (struct,name,_) in keys:
+	members = []
+	rg = re.compile(r'''
+		.*?
+		typedef\s*struct\s*_?'''+struct+r'''\s*\{
+		(?P<inside>.*)
+		\}\s*\w*?\s*'''+struct+r'''\s*;
+		.*?
+		''',re.X|re.DOTALL|re.MULTILINE)
+	structcontents = re.search(rg,contents)
+	if structcontents:
+		print '-- '+name
+		allmembers = re.findall(r'\s*(\w+(?:\s*?\*)?)\s*(\w+)\s*(?:\[(\w+)\])?\s*;(.*)',structcontents.groups('inside')[0])
+		members = [(t,n,s) for (t,n,s,c) in allmembers if 'Deprecated' not in c]
+	structs.append((struct,name,members))
+
+
+print 'Saving Custom ROS Message Definitions'
+for (struct,name,members) in structs:
+	with open('../msg/'+name+'.msg','w') as f:
+		f.write('Header header\n')
+		f.write('float64 drone_time')
+		for (t,n,s) in members:
+			dt = ros_datatypes[t]
+			if s!='':
+				f.write('{0}[] {1}\n'.format(dt,n))
+			else:
+				f.write('{0} {1}\n'.format(dt,n))
+
+print 'Saving Struct Preprocessor File'
+with open('../src/NavdataMessageDefinitions.h','w') as f:
+	for (struct,name,members) in structs:
+		f.write('NavdataStructStart({0},{1})\n'.format(struct,name))
+		for (t,n,s) in members:
+			dt = ros_datatypes[t]
+			if s!='':
+				f.write('NavdataStructArray({0},{1},{2},{3},{4},{5})\n'.format(struct,name,t,dt,s,n))
+			else:
+				f.write('NavdataStructMember({0},{1},{2},{3},{4})\n'.format(struct,name,t,dt,n))
+		f.write('NavdataStructEnd({0},{1})\n\n'.format(struct,name))
+
+print 'You should now run `rosmake ardrone_autonomy` to build the custom messages.'

src/NavdataMessageDefinitions.h

@@ -0,0 +1,366 @@
+NavdataStructStart(navdata_demo_t,navdata_demo)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint16_t,uint16,tag)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint16_t,uint16,size)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint32_t,uint32,ctrl_state)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint32_t,uint32,vbat_flying_percentage)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,theta)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,phi)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,psi)
+NavdataStructMember(navdata_demo_t,navdata_demo,int32_t,int32,altitude)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,vx)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,vy)
+NavdataStructMember(navdata_demo_t,navdata_demo,float32_t,float32,vz)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint32_t,uint32,num_frames)
+NavdataStructMember(navdata_demo_t,navdata_demo,uint32_t,uint32,detection_camera_type)
+NavdataStructEnd(navdata_demo_t,navdata_demo)
+
+NavdataStructStart(navdata_time_t,navdata_time)
+NavdataStructMember(navdata_time_t,navdata_time,uint16_t,uint16,tag)
+NavdataStructMember(navdata_time_t,navdata_time,uint16_t,uint16,size)
+NavdataStructMember(navdata_time_t,navdata_time,uint32_t,uint32,time)
+NavdataStructEnd(navdata_time_t,navdata_time)
+
+NavdataStructStart(navdata_raw_measures_t,navdata_raw_measures)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,tag)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,size)
+NavdataStructArray(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,NB_ACCS,raw_accs)
+NavdataStructArray(navdata_raw_measures_t,navdata_raw_measures,int16_t,int16,NB_GYROS,raw_gyros)
+NavdataStructArray(navdata_raw_measures_t,navdata_raw_measures,int16_t,int16,2,raw_gyros_110)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint32_t,uint32,vbat_raw)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_debut_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_fin_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_association_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_distance_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_courbe_temps)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_courbe_valeur)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,us_courbe_ref)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,flag_echo_ini)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,frame_number)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint16_t,uint16,nb_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,uint32_t,uint32,sum_echo)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,int32_t,int32,alt_temp_raw)
+NavdataStructMember(navdata_raw_measures_t,navdata_raw_measures,int16_t,int16,gradient)
+NavdataStructEnd(navdata_raw_measures_t,navdata_raw_measures)
+
+NavdataStructStart(navdata_phys_measures_t,navdata_phys_measures)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint16_t,uint16,tag)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint16_t,uint16,size)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,float32_t,float32,accs_temp)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint16_t,uint16,gyro_temp)
+NavdataStructArray(navdata_phys_measures_t,navdata_phys_measures,float32_t,float32,NB_ACCS,phys_accs)
+NavdataStructArray(navdata_phys_measures_t,navdata_phys_measures,float32_t,float32,NB_GYROS,phys_gyros)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint32_t,uint32,alim3V3)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint32_t,uint32,vrefEpson)
+NavdataStructMember(navdata_phys_measures_t,navdata_phys_measures,uint32_t,uint32,vrefIDG)
+NavdataStructEnd(navdata_phys_measures_t,navdata_phys_measures)
+
+NavdataStructStart(navdata_gyros_offsets_t,navdata_gyros_offsets)
+NavdataStructMember(navdata_gyros_offsets_t,navdata_gyros_offsets,uint16_t,uint16,tag)
+NavdataStructMember(navdata_gyros_offsets_t,navdata_gyros_offsets,uint16_t,uint16,size)
+NavdataStructArray(navdata_gyros_offsets_t,navdata_gyros_offsets,float32_t,float32,NB_GYROS,offset_g)
+NavdataStructEnd(navdata_gyros_offsets_t,navdata_gyros_offsets)
+
+NavdataStructStart(navdata_euler_angles_t,navdata_euler_angles)
+NavdataStructMember(navdata_euler_angles_t,navdata_euler_angles,uint16_t,uint16,tag)
+NavdataStructMember(navdata_euler_angles_t,navdata_euler_angles,uint16_t,uint16,size)
+NavdataStructMember(navdata_euler_angles_t,navdata_euler_angles,float32_t,float32,theta_a)
+NavdataStructMember(navdata_euler_angles_t,navdata_euler_angles,float32_t,float32,phi_a)
+NavdataStructEnd(navdata_euler_angles_t,navdata_euler_angles)
+
+NavdataStructStart(navdata_references_t,navdata_references)
+NavdataStructMember(navdata_references_t,navdata_references,uint16_t,uint16,tag)
+NavdataStructMember(navdata_references_t,navdata_references,uint16_t,uint16,size)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_theta)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_phi)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_theta_I)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_phi_I)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_pitch)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_roll)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_yaw)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ref_psi)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,vx_ref)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,vy_ref)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,theta_mod)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,phi_mod)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,k_v_x)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,k_v_y)
+NavdataStructMember(navdata_references_t,navdata_references,uint32_t,uint32,k_mode)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,ui_time)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,ui_theta)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,ui_phi)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,ui_psi)
+NavdataStructMember(navdata_references_t,navdata_references,float32_t,float32,ui_psi_accuracy)
+NavdataStructMember(navdata_references_t,navdata_references,int32_t,int32,ui_seq)
+NavdataStructEnd(navdata_references_t,navdata_references)
+
+NavdataStructStart(navdata_trims_t,navdata_trims)
+NavdataStructMember(navdata_trims_t,navdata_trims,uint16_t,uint16,tag)
+NavdataStructMember(navdata_trims_t,navdata_trims,uint16_t,uint16,size)
+NavdataStructMember(navdata_trims_t,navdata_trims,float32_t,float32,angular_rates_trim_r)
+NavdataStructMember(navdata_trims_t,navdata_trims,float32_t,float32,euler_angles_trim_theta)
+NavdataStructMember(navdata_trims_t,navdata_trims,float32_t,float32,euler_angles_trim_phi)
+NavdataStructEnd(navdata_trims_t,navdata_trims)
+
+NavdataStructStart(navdata_rc_references_t,navdata_rc_references)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,uint16_t,uint16,tag)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,uint16_t,uint16,size)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,int32_t,int32,rc_ref_pitch)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,int32_t,int32,rc_ref_roll)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,int32_t,int32,rc_ref_yaw)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,int32_t,int32,rc_ref_gaz)
+NavdataStructMember(navdata_rc_references_t,navdata_rc_references,int32_t,int32,rc_ref_ag)
+NavdataStructEnd(navdata_rc_references_t,navdata_rc_references)
+
+NavdataStructStart(navdata_pwm_t,navdata_pwm)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,tag)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,size)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,motor1)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,motor2)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,motor3)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,motor4)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,sat_motor1)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,sat_motor2)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,sat_motor3)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint8_t,uint8,sat_motor4)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,gaz_feed_forward)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,gaz_altitude)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,altitude_integral)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,vz_ref)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_pitch)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_roll)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_yaw)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,yaw_u_I)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_pitch_planif)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_roll_planif)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,int32_t,int32,u_yaw_planif)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,u_gaz_planif)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,current_motor1)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,current_motor2)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,current_motor3)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,uint16_t,uint16,current_motor4)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,altitude_prop)
+NavdataStructMember(navdata_pwm_t,navdata_pwm,float32_t,float32,altitude_der)
+NavdataStructEnd(navdata_pwm_t,navdata_pwm)
+
+NavdataStructStart(navdata_altitude_t,navdata_altitude)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,uint16_t,uint16,tag)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,uint16_t,uint16,size)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,int32_t,int32,altitude_vision)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,float32_t,float32,altitude_vz)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,int32_t,int32,altitude_ref)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,int32_t,int32,altitude_raw)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,float32_t,float32,obs_accZ)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,float32_t,float32,obs_alt)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,vector31_t,ardrone_autonomy::vector31,obs_x)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,uint32_t,uint32,obs_state)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,vector21_t,ardrone_autonomy::vector21,est_vb)
+NavdataStructMember(navdata_altitude_t,navdata_altitude,uint32_t,uint32,est_state)
+NavdataStructEnd(navdata_altitude_t,navdata_altitude)
+
+NavdataStructStart(navdata_vision_raw_t,navdata_vision_raw)
+NavdataStructMember(navdata_vision_raw_t,navdata_vision_raw,uint16_t,uint16,tag)
+NavdataStructMember(navdata_vision_raw_t,navdata_vision_raw,uint16_t,uint16,size)
+NavdataStructMember(navdata_vision_raw_t,navdata_vision_raw,float32_t,float32,vision_tx_raw)
+NavdataStructMember(navdata_vision_raw_t,navdata_vision_raw,float32_t,float32,vision_ty_raw)
+NavdataStructMember(navdata_vision_raw_t,navdata_vision_raw,float32_t,float32,vision_tz_raw)
+NavdataStructEnd(navdata_vision_raw_t,navdata_vision_raw)
+
+NavdataStructStart(navdata_vision_of_t,navdata_vision_of)
+NavdataStructMember(navdata_vision_of_t,navdata_vision_of,uint16_t,uint16,tag)
+NavdataStructMember(navdata_vision_of_t,navdata_vision_of,uint16_t,uint16,size)
+NavdataStructArray(navdata_vision_of_t,navdata_vision_of,float32_t,float32,5,of_dx)
+NavdataStructArray(navdata_vision_of_t,navdata_vision_of,float32_t,float32,5,of_dy)
+NavdataStructEnd(navdata_vision_of_t,navdata_vision_of)
+
+NavdataStructStart(navdata_vision_t,navdata_vision)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint16_t,uint16,tag)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint16_t,uint16,size)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint32_t,uint32,vision_state)
+NavdataStructMember(navdata_vision_t,navdata_vision,int32_t,int32,vision_misc)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,vision_phi_trim)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,vision_phi_ref_prop)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,vision_theta_trim)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,vision_theta_ref_prop)
+NavdataStructMember(navdata_vision_t,navdata_vision,int32_t,int32,new_raw_picture)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,theta_capture)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,phi_capture)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,psi_capture)
+NavdataStructMember(navdata_vision_t,navdata_vision,int32_t,int32,altitude_capture)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint32_t,uint32,time_capture)
+NavdataStructMember(navdata_vision_t,navdata_vision,velocities_t,ardrone_autonomy::vector31,body_v)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,delta_phi)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,delta_theta)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,delta_psi)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint32_t,uint32,gold_defined)
+NavdataStructMember(navdata_vision_t,navdata_vision,uint32_t,uint32,gold_reset)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,gold_x)
+NavdataStructMember(navdata_vision_t,navdata_vision,float32_t,float32,gold_y)
+NavdataStructEnd(navdata_vision_t,navdata_vision)
+
+NavdataStructStart(navdata_vision_perf_t,navdata_vision_perf)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,uint16_t,uint16,tag)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,uint16_t,uint16,size)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_szo)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_corners)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_compute)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_tracking)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_trans)
+NavdataStructMember(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,time_update)
+NavdataStructArray(navdata_vision_perf_t,navdata_vision_perf,float32_t,float32,NAVDATA_MAX_CUSTOM_TIME_SAVE,time_custom)
+NavdataStructEnd(navdata_vision_perf_t,navdata_vision_perf)
+
+NavdataStructStart(navdata_trackers_send_t,navdata_trackers_send)
+NavdataStructMember(navdata_trackers_send_t,navdata_trackers_send,uint16_t,uint16,tag)
+NavdataStructMember(navdata_trackers_send_t,navdata_trackers_send,uint16_t,uint16,size)
+NavdataStructEnd(navdata_trackers_send_t,navdata_trackers_send)
+
+NavdataStructStart(navdata_vision_detect_t,navdata_vision_detect)
+NavdataStructMember(navdata_vision_detect_t,navdata_vision_detect,uint16_t,uint16,tag)
+NavdataStructMember(navdata_vision_detect_t,navdata_vision_detect,uint16_t,uint16,size)
+NavdataStructMember(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,nb_detected)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,type)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,xc)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,yc)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,width)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,height)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,dist)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,float32_t,float32,NB_NAVDATA_DETECTION_RESULTS,orientation_angle)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,matrix33_t,ardrone_autonomy::matrix33,NB_NAVDATA_DETECTION_RESULTS,rotation)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,vector31_t,ardrone_autonomy::vector31,NB_NAVDATA_DETECTION_RESULTS,translation)
+NavdataStructArray(navdata_vision_detect_t,navdata_vision_detect,uint32_t,uint32,NB_NAVDATA_DETECTION_RESULTS,camera_source)
+NavdataStructEnd(navdata_vision_detect_t,navdata_vision_detect)
+
+NavdataStructStart(navdata_watchdog_t,navdata_watchdog)
+NavdataStructMember(navdata_watchdog_t,navdata_watchdog,uint16_t,uint16,tag)
+NavdataStructMember(navdata_watchdog_t,navdata_watchdog,uint16_t,uint16,size)
+NavdataStructMember(navdata_watchdog_t,navdata_watchdog,int32_t,int32,watchdog)
+NavdataStructEnd(navdata_watchdog_t,navdata_watchdog)
+
+NavdataStructStart(navdata_adc_data_frame_t,navdata_adc_data_frame)
+NavdataStructMember(navdata_adc_data_frame_t,navdata_adc_data_frame,uint16_t,uint16,tag)
+NavdataStructMember(navdata_adc_data_frame_t,navdata_adc_data_frame,uint16_t,uint16,size)
+NavdataStructMember(navdata_adc_data_frame_t,navdata_adc_data_frame,uint32_t,uint32,version)
+NavdataStructArray(navdata_adc_data_frame_t,navdata_adc_data_frame,uint8_t,uint8,32,data_frame)
+NavdataStructEnd(navdata_adc_data_frame_t,navdata_adc_data_frame)
+
+NavdataStructStart(navdata_video_stream_t,navdata_video_stream)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint16_t,uint16,tag)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint16_t,uint16,size)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint8_t,uint8,quant)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,frame_size)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,frame_number)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,atcmd_ref_seq)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,atcmd_mean_ref_gap)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,float32_t,float32,atcmd_var_ref_gap)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,atcmd_ref_quality)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,out_bitrate)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,desired_bitrate)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,int32_t,int32,data1)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,int32_t,int32,data2)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,int32_t,int32,data3)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,int32_t,int32,data4)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,int32_t,int32,data5)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,tcp_queue_level)
+NavdataStructMember(navdata_video_stream_t,navdata_video_stream,uint32_t,uint32,fifo_queue_level)
+NavdataStructEnd(navdata_video_stream_t,navdata_video_stream)
+
+NavdataStructStart(navdata_games_t,navdata_games)
+NavdataStructMember(navdata_games_t,navdata_games,uint16_t,uint16,tag)
+NavdataStructMember(navdata_games_t,navdata_games,uint16_t,uint16,size)
+NavdataStructMember(navdata_games_t,navdata_games,uint32_t,uint32,double_tap_counter)
+NavdataStructMember(navdata_games_t,navdata_games,uint32_t,uint32,finish_line_counter)
+NavdataStructEnd(navdata_games_t,navdata_games)
+
+NavdataStructStart(navdata_pressure_raw_t,navdata_pressure_raw)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,uint16_t,uint16,tag)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,uint16_t,uint16,size)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,int32_t,int32,up)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,int16_t,int16,ut)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,int32_t,int32,Temperature_meas)
+NavdataStructMember(navdata_pressure_raw_t,navdata_pressure_raw,int32_t,int32,Pression_meas)
+NavdataStructEnd(navdata_pressure_raw_t,navdata_pressure_raw)
+
+NavdataStructStart(navdata_magneto_t,navdata_magneto)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,uint16_t,uint16,tag)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,uint16_t,uint16,size)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,int16_t,int16,mx)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,int16_t,int16,my)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,int16_t,int16,mz)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,vector31_t,ardrone_autonomy::vector31,magneto_raw)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,vector31_t,ardrone_autonomy::vector31,magneto_rectified)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,vector31_t,ardrone_autonomy::vector31,magneto_offset)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,heading_unwrapped)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,heading_gyro_unwrapped)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,heading_fusion_unwrapped)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,char,uint8,magneto_calibration_ok)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,uint32_t,uint32,magneto_state)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,magneto_radius)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,error_mean)
+NavdataStructMember(navdata_magneto_t,navdata_magneto,float32_t,float32,error_var)
+NavdataStructEnd(navdata_magneto_t,navdata_magneto)
+
+NavdataStructStart(navdata_wind_speed_t,navdata_wind_speed)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,uint16_t,uint16,tag)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,uint16_t,uint16,size)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,wind_speed)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,wind_angle)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,wind_compensation_theta)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,wind_compensation_phi)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x1)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x2)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x3)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x4)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x5)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,state_x6)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,magneto_debug1)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,magneto_debug2)
+NavdataStructMember(navdata_wind_speed_t,navdata_wind_speed,float32_t,float32,magneto_debug3)
+NavdataStructEnd(navdata_wind_speed_t,navdata_wind_speed)
+
+NavdataStructStart(navdata_kalman_pressure_t,navdata_kalman_pressure)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,uint16_t,uint16,tag)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,uint16_t,uint16,size)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,offset_pressure)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,est_z)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,est_zdot)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,est_bias_PWM)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,est_biais_pression)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,offset_US)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,prediction_US)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,cov_alt)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,cov_PWM)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,cov_vitesse)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,bool_t,int32,bool_effet_sol)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,somme_inno)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,bool_t,int32,flag_rejet_US)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,u_multisinus)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,float32_t,float32,gaz_altitude)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,bool_t,int32,Flag_multisinus)
+NavdataStructMember(navdata_kalman_pressure_t,navdata_kalman_pressure,bool_t,int32,Flag_multisinus_debut)
+NavdataStructEnd(navdata_kalman_pressure_t,navdata_kalman_pressure)
+
+NavdataStructStart(navdata_hdvideo_stream_t,navdata_hdvideo_stream)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint16_t,uint16,tag)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint16_t,uint16,size)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,hdvideo_state)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,storage_fifo_nb_packets)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,storage_fifo_size)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,usbkey_size)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,usbkey_freespace)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,frame_number)
+NavdataStructMember(navdata_hdvideo_stream_t,navdata_hdvideo_stream,uint32_t,uint32,usbkey_remaining_time)
+NavdataStructEnd(navdata_hdvideo_stream_t,navdata_hdvideo_stream)
+
+NavdataStructStart(navdata_wifi_t,navdata_wifi)
+NavdataStructMember(navdata_wifi_t,navdata_wifi,uint16_t,uint16,tag)
+NavdataStructMember(navdata_wifi_t,navdata_wifi,uint16_t,uint16,size)
+NavdataStructMember(navdata_wifi_t,navdata_wifi,uint32_t,uint32,link_quality)
+NavdataStructEnd(navdata_wifi_t,navdata_wifi)
+
+NavdataStructStart(navdata_zimmu_3000_t,navdata_zimmu_3000)
+NavdataStructMember(navdata_zimmu_3000_t,navdata_zimmu_3000,uint16_t,uint16,tag)
+NavdataStructMember(navdata_zimmu_3000_t,navdata_zimmu_3000,uint16_t,uint16,size)
+NavdataStructMember(navdata_zimmu_3000_t,navdata_zimmu_3000,int32_t,int32,vzimmuLSB)
+NavdataStructMember(navdata_zimmu_3000_t,navdata_zimmu_3000,float32_t,float32,vzfind)
+NavdataStructEnd(navdata_zimmu_3000_t,navdata_zimmu_3000)
+