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@@ -1335,6 +1335,18 @@
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<field type="uint8_t" name="fuel_low2">0:normal, 1:below ADC_EXT_FUEL_LOW2</field>
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<field type="uint8_t" name="fuel_low2">0:normal, 1:below ADC_EXT_FUEL_LOW2</field>
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</message>
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</message>
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+ <message id="53032" name="VK_OBSTACLE_DISTANCE">
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+ <description>Two fragments form one 72-bin scan, clockwise from heading in 5 degree sectors. Incompatible with the former unfragmented layout. Each bin reports the nearest obstacle in its sector.</description>
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+ <field type="uint64_t" name="source_sequence">Sequence number of the source data.</field>
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+ <field type="float" name="source_age_ms" units="ms">Age of the source data.</field>
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+ <field type="uint16_t[36]" name="distances" units="cm">Horizontal distances: 0 contact, up to max_distance_cm obstacle, max_distance_cm+1 clear to range, UINT16_MAX unknown.</field>
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+ <field type="uint16_t" name="min_distance_cm" units="cm">Minimum measurable distance.</field>
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+ <field type="uint16_t" name="max_distance_cm" units="cm">Maximum measurable distance.</field>
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+ <field type="uint8_t" name="fragment_index">0: bins 0-35; 1: bins 36-71. Both fragments share a source_sequence.</field>
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+ <field type="uint8_t" name="status">0: healthy; nonzero: invalid source.</field>
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+ <field type="int16_t[36]" name="gravity_projected_body_z" units="cm">Vertical obstacle displacement, down positive; INT16_MAX unknown.</field>
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+ </message>
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+
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<message id="53100" name="VK_FW_UPDATE_BEGIN">
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<message id="53100" name="VK_FW_UPDATE_BEGIN">
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<description>VKFLY autopilot update firmware begin. This message send from GCS to autopilot. </description>
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<description>VKFLY autopilot update firmware begin. This message send from GCS to autopilot. </description>
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<field type="uint8_t" name="target_system">Target system id.</field>
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<field type="uint8_t" name="target_system">Target system id.</field>
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