<mipdefs>
	<struct name="Vector3d">
		<param name="v" type="double" index="0" />
	</struct>
	<struct name="Quatf">
		<param name="v" type="float" index="0" />
	</struct>
	<struct name="Matrix3f">
		<param name="v" type="float" index="0" />
	</struct>
	<struct name="Vector3f">
		<param name="v" type="float" index="0" />
	</struct>
	<descriptor_set name="FILTER" descriptor="0x0D">
		<field descriptor="0x01" name="Reset Navigation Filter">
			Resets the filter to the initialization state.
		</field>
		<field descriptor="0x02" name="Set Initial Attitude">
			Set the sensor initial attitude.
			<param name="roll" index="0" type="float" />
			<param name="pitch" index="4" type="float" />
			<param name="heading" index="8" type="float" />
		</field>
		<field descriptor="0x14" name="Estimation Control Flags" functions="WRSLD">
			Estimation Control Flags
			<bitfield name="EnableFlags" type="u16">
				<value name="gyro_bias" firstBit="0" />
				<value name="accel_bias" firstBit="1" />
				<value name="gyro_scale_factor" firstBit="2" />
				<value name="accel_scale_factor" firstBit="3" />
				<value name="antenna_offset" firstBit="4" />
				<value name="auto_mag_hard_iron" firstBit="5" />
				<value name="auto_mag_soft_iron" firstBit="6" />
			</bitfield>
			<param name="enable" index="0" type="EnableFlags" />
			<response descriptor="0x84">
				<param name="enable" index="0" type="EnableFlags" />
			</response>
		</field>
		<field descriptor="0x16" name="External GNSS Update">
			Provide a filter measurement from an external GNSS
			<param name="gps_time" index="0" type="double" />
			<param name="gps_week" index="8" type="u16" />
			<param name="latitude" index="10" type="double" />
			<param name="longitude" index="18" type="double" />
			<param name="height" index="26" type="double" />
			<param name="velocity" index="34" type="Vector3f" />
			<param name="pos_uncertainty" index="34" type="Vector3f" />
			<param name="vel_uncertainty" index="34" type="Vector3f" />
		</field>
		<field descriptor="0x17" name="External Heading Update">
			Provide a filter measurement from an external heading source
			<param name="heading" index="0" type="float" />
			<param name="heading_uncertainty" index="4" type="float" />
			<param name="type" index="8" type="u8" />
		</field>
		<field descriptor="0x1F" name="External Heading Update With Time">
			Provide a filter measurement from an external heading source at a specific GPS time
			<param name="gps_time" index="0" type="double" />
			<param name="gps_week" index="8" type="u16" />
			<param name="heading" index="10" type="float" />
			<param name="heading_uncertainty" index="14" type="float" />
			<param name="type" index="18" type="u8" />
		</field>
		<field descriptor="0x21" name="Tare Sensor Orientation" functions="WRSLD">
			Tare the device orientation.
			<bitfield name="MipTareAxes" type="u8">
				<value name="roll" firstBit="0" />
				<value name="pitch" firstBit="1" />
				<value name="yaw" firstBit="2" />
			</bitfield>
			<param name="axes" index="0" type="MipTareAxes" />
			<response descriptor="0xA1">
				<param name="axes" index="0" type="MipTareAxes" />
			</response>
		</field>
		<field descriptor="0x10" name="Vehicle Dynamics Mode" functions="WRSLD">
			Controls the vehicle dynamics mode.
			<enum name="DynamicsMode" type="u8">
				<value name="PORTABLE" value="1" />
				<value name="AUTOMOTIVE" value="2" />
				<value name="AIRBORNE" value="3" />
				<value name="AIRBORNE_HIGH_G" value="4" />
			</enum>
			<param name="mode" index="0" type="DynamicsMode" />
			<response descriptor="0x80">
				<param name="mode" index="0" type="DynamicsMode" />
			</response>
		</field>
		<field descriptor="0x11" name="Sensor to Vehicle Frame Rotation Euler" functions="WRSLD">
			Set the sensor to vehicle frame rotation using Yaw, Pitch, Roll Euler angles.
			<param name="roll" index="0" type="float" />
			<param name="pitch" index="4" type="float" />
			<param name="yaw" index="8" type="float" />
			<response descriptor="0x81">
				<param name="roll" index="0" type="float" />
				<param name="pitch" index="4" type="float" />
				<param name="yaw" index="8" type="float" />
			</response>
		</field>
		<field descriptor="0x4E" name="Sensor to Vehicle Frame Rotation DCM" functions="WRSLD">
			Set the sensor to vehicle frame rotation using a row-major direction cosine matrix.
			<param name="dcm" index="0" type="Matrix3f" />
			<response descriptor="0xBE">
				<param name="dcm" index="0" type="Matrix3f" />
			</response>
		</field>
		<field descriptor="0x4F" name="Sensor to Vehicle Frame Rotation Quaternion" functions="WRSLD">
			Set the sensor to vehicle frame rotation using a quaternion.
			<param name="quat" index="0" type="Quatf" />
			<response descriptor="0xBF">
				<param name="quat" index="0" type="Quatf" />
			</response>
		</field>
		<field descriptor="0x12" name="Sensor to Vehicle Frame Offset" functions="WRSLD">
			Set the sensor to vehicle frame offset, expressed in the sensor frame.
			<param name="offset" index="0" type="Vector3f" />
			<response descriptor="0x82">
				<param name="offset" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x13" name="GNSS Antenna Offset Control" functions="WRSLD">
			Configure the GNSS antenna offset.
			<param name="offset" index="0" type="Vector3f" />
			<response descriptor="0x83">
				<param name="offset" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x15" name="GNSS Aiding Source Control" functions="WRSLD">
			Control the source of GNSS information used to update the Kalman Filter.
			<enum name="Source" type="u8">
				<value name="ALL_INT" value="1" />
				<value name="EXT" value="2" />
				<value name="INT_1" value="3" />
				<value name="INT_2" value="4" />
			</enum>
			<param name="source" index="0" type="Source" />
			<response descriptor="0x86">
				<param name="source" index="0" type="Source" />
			</response>
		</field>
		<field descriptor="0x18" name="Heading Aiding Source Control" functions="WRSLD">
			Control the source of heading information used to update the Kalman Filter.
			<enum name="Source" type="u8">
				<value name="NONE" value="0" />
				<value name="MAG" value="1" />
				<value name="GNSS_VEL" value="2" />
				<value name="EXTERNAL" value="3" />
				<value name="GNSS_VEL_AND_MAG" value="4" />
				<value name="GNSS_VEL_AND_EXTERNAL" value="5" />
				<value name="MAG_AND_EXTERNAL" value="6" />
				<value name="GNSS_VEL_AND_MAG_AND_EXTERNAL" value="7" />
			</enum>
			<param name="source" index="0" type="Source" />
			<response descriptor="0x87">
				<param name="source" index="0" type="Source" />
			</response>
		</field>
		<field descriptor="0x19" name="Auto-initialization Control" functions="WRSLD">
			Filter Auto-initialization Control
			<param name="enable" index="0" type="u8" />
			<response descriptor="0x88">
				<param name="enable" index="0" type="u8" />
			</response>
		</field>
		<field descriptor="0x1A" name="Accelerometer Noise Standard Deviation" functions="WRSLD">
			Accelerometer Noise Standard Deviation
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x89">
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x1B" name="Gyroscope Noise Standard Deviation" functions="WRSLD">
			Gyroscope Noise Standard Deviation
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x8A">
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x1C" name="Accelerometer Bias Model Parameters" functions="WRSLD">
			Accelerometer Bias Model Parameters
			<param name="beta" index="0" type="Vector3f" />
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x8B">
				<param name="beta" index="0" type="Vector3f" />
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x1D" name="Gyroscope Bias Model Parameters" functions="WRSLD">
			Gyroscope Bias Model Parameters
			<param name="beta" index="0" type="Vector3f" />
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x8C">
				<param name="beta" index="0" type="Vector3f" />
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x47" name="Altitude Aiding Control" functions="WRSLD">
			Select altitude input for absolute altitude and/or vertical velocity. The primary altitude reading is always GNSS.
			<enum name="AidingSelector" type="u8">
				<value name="NONE" value="0" />
				<value name="PRESURE" value="1" />
			</enum>
			<param name="selector" index="0" type="AidingSelector" />
			<response descriptor="0xB7">
				<param name="selector" index="0" type="AidingSelector" />
			</response>
		</field>
		<field descriptor="0x4B" name="Pitch/Roll Aiding Control" functions="WRSLD">
			Select pitch/roll aiding input. Pitch/roll reading is always derived from GNSS corrected inertial solution.
			<enum name="AidingSource" type="u8">
				<value name="NONE" value="0" />
				<value name="GRAVITY_VEC" value="1" />
			</enum>
			<param name="source" index="0" type="AidingSource" />
			<response descriptor="0xBB">
				<param name="source" index="0" type="AidingSource" />
			</response>
		</field>
		<field descriptor="0x1E" name="Zero Velocity Update Control" functions="WRSLD">
			The ZUPT is triggered when the scalar magnitude of the GNSS reported velocity vector is equal-to or less than the threshold value.
			<param name="enable" index="0" type="u8" />
			<param name="threshold" index="1" type="float" />
			<response descriptor="0x8D">
				<param name="enable" index="0" type="u8" />
				<param name="threshold" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x20" name="Zero Angular Rate Update Control" functions="WRSLD">
			Zero Angular Rate Update
			<param name="enable" index="0" type="u8" />
			<param name="threshold" index="1" type="float" />
			<response descriptor="0x8E">
				<param name="enable" index="0" type="u8" />
				<param name="threshold" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x22" name="Commanded Zero Velocity Update">
			Please see the device user manual for the maximum rate of this message.
		</field>
		<field descriptor="0x23" name="Commanded Zero Angular Rate Update">
			Please see the device user manual for the maximum rate of this message.
		</field>
		<field descriptor="0x27" name="Magnetometer Capture Auto Calibration" functions="WS">
			This command captures the current value of the auto-calibration, applies it to the current fixed hard and soft iron calibration coefficients, and replaces the current fixed hard and soft iron calibration coefficients with the new values.
		</field>
		<field descriptor="0x28" name="Gravity Noise Standard Deviation" functions="WRSLD">
			Set the expected gravity noise 1-sigma values. This function can be used to tune the filter performance in the target application.
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x93">
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x29" name="Pressure Altitude Noise Standard Deviation" functions="WRSLD">
			Set the expected pressure altitude noise 1-sigma values. This function can be used to tune the filter performance in the target application.
			<param name="noise" index="0" type="float" />
			<response descriptor="0x94">
				<param name="noise" index="0" type="float" />
			</response>
		</field>
		<field descriptor="0x2B" name="Hard Iron Offset Process Noise" functions="WRSLD">
			Set the expected hard iron offset noise 1-sigma values. This function can be used to tune the filter performance in the target application.
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0x96">
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x2C" name="Soft Iron Offset Process Noise" functions="WRSLD">
			Set the expected soft iron matrix noise 1-sigma values.
			<param name="noise" index="0" type="Matrix3f" />
			<response descriptor="0x97">
				<param name="noise" index="0" type="Matrix3f" />
			</response>
		</field>
		<field descriptor="0x42" name="Magnetometer Noise Standard Deviation" functions="WRSLD">
			Set the expected magnetometer noise 1-sigma values.
			<param name="noise" index="0" type="Vector3f" />
			<response descriptor="0xB1">
				<param name="noise" index="0" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x4C" name="Inclination Source" functions="WRSLD">
			Set/Get the local magnetic field inclination angle source.
			<enum name="FilterMagParamSource" type="u8">
				<value name="NONE" value="1" />
				<value name="WMM" value="2" />
				<value name="MANUAL" value="3" />
			</enum>
			<param name="source" index="0" type="FilterMagParamSource" />
			<param name="inclination" index="1" type="float" />
			<response descriptor="0xBC">
				<param name="source" index="0" type="FilterMagParamSource" />
				<param name="inclination" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x43" name="Magnetic Field Declination Source Control" functions="WRSLD">
			Set/Get the local magnetic field declination angle source.
			<enum name="FilterMagParamSource" type="u8">
				<value name="NONE" value="1" />
				<value name="WMM" value="2" />
				<value name="MANUAL" value="3" />
			</enum>
			<param name="source" index="0" type="FilterMagParamSource" />
			<param name="declination" index="1" type="float" />
			<response descriptor="0xB2">
				<param name="source" index="0" type="FilterMagParamSource" />
				<param name="declination" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x4D" name="Magnetic Field Magnitude Source" functions="WRSLD">
			Set/Get the local magnetic field magnitude source.
			<enum name="FilterMagParamSource" type="u8">
				<value name="NONE" value="1" />
				<value name="WMM" value="2" />
				<value name="MANUAL" value="3" />
			</enum>
			<param name="source" index="0" type="FilterMagParamSource" />
			<param name="magnitude" index="1" type="float" />
			<response descriptor="0xBD">
				<param name="source" index="0" type="FilterMagParamSource" />
				<param name="magnitude" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x26" name="Set Reference Position" functions="WRSLD">
			Set the Lat/Long/Alt reference position for the sensor.
			<param name="enable" index="0" type="bool" />
			<param name="latitude" index="1" type="double" />
			<param name="longitude" index="9" type="double" />
			<param name="altitude" index="17" type="double" />
			<response descriptor="0x90">
				<param name="enable" index="0" type="bool" />
				<param name="latitude" index="1" type="double" />
				<param name="longitude" index="9" type="double" />
				<param name="altitude" index="17" type="double" />
			</response>
		</field>
		<field descriptor="0x44" name="Gravity Magnitude Error Adaptive Measurement" functions="WRSLD">
			Enable or disable the gravity magnitude error adaptive measurement.
			<enum name="FilterAdaptiveMeasurement" type="u8">
				<value name="DISABLED" value="0" />
				<value name="FIXED" value="1" />
				<value name="AUTO" value="2" />
			</enum>
			<param name="adaptive_measurement" index="0" type="FilterAdaptiveMeasurement" />
			<param name="frequency" index="1" type="float" />
			<param name="low_limit" index="5" type="float" />
			<param name="high_limit" index="9" type="float" />
			<param name="low_limit_uncertainty" index="13" type="float" />
			<param name="high_limit_uncertainty" index="17" type="float" />
			<param name="minimum_uncertainty" index="21" type="float" />
			<response descriptor="0xB3">
				<param name="adaptive_measurement" index="0" type="FilterAdaptiveMeasurement" />
				<param name="frequency" index="1" type="float" />
				<param name="low_limit" index="5" type="float" />
				<param name="high_limit" index="9" type="float" />
				<param name="low_limit_uncertainty" index="13" type="float" />
				<param name="high_limit_uncertainty" index="17" type="float" />
				<param name="minimum_uncertainty" index="21" type="float" />
			</response>
		</field>
		<field descriptor="0x45" name="Magnetometer Magnitude Error Adaptive Measurement" functions="WRSLD">
			Enable or disable the magnetometer magnitude error adaptive measurement.
			<enum name="FilterAdaptiveMeasurement" type="u8">
				<value name="DISABLED" value="0" />
				<value name="FIXED" value="1" />
				<value name="AUTO" value="2" />
			</enum>
			<param name="adaptive_measurement" index="0" type="FilterAdaptiveMeasurement" />
			<param name="frequency" index="1" type="float" />
			<param name="low_limit" index="5" type="float" />
			<param name="high_limit" index="9" type="float" />
			<param name="low_limit_uncertainty" index="13" type="float" />
			<param name="high_limit_uncertainty" index="17" type="float" />
			<param name="minimum_uncertainty" index="21" type="float" />
			<response descriptor="0xB4">
				<param name="adaptive_measurement" index="0" type="FilterAdaptiveMeasurement" />
				<param name="frequency" index="1" type="float" />
				<param name="low_limit" index="5" type="float" />
				<param name="high_limit" index="9" type="float" />
				<param name="low_limit_uncertainty" index="13" type="float" />
				<param name="high_limit_uncertainty" index="17" type="float" />
				<param name="minimum_uncertainty" index="21" type="float" />
			</response>
		</field>
		<field descriptor="0x46" name="Magnetometer Dig Angle Error Adaptive Measurement" functions="WRSLD">
			Enable or disable the magnetometer dip angle error adaptive measurement.
			<param name="enable" index="0" type="bool" />
			<param name="frequency" index="1" type="float" />
			<param name="high_limit" index="5" type="float" />
			<param name="high_limit_uncertainty" index="9" type="float" />
			<param name="minimum_uncertainty" index="13" type="float" />
			<response descriptor="0xB5">
				<param name="enable" index="0" type="bool" />
				<param name="frequency" index="1" type="float" />
				<param name="high_limit" index="5" type="float" />
				<param name="high_limit_uncertainty" index="9" type="float" />
				<param name="minimum_uncertainty" index="13" type="float" />
			</response>
		</field>
		<field descriptor="0x50" name="Aiding Measurement Control" functions="WRSLD">
			Enables / disables the specified aiding measurement source.
			<enum name="AidingSource" type="u16">
				<value name="GNSS_POS_VEL" value="0" />
				<value name="GNSS_HEADING" value="1" />
				<value name="ALTIMETER" value="2" />
				<value name="SPEED" value="3" />
				<value name="MAGNETOMETER" value="4" />
				<value name="EXTERNAL_HEADING" value="5" />
				<value name="EXTERNAL_ALTIMETER" value="6" />
				<value name="EXTERNAL_MAGNETOMETER" value="7" />
				<value name="BODY_FRAME_VEL" value="8" />
				<value name="ALL" value="65535" />
			</enum>
			<param name="aiding_source" index="0" type="AidingSource" functions="WRSLD" />
			<param name="enable" index="2" type="bool" />
			<response descriptor="0xD0">
				<param name="aiding_source" index="0" type="AidingSource" functions="WRSLD" />
				<param name="enable" index="2" type="bool" />
			</response>
		</field>
		<field descriptor="0x05" name="Run Navigation Filter">
			Manual run command.
		</field>
		<field descriptor="0x51" name="Kinematic Constraint Control" functions="WRSLD">
			Controls kinematic constraint model selection for the navigation filter.
			<param name="acceleration_constraint_selection" index="0" type="u8" />
			<param name="velocity_constraint_selection" index="1" type="u8" />
			<param name="angular_constraint_selection" index="2" type="u8" />
			<response descriptor="0xD1">
				<param name="acceleration_constraint_selection" index="0" type="u8" />
				<param name="velocity_constraint_selection" index="1" type="u8" />
				<param name="angular_constraint_selection" index="2" type="u8" />
			</response>
		</field>
		<field descriptor="0x52" name="Navigation Filter Initialization" functions="WRSLD">
			Controls the source and values used for initial conditions of the navigation solution.
			<param name="wait_for_run_command" index="0" type="u8" />
			<enum name="InitialConditionSource" type="u8">
				<value name="AUTO_POS_VEL_ATT" value="0" />
				<value name="AUTO_POS_VEL_PITCH_ROLL" value="1" />
				<value name="AUTO_POS_VEL" value="2" />
				<value name="MANUAL" value="3" />
			</enum>
			<param name="initial_cond_src" index="1" type="InitialConditionSource" />
			<bitfield name="AlignmentSelector" type="u8">
				<value name="dual_antenna" firstBit="0" />
				<value name="kinematic" firstBit="1" />
				<value name="magnetometer" firstBit="2" />
				<value name="external" firstBit="3" />
			</bitfield>
			<param name="auto_heading_alignment_selector" index="2" type="AlignmentSelector" />
			<param name="initial_heading" index="3" type="float" />
			<param name="initial_pitch" index="7" type="float" />
			<param name="initial_roll" index="11" type="float" />
			<param name="initial_position" index="15" type="Vector3f" />
			<param name="initial_velocity" index="15" type="Vector3f" />
			<enum name="FilterReferenceFrame" type="u8">
				<value name="ECEF" value="1" />
				<value name="LLH" value="2" />
			</enum>
			<param name="reference_frame_selector" index="15" type="FilterReferenceFrame" />
			<response descriptor="0xD2">
				<param name="wait_for_run_command" index="0" type="u8" />
				<param name="initial_cond_src" index="1" type="InitialConditionSource" />
				<param name="auto_heading_alignment_selector" index="2" type="AlignmentSelector" />
				<param name="initial_heading" index="3" type="float" />
				<param name="initial_pitch" index="7" type="float" />
				<param name="initial_roll" index="11" type="float" />
				<param name="initial_position" index="15" type="Vector3f" />
				<param name="initial_velocity" index="15" type="Vector3f" />
				<param name="reference_frame_selector" index="15" type="FilterReferenceFrame" />
			</response>
		</field>
		<field descriptor="0x53" name="Adaptive Filter Control" functions="WRSLD">
			Configures the basic setup for auto-adaptive filtering. See product manual for a detailed description of this feature.
			<param name="level" index="0" type="u8" />
			<param name="time_limit" index="1" type="u16" />
			<response descriptor="0xD3">
				<param name="level" index="0" type="u8" />
				<param name="time_limit" index="1" type="u16" />
			</response>
		</field>
		<field descriptor="0x54" name="GNSS Multi-Antenna Offset Control" functions="WRSLD">
			Set the antenna lever arm.
			<param name="receiver_id" index="0" type="u8" functions="WRSLD" />
			<param name="antenna_offset" index="1" type="Vector3f" />
			<response descriptor="0xD4">
				<param name="receiver_id" index="0" type="u8" />
				<param name="antenna_offset" index="1" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x55" name="Relative Position Configuration" functions="WRSLD">
			Configure the reference location for filter relative positioning outputs
			<param name="source" index="0" type="u8" />
			<enum name="FilterReferenceFrame" type="u8">
				<value name="ECEF" value="1" />
				<value name="LLH" value="2" />
			</enum>
			<param name="reference_frame_selector" index="1" type="FilterReferenceFrame" />
			<param name="reference_coordinates" index="2" type="Vector3d" />
			<response descriptor="0xD5">
				<param name="source" index="0" type="u8" />
				<param name="reference_frame_selector" index="1" type="FilterReferenceFrame" />
				<param name="reference_coordinates" index="2" type="Vector3d" />
			</response>
		</field>
		<field descriptor="0x56" name="Reference point lever arm" functions="WRSLD">
			Lever arm offset with respect to the sensor for the indicated point of reference.
			<enum name="ReferencePointSelector" type="u8">
				<value name="VEH" value="1" />
			</enum>
			<param name="ref_point_sel" index="0" type="ReferencePointSelector" />
			<param name="lever_arm_offset" index="1" type="Vector3f" />
			<response descriptor="0xD6">
				<param name="ref_point_sel" index="0" type="ReferencePointSelector" />
				<param name="lever_arm_offset" index="1" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x60" name="Input speed measurement">
			Speed aiding measurement, where speed is defined as rate of motion along the vehicle's x-axis direction.
			<param name="source" index="0" type="u8" />
			<param name="time_of_week" index="1" type="float" />
			<param name="speed" index="5" type="float" />
			<param name="speed_uncertainty" index="9" type="float" />
		</field>
		<field descriptor="0x61" name="Measurement speed lever arm" functions="WRSLD">
			Lever arm offset for speed measurements.
			<param name="source" index="0" type="u8" functions="WRSLD" />
			<param name="lever_arm_offset" index="1" type="Vector3f" />
			<response descriptor="0xE1">
				<param name="source" index="0" type="u8" functions="WRSLD" />
				<param name="lever_arm_offset" index="1" type="Vector3f" />
			</response>
		</field>
		<field descriptor="0x63" name="Wheeled Vehicle Constraint Control" functions="WRSLD">
			Configure the wheeled vehicle kinematic constraint.
			<param name="enable" index="0" type="u8" />
			<response descriptor="0xE3">
				<param name="enable" index="0" type="u8" />
			</response>
		</field>
		<field descriptor="0x62" name="Vertical Gyro Constraint Control" functions="WRSLD">
			Configure the vertical gyro kinematic constraint.
			<param name="enable" index="0" type="u8" />
			<response descriptor="0xE2">
				<param name="enable" index="0" type="u8" />
			</response>
		</field>
		<field descriptor="0x64" name="GNSS Antenna Offset Calibration Control" functions="WRSLD">
			Configure the GNSS antenna lever arm calibration.
			<param name="enable" index="0" type="u8" />
			<param name="max_offset" index="1" type="float" />
			<response descriptor="0xE4">
				<param name="enable" index="0" type="u8" />
				<param name="max_offset" index="1" type="float" />
			</response>
		</field>
		<field descriptor="0x03" name="Set Initial Heading Control">
			Set the initial heading angle.
			<param name="heading" index="0" type="float" />
		</field>
	</descriptor_set>
</mipdefs>
