diff --git a/message_definitions/pyxis.xml b/message_definitions/pyxis.xml
index 9987b3a103306496dfd3f225dde8c1af6d4c83a4..0cbf2ead6435e055647aa2e4aae47d26fc8c9d42 100644
--- a/message_definitions/pyxis.xml
+++ b/message_definitions/pyxis.xml
@@ -61,25 +61,28 @@
<entry name="MAV_MS5803_ID" value="6">
<description>MS5803 barometer data</description>
</entry>
- <entry name="MAV_CURRENT_SENSE_ID" value="7">
+ <entry name="MAV_BME280_ID" value="7">
+ <description>BME280 barometer data</description>
+ </entry>
+ <entry name="MAV_CURRENT_SENSE_ID" value="8">
<description>Electrical current sensors data</description>
</entry>
- <entry name="MAV_LIS3MDL_ID" value="8">
+ <entry name="MAV_LIS3MDL_ID" value="9">
<description>LIS3MDL compass data</description>
</entry>
- <entry name="MAV_DPL_PRESS_ID" value="9">
+ <entry name="MAV_DPL_PRESS_ID" value="10">
<description>Deployment pressure data</description>
</entry>
- <entry name="MAV_STATIC_PRESS_ID" value="10">
+ <entry name="MAV_STATIC_PRESS_ID" value="11">
<description>Static pressure data</description>
</entry>
- <entry name="MAV_PITOT_PRESS_ID" value="11">
+ <entry name="MAV_PITOT_PRESS_ID" value="12">
<description>Pitot pressure data</description>
</entry>
- <entry name="MAV_BATTERY_VOLTAGE_ID" value="12">
+ <entry name="MAV_BATTERY_VOLTAGE_ID" value="13">
<description>Battery voltage data</description>
</entry>
- <entry name="MAV_STRAIN_GAUGE_ID" value="13">
+ <entry name="MAV_STRAIN_GAUGE_ID" value="14">
<description>Strain gauge data</description>
</entry>
</enum>
@@ -193,6 +196,15 @@
<field name="topic_id" type="uint8_t">Id of the topic to which the event should be posted</field>
<field name="event_id" type="uint8_t">Id of the event to be posted</field>
</message>
+ <message id="15" name="SET_TARGET_COORDINATES_TC">
+ <description>Sets the target coordinates</description>
+ <field name="latitude" type="float" units="deg">Latitude</field>
+ <field name="longitude" type="float" units="deg">Longitude</field>
+ </message>
+ <message id="16" name="SET_ALGORITHM_TC">
+ <description>Sets the algorithm number (for parafoil guidance)</description>
+ <field name="algorithm_number" type="uint8_t">Algorithm number</field>
+ </message>
<!-- TODO: DEFINE PAYLOAD STUFF -->
@@ -367,9 +379,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
- <field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
- <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
- <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
+ <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
+ <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
+ <field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
@@ -427,9 +440,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
- <field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
- <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
- <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
+ <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
+ <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
+ <field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
@@ -474,9 +488,10 @@
<field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
<field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
<field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
- <field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
- <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
- <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_qx" type="float" units="deg">Navigation system estimated attitude (qx)</field>
+ <field name="nas_qy" type="float" units="deg">Navigation system estimated attitude (qy)</field>
+ <field name="nas_qz" type="float" units="deg">Navigation system estimated attitude (qz)</field>
+ <field name="nas_qw" type="float" units="deg">Navigation system estimated attitude (qw)</field>
<field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
<field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>