diff --git a/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h b/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
index 0a8311c6cde8ccdb90f014b0284711757b728260..ba4c703143eb0b8bbcf8545c97ed52dec4ac1dc6 100644
--- a/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
+++ b/mavlink_lib/lyra/mavlink_msg_arp_command_tc.h
@@ -1,7 +1,7 @@
#pragma once
// MESSAGE ARP_COMMAND_TC PACKING
-#define MAVLINK_MSG_ID_ARP_COMMAND_TC 172
+#define MAVLINK_MSG_ID_ARP_COMMAND_TC 65
typedef struct __mavlink_arp_command_tc_t {
@@ -10,17 +10,17 @@ typedef struct __mavlink_arp_command_tc_t {
#define MAVLINK_MSG_ID_ARP_COMMAND_TC_LEN 1
#define MAVLINK_MSG_ID_ARP_COMMAND_TC_MIN_LEN 1
-#define MAVLINK_MSG_ID_172_LEN 1
-#define MAVLINK_MSG_ID_172_MIN_LEN 1
+#define MAVLINK_MSG_ID_65_LEN 1
+#define MAVLINK_MSG_ID_65_MIN_LEN 1
#define MAVLINK_MSG_ID_ARP_COMMAND_TC_CRC 181
-#define MAVLINK_MSG_ID_172_CRC 181
+#define MAVLINK_MSG_ID_65_CRC 181
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ARP_COMMAND_TC { \
- 172, \
+ 65, \
"ARP_COMMAND_TC", \
1, \
{ { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_arp_command_tc_t, command_id) }, \
diff --git a/mavlink_lib/lyra/mavlink_msg_set_stepper_multiplier_tc.h b/mavlink_lib/lyra/mavlink_msg_set_stepper_multiplier_tc.h
new file mode 100644
index 0000000000000000000000000000000000000000..fc81eca75f8ec20832d33bb72346826ec9e778d8
--- /dev/null
+++ b/mavlink_lib/lyra/mavlink_msg_set_stepper_multiplier_tc.h
@@ -0,0 +1,288 @@
+#pragma once
+// MESSAGE SET_STEPPER_MULTIPLIER_TC PACKING
+
+#define MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC 62
+
+
+typedef struct __mavlink_set_stepper_multiplier_tc_t {
+ float multiplier; /*< Multiplier*/
+ uint8_t stepper_id; /*< A member of the StepperList enum*/
+} mavlink_set_stepper_multiplier_tc_t;
+
+#define MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN 5
+#define MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN 5
+#define MAVLINK_MSG_ID_62_LEN 5
+#define MAVLINK_MSG_ID_62_MIN_LEN 5
+
+#define MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC 173
+#define MAVLINK_MSG_ID_62_CRC 173
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_SET_STEPPER_MULTIPLIER_TC { \
+ 62, \
+ "SET_STEPPER_MULTIPLIER_TC", \
+ 2, \
+ { { "stepper_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_stepper_multiplier_tc_t, stepper_id) }, \
+ { "multiplier", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_stepper_multiplier_tc_t, multiplier) }, \
+ } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_SET_STEPPER_MULTIPLIER_TC { \
+ "SET_STEPPER_MULTIPLIER_TC", \
+ 2, \
+ { { "stepper_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_stepper_multiplier_tc_t, stepper_id) }, \
+ { "multiplier", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_stepper_multiplier_tc_t, multiplier) }, \
+ } \
+}
+#endif
+
+/**
+ * @brief Pack a set_stepper_multiplier_tc message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param stepper_id A member of the StepperList enum
+ * @param multiplier Multiplier
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ uint8_t stepper_id, float multiplier)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN];
+ _mav_put_float(buf, 0, multiplier);
+ _mav_put_uint8_t(buf, 4, stepper_id);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#else
+ mavlink_set_stepper_multiplier_tc_t packet;
+ packet.multiplier = multiplier;
+ packet.stepper_id = stepper_id;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC;
+ return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+}
+
+/**
+ * @brief Pack a set_stepper_multiplier_tc message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param stepper_id A member of the StepperList enum
+ * @param multiplier Multiplier
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
+ uint8_t stepper_id, float multiplier)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN];
+ _mav_put_float(buf, 0, multiplier);
+ _mav_put_uint8_t(buf, 4, stepper_id);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#else
+ mavlink_set_stepper_multiplier_tc_t packet;
+ packet.multiplier = multiplier;
+ packet.stepper_id = stepper_id;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC;
+#if MAVLINK_CRC_EXTRA
+ return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#else
+ return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a set_stepper_multiplier_tc message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param stepper_id A member of the StepperList enum
+ * @param multiplier Multiplier
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ uint8_t stepper_id,float multiplier)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN];
+ _mav_put_float(buf, 0, multiplier);
+ _mav_put_uint8_t(buf, 4, stepper_id);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#else
+ mavlink_set_stepper_multiplier_tc_t packet;
+ packet.multiplier = multiplier;
+ packet.stepper_id = stepper_id;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC;
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+}
+
+/**
+ * @brief Encode a set_stepper_multiplier_tc struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param set_stepper_multiplier_tc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_stepper_multiplier_tc_t* set_stepper_multiplier_tc)
+{
+ return mavlink_msg_set_stepper_multiplier_tc_pack(system_id, component_id, msg, set_stepper_multiplier_tc->stepper_id, set_stepper_multiplier_tc->multiplier);
+}
+
+/**
+ * @brief Encode a set_stepper_multiplier_tc struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param set_stepper_multiplier_tc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_stepper_multiplier_tc_t* set_stepper_multiplier_tc)
+{
+ return mavlink_msg_set_stepper_multiplier_tc_pack_chan(system_id, component_id, chan, msg, set_stepper_multiplier_tc->stepper_id, set_stepper_multiplier_tc->multiplier);
+}
+
+/**
+ * @brief Encode a set_stepper_multiplier_tc struct with provided status structure
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param status MAVLink status structure
+ * @param msg The MAVLink message to compress the data into
+ * @param set_stepper_multiplier_tc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_set_stepper_multiplier_tc_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_set_stepper_multiplier_tc_t* set_stepper_multiplier_tc)
+{
+ return mavlink_msg_set_stepper_multiplier_tc_pack_status(system_id, component_id, _status, msg, set_stepper_multiplier_tc->stepper_id, set_stepper_multiplier_tc->multiplier);
+}
+
+/**
+ * @brief Send a set_stepper_multiplier_tc message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param stepper_id A member of the StepperList enum
+ * @param multiplier Multiplier
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_set_stepper_multiplier_tc_send(mavlink_channel_t chan, uint8_t stepper_id, float multiplier)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN];
+ _mav_put_float(buf, 0, multiplier);
+ _mav_put_uint8_t(buf, 4, stepper_id);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC, buf, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#else
+ mavlink_set_stepper_multiplier_tc_t packet;
+ packet.multiplier = multiplier;
+ packet.stepper_id = stepper_id;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC, (const char *)&packet, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#endif
+}
+
+/**
+ * @brief Send a set_stepper_multiplier_tc message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_set_stepper_multiplier_tc_send_struct(mavlink_channel_t chan, const mavlink_set_stepper_multiplier_tc_t* set_stepper_multiplier_tc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ mavlink_msg_set_stepper_multiplier_tc_send(chan, set_stepper_multiplier_tc->stepper_id, set_stepper_multiplier_tc->multiplier);
+#else
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC, (const char *)set_stepper_multiplier_tc, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+ This variant of _send() can be used to save stack space by re-using
+ memory from the receive buffer. The caller provides a
+ mavlink_message_t which is the size of a full mavlink message. This
+ is usually the receive buffer for the channel, and allows a reply to an
+ incoming message with minimum stack space usage.
+ */
+static inline void mavlink_msg_set_stepper_multiplier_tc_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t stepper_id, float multiplier)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char *buf = (char *)msgbuf;
+ _mav_put_float(buf, 0, multiplier);
+ _mav_put_uint8_t(buf, 4, stepper_id);
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC, buf, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#else
+ mavlink_set_stepper_multiplier_tc_t *packet = (mavlink_set_stepper_multiplier_tc_t *)msgbuf;
+ packet->multiplier = multiplier;
+ packet->stepper_id = stepper_id;
+
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC, (const char *)packet, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_MIN_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE SET_STEPPER_MULTIPLIER_TC UNPACKING
+
+
+/**
+ * @brief Get field stepper_id from set_stepper_multiplier_tc message
+ *
+ * @return A member of the StepperList enum
+ */
+static inline uint8_t mavlink_msg_set_stepper_multiplier_tc_get_stepper_id(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_uint8_t(msg, 4);
+}
+
+/**
+ * @brief Get field multiplier from set_stepper_multiplier_tc message
+ *
+ * @return Multiplier
+ */
+static inline float mavlink_msg_set_stepper_multiplier_tc_get_multiplier(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Decode a set_stepper_multiplier_tc message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_stepper_multiplier_tc C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_stepper_multiplier_tc_decode(const mavlink_message_t* msg, mavlink_set_stepper_multiplier_tc_t* set_stepper_multiplier_tc)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ set_stepper_multiplier_tc->multiplier = mavlink_msg_set_stepper_multiplier_tc_get_multiplier(msg);
+ set_stepper_multiplier_tc->stepper_id = mavlink_msg_set_stepper_multiplier_tc_get_stepper_id(msg);
+#else
+ uint8_t len = msg->len < MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN? msg->len : MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN;
+ memset(set_stepper_multiplier_tc, 0, MAVLINK_MSG_ID_SET_STEPPER_MULTIPLIER_TC_LEN);
+ memcpy(set_stepper_multiplier_tc, _MAV_PAYLOAD(msg), len);
+#endif
+}
diff --git a/message_definitions/lyra.xml b/message_definitions/lyra.xml
index 0b516e6016816384a5d885da83ca569e15ee5747..581ba64674f7a39008291aabbf64262d1318d3db 100644
--- a/message_definitions/lyra.xml
+++ b/message_definitions/lyra.xml
@@ -387,6 +387,26 @@
<message id="24" name="SET_COOLING_TIME_TC">
<description>Sets the time in ms that the system will wait before disarming after firing</description>
<field name="timing" type="uint32_t" units="ms">Timing in [ms]</field>
+ <message id="25" name="SET_STEPPER_MULTIPLIER_TC">
+ <description>Set the multiplier of the stepper</description>
+ <field name="stepper_id" type="uint8_t">A member of the StepperList enum</field>
+ <field name="multiplier" type="float">Multiplier</field>
+ </message>
+ <message id="26" name="SET_ANTENNA_COORDINATES_ARP_TC">
+ <description>Sets current antennas coordinates</description>
+ <field name="latitude" type="float" units="deg">Latitude</field>
+ <field name="longitude" type="float" units="deg">Longitude</field>
+ <field name="height" type="float" units="m">Height</field>
+ </message>
+ <message id="27" name="SET_ROCKET_COORDINATES_ARP_TC">
+ <description>Sets current rocket coordinates</description>
+ <field name="latitude" type="float" units="deg">Latitude</field>
+ <field name="longitude" type="float" units="deg">Longitude</field>
+ <field name="height" type="float" units="m">Height</field>
+ </message>
+ <message id="28" name="ARP_COMMAND_TC">
+ <description>TC containing a command with no parameters that trigger some action</description>
+ <field name="command_id" type="uint8_t">A member of the MavArpCommandList enum</field>
</message>
<!-- FROM ROCKET TO GROUND: GENERIC -->
@@ -582,22 +602,6 @@
<field name="battery_voltage" type="float" units="V">Battery voltage</field>
<field name="log_number" type="int16_t">Currently active log file, -1 if the logger is inactive</field>
</message>
- <message id="170" name="SET_ANTENNA_COORDINATES_ARP_TC">
- <description>Sets current antennas coordinates</description>
- <field name="latitude" type="float" units="deg">Latitude</field>
- <field name="longitude" type="float" units="deg">Longitude</field>
- <field name="height" type="float" units="m">Height</field>
- </message>
- <message id="171" name="SET_ROCKET_COORDINATES_ARP_TC">
- <description>Sets current rocket coordinates</description>
- <field name="latitude" type="float" units="deg">Latitude</field>
- <field name="longitude" type="float" units="deg">Longitude</field>
- <field name="height" type="float" units="m">Height</field>
- </message>
- <message id="172" name="ARP_COMMAND_TC">
- <description>TC containing a command with no parameters that trigger some action</description>
- <field name="command_id" type="uint8_t">A member of the MavArpCommandList enum</field>
- </message>
<!-- FROM ROCKET TO GROUND: SPECIFIC -->
<message id="200" name="SYS_TM">