From 9fc5cb8030a20ca723cadb78ce80c5a3963423a9 Mon Sep 17 00:00:00 2001
From: Valentin Bugrov <valentin.bugrov@inertiallabs.com>
Date: Tue, 19 Nov 2024 15:45:20 -0500
Subject: [PATCH] common.xml: Add EAHRS commands

---
 message_definitions/v1.0/common.xml | 41 +++++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 1f6e6c77af..a08fa06b7a 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -2218,6 +2218,47 @@
         <param index="6">Empty.</param>
         <param index="7">Empty.</param>
       </entry>
+      <!-- External AHRS commands (32000 to 32099) -->
+      <entry value="33000" name="MAV_CMD_EAHRS_START" hasLocation="false" isDestination="false">
+        <description>Send command "start data sending" to external AHRS</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="33001" name="MAV_CMD_EAHRS_STOP" hasLocation="false" isDestination="false">
+        <description>Send command "stop data sending" to external AHRS</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="33002" name="MAV_CMD_EAHRS_ENABLE_GNSS" hasLocation="false" isDestination="false">
+        <description>Send command "enable GNSS" to external AHRS</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
+      <entry value="33003" name="MAV_CMD_EAHRS_DISABLE_GNSS" hasLocation="false" isDestination="false">
+        <description>Send command "disable GNSS" to external AHRS</description>
+        <param index="1">Empty.</param>
+        <param index="2">Empty.</param>
+        <param index="3">Empty.</param>
+        <param index="4">Empty.</param>
+        <param index="5">Empty.</param>
+        <param index="6">Empty.</param>
+        <param index="7">Empty.</param>
+      </entry>
     </enum>
     <enum name="MAV_DATA_STREAM">
       <description>A data stream is not a fixed set of messages, but rather a