@aircast-4g/mavlink 1.1.11 → 1.1.14

package/dist/dialects/standard/index.d.ts

@@ -86,7 +86,8 @@ declare enum MAV_TYPEEnum {
     MAV_TYPE_SPACECRAFT_ORBITER = 45,
     MAV_TYPE_GROUND_QUADRUPED = 46,
     MAV_TYPE_VTOL_GYRODYNE = 47,
-    MAV_TYPE_GRIPPER = 48
+    MAV_TYPE_GRIPPER = 48,
+    MAV_TYPE_RADIO = 49
 }
 type MAV_TYPE = MAV_TYPEEnum;
 declare enum MAV_MODE_FLAGEnum {
@@ -207,6 +208,9 @@ declare enum MAV_COMPONENTEnum {
     MAV_COMP_ID_CAMERA4 = 103,
     MAV_COMP_ID_CAMERA5 = 104,
     MAV_COMP_ID_CAMERA6 = 105,
+    MAV_COMP_ID_RADIO = 110,
+    MAV_COMP_ID_RADIO2 = 111,
+    MAV_COMP_ID_RADIO3 = 112,
     MAV_COMP_ID_SERVO1 = 140,
     MAV_COMP_ID_SERVO2 = 141,
     MAV_COMP_ID_SERVO3 = 142,
@@ -267,6 +271,38 @@ declare enum MAV_BOOLEnum {
     MAV_BOOL_TRUE = 1
 }
 type MAV_BOOL = MAV_BOOLEnum;
+declare enum MAV_PROTOCOL_CAPABILITYEnum {
+    MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT = 1,
+    MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT = 2,
+    MAV_PROTOCOL_CAPABILITY_MISSION_INT = 4,
+    MAV_PROTOCOL_CAPABILITY_COMMAND_INT = 8,
+    MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE = 16,
+    MAV_PROTOCOL_CAPABILITY_FTP = 32,
+    MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET = 64,
+    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED = 128,
+    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT = 256,
+    MAV_PROTOCOL_CAPABILITY_TERRAIN = 512,
+    MAV_PROTOCOL_CAPABILITY_RESERVED3 = 1024,
+    MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION = 2048,
+    MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION = 4096,
+    MAV_PROTOCOL_CAPABILITY_MAVLINK2 = 8192,
+    MAV_PROTOCOL_CAPABILITY_MISSION_FENCE = 16384,
+    MAV_PROTOCOL_CAPABILITY_MISSION_RALLY = 32768,
+    MAV_PROTOCOL_CAPABILITY_RESERVED2 = 65536,
+    MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST = 131072,
+    MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER = 262144,
+    MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL = 524288,
+    MAV_PROTOCOL_CAPABILITY_GRIPPER = 1048576
+}
+type MAV_PROTOCOL_CAPABILITY = MAV_PROTOCOL_CAPABILITYEnum;
+declare enum FIRMWARE_VERSION_TYPEEnum {
+    FIRMWARE_VERSION_TYPE_DEV = 0,
+    FIRMWARE_VERSION_TYPE_ALPHA = 64,
+    FIRMWARE_VERSION_TYPE_BETA = 128,
+    FIRMWARE_VERSION_TYPE_RC = 192,
+    FIRMWARE_VERSION_TYPE_OFFICIAL = 255
+}
+type FIRMWARE_VERSION_TYPE = FIRMWARE_VERSION_TYPEEnum;
 
 interface MessageHeartbeat {
     custom_mode: number;
@@ -276,23 +312,45 @@ interface MessageHeartbeat {
     system_status: MAV_STATE;
     mavlink_version: number;
 }
-interface MessageProtocolVersion {
-    spec_version_hash: number[];
-    library_version_hash: number[];
-    version: number;
-    min_version: number;
-    max_version: number;
+interface MessageGlobalPositionInt {
+    time_boot_ms: number;
+    lat: number;
+    lon: number;
+    alt: number;
+    relative_alt: number;
+    vx: number;
+    vy: number;
+    vz: number;
+    hdg: number;
+}
+interface MessageAutopilotVersion {
+    capabilities: MAV_PROTOCOL_CAPABILITY;
+    uid: number;
+    flight_sw_version: number;
+    middleware_sw_version: number;
+    os_sw_version: number;
+    board_version: number;
+    vendor_id: number;
+    product_id: number;
+    flight_custom_version: number[];
+    middleware_custom_version: number[];
+    os_custom_version: number[];
+    uid2?: number[];
 }
 interface MessageTypeMap {
     HEARTBEAT: MessageHeartbeat;
-    PROTOCOL_VERSION: MessageProtocolVersion;
+    GLOBAL_POSITION_INT: MessageGlobalPositionInt;
+    AUTOPILOT_VERSION: MessageAutopilotVersion;
 }
 type AnyMessage = ParsedMAVLinkMessage$1;
 declare function isHeartbeat(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
     payload: MessageHeartbeat;
 };
-declare function isProtocolVersion(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
-    payload: MessageProtocolVersion;
+declare function isGlobalPositionInt(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
+    payload: MessageGlobalPositionInt;
+};
+declare function isAutopilotVersion(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
+    payload: MessageAutopilotVersion;
 };
 
 interface ParsedMAVLinkMessage {
@@ -346,6 +404,8 @@ declare abstract class DialectParser {
     resetBuffer(): void;
     decode(frame: MAVLinkFrame): ParsedMAVLinkMessage;
     private decodePayload;
+    private sortFieldsByWireOrder;
+    private getFieldTypeSize;
     private getDefaultValue;
     private decodeField;
     private decodeSingleValue;
@@ -385,5 +445,5 @@ declare class StandardSerializer {
     supportsMessage(messageName: string): boolean;
 }
 
-export { MAV_AUTOPILOTEnum, MAV_BOOLEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, StandardSerializer, isHeartbeat, isProtocolVersion };
-export type { AnyMessage, MAV_AUTOPILOT, MAV_BOOL, MAV_COMPONENT, MAV_MODE_FLAG, MAV_MODE_FLAG_DECODE_POSITION, MAV_STATE, MAV_TYPE, MessageHeartbeat, MessageProtocolVersion, MessageTypeMap, ParsedMAVLinkMessage$1 as ParsedMAVLinkMessage };
+export { FIRMWARE_VERSION_TYPEEnum, MAV_AUTOPILOTEnum, MAV_BOOLEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_PROTOCOL_CAPABILITYEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, StandardSerializer, isAutopilotVersion, isGlobalPositionInt, isHeartbeat };
+export type { AnyMessage, FIRMWARE_VERSION_TYPE, MAV_AUTOPILOT, MAV_BOOL, MAV_COMPONENT, MAV_MODE_FLAG, MAV_MODE_FLAG_DECODE_POSITION, MAV_PROTOCOL_CAPABILITY, MAV_STATE, MAV_TYPE, MessageAutopilotVersion, MessageGlobalPositionInt, MessageHeartbeat, MessageTypeMap, ParsedMAVLinkMessage$1 as ParsedMAVLinkMessage };

package/dist/dialects/standard/index.js

@@ -148,6 +148,8 @@ var MAV_TYPEEnum;
     MAV_TYPEEnum[MAV_TYPEEnum["MAV_TYPE_VTOL_GYRODYNE"] = 47] = "MAV_TYPE_VTOL_GYRODYNE";
     // Gripper
     MAV_TYPEEnum[MAV_TYPEEnum["MAV_TYPE_GRIPPER"] = 48] = "MAV_TYPE_GRIPPER";
+    // Radio
+    MAV_TYPEEnum[MAV_TYPEEnum["MAV_TYPE_RADIO"] = 49] = "MAV_TYPE_RADIO";
 })(MAV_TYPEEnum || (MAV_TYPEEnum = {}));
 // These flags encode the MAV mode, see MAV_MODE enum for useful combinations.
 var MAV_MODE_FLAGEnum;
@@ -386,6 +388,12 @@ var MAV_COMPONENTEnum;
     MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_CAMERA5"] = 104] = "MAV_COMP_ID_CAMERA5";
     // Camera #6.
     MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_CAMERA6"] = 105] = "MAV_COMP_ID_CAMERA6";
+    // Radio #1.
+    MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_RADIO"] = 110] = "MAV_COMP_ID_RADIO";
+    // Radio #2.
+    MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_RADIO2"] = 111] = "MAV_COMP_ID_RADIO2";
+    // Radio #3.
+    MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_RADIO3"] = 112] = "MAV_COMP_ID_RADIO3";
     // Servo #1.
     MAV_COMPONENTEnum[MAV_COMPONENTEnum["MAV_COMP_ID_SERVO1"] = 140] = "MAV_COMP_ID_SERVO1";
     // Servo #2.
@@ -501,14 +509,81 @@ var MAV_BOOLEnum;
     // True.
     MAV_BOOLEnum[MAV_BOOLEnum["MAV_BOOL_TRUE"] = 1] = "MAV_BOOL_TRUE";
 })(MAV_BOOLEnum || (MAV_BOOLEnum = {}));
+// Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.
+var MAV_PROTOCOL_CAPABILITYEnum;
+(function (MAV_PROTOCOL_CAPABILITYEnum) {
+    // Autopilot supports the MISSION_ITEM float message type.
+    // Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_ITEM_INT instead.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT"] = 1] = "MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT";
+    // Autopilot supports the new param float message type.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT"] = 2] = "MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT";
+    // Autopilot supports MISSION_ITEM_INT scaled integer message type.
+    // Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_MISSION_INT"] = 4] = "MAV_PROTOCOL_CAPABILITY_MISSION_INT";
+    // Autopilot supports COMMAND_INT scaled integer message type.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_COMMAND_INT"] = 8] = "MAV_PROTOCOL_CAPABILITY_COMMAND_INT";
+    // Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
+    // Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE"] = 16] = "MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE";
+    // Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_FTP"] = 32] = "MAV_PROTOCOL_CAPABILITY_FTP";
+    // Autopilot supports commanding attitude offboard.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET"] = 64] = "MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET";
+    // Autopilot supports commanding position and velocity targets in local NED frame.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED"] = 128] = "MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED";
+    // Autopilot supports commanding position and velocity targets in global scaled integers.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT"] = 256] = "MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT";
+    // Autopilot supports terrain protocol / data handling.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_TERRAIN"] = 512] = "MAV_PROTOCOL_CAPABILITY_TERRAIN";
+    // Reserved for future use.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_RESERVED3"] = 1024] = "MAV_PROTOCOL_CAPABILITY_RESERVED3";
+    // Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION"] = 2048] = "MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION";
+    // Autopilot supports onboard compass calibration.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION"] = 4096] = "MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION";
+    // Autopilot supports MAVLink version 2.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_MAVLINK2"] = 8192] = "MAV_PROTOCOL_CAPABILITY_MAVLINK2";
+    // Autopilot supports mission fence protocol.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_MISSION_FENCE"] = 16384] = "MAV_PROTOCOL_CAPABILITY_MISSION_FENCE";
+    // Autopilot supports mission rally point protocol.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_MISSION_RALLY"] = 32768] = "MAV_PROTOCOL_CAPABILITY_MISSION_RALLY";
+    // Reserved for future use.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_RESERVED2"] = 65536] = "MAV_PROTOCOL_CAPABILITY_RESERVED2";
+    // Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
+    // Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST"] = 131072] = "MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST";
+    // This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER"] = 262144] = "MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER";
+    // Component supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL"] = 524288] = "MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL";
+    // Autopilot has a connected gripper. MAVLink Grippers would set MAV_TYPE_GRIPPER instead.
+    MAV_PROTOCOL_CAPABILITYEnum[MAV_PROTOCOL_CAPABILITYEnum["MAV_PROTOCOL_CAPABILITY_GRIPPER"] = 1048576] = "MAV_PROTOCOL_CAPABILITY_GRIPPER";
+})(MAV_PROTOCOL_CAPABILITYEnum || (MAV_PROTOCOL_CAPABILITYEnum = {}));
+// These values define the type of firmware release.  These values indicate the first version or release of this type.  For example the first alpha release would be 64, the second would be 65.
+var FIRMWARE_VERSION_TYPEEnum;
+(function (FIRMWARE_VERSION_TYPEEnum) {
+    // development release
+    FIRMWARE_VERSION_TYPEEnum[FIRMWARE_VERSION_TYPEEnum["FIRMWARE_VERSION_TYPE_DEV"] = 0] = "FIRMWARE_VERSION_TYPE_DEV";
+    // alpha release
+    FIRMWARE_VERSION_TYPEEnum[FIRMWARE_VERSION_TYPEEnum["FIRMWARE_VERSION_TYPE_ALPHA"] = 64] = "FIRMWARE_VERSION_TYPE_ALPHA";
+    // beta release
+    FIRMWARE_VERSION_TYPEEnum[FIRMWARE_VERSION_TYPEEnum["FIRMWARE_VERSION_TYPE_BETA"] = 128] = "FIRMWARE_VERSION_TYPE_BETA";
+    // release candidate
+    FIRMWARE_VERSION_TYPEEnum[FIRMWARE_VERSION_TYPEEnum["FIRMWARE_VERSION_TYPE_RC"] = 192] = "FIRMWARE_VERSION_TYPE_RC";
+    // official stable release
+    FIRMWARE_VERSION_TYPEEnum[FIRMWARE_VERSION_TYPEEnum["FIRMWARE_VERSION_TYPE_OFFICIAL"] = 255] = "FIRMWARE_VERSION_TYPE_OFFICIAL";
+})(FIRMWARE_VERSION_TYPEEnum || (FIRMWARE_VERSION_TYPEEnum = {}));
 
 // Auto-generated TypeScript message interfaces for standard dialect
 // Type guard functions
 function isHeartbeat(msg) {
     return msg.message_name === 'HEARTBEAT';
 }
-function isProtocolVersion(msg) {
-    return msg.message_name === 'PROTOCOL_VERSION';
+function isGlobalPositionInt(msg) {
+    return msg.message_name === 'GLOBAL_POSITION_INT';
+}
+function isAutopilotVersion(msg) {
+    return msg.message_name === 'AUTOPILOT_VERSION';
 }
 
 // Auto-generated decoder and parser for standard dialect
@@ -516,7 +591,8 @@ function isProtocolVersion(msg) {
 // Embedded MAVLink CRC implementation
 const CRC_EXTRA = {
     0: 50,
-    300: 0
+    33: 104,
+    148: 106
 };
 class MAVLinkCRC {
     static calculate(data, crcExtra) {
@@ -679,7 +755,11 @@ class DialectParser {
         const result = {};
         const view = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
         let offset = 0;
-        for (const field of fields) {
+        // MAVLink v2 wire format: fields are sorted by type size (largest first)
+        // Extension fields come after core fields and maintain their XML order
+        // See: https://mavlink.io/en/guide/serialization.html#field_reordering
+        const sortedFields = this.sortFieldsByWireOrder(fields);
+        for (const field of sortedFields) {
             if (offset >= payload.length) {
                 result[field.name] = this.getDefaultValue(field);
             }
@@ -691,6 +771,43 @@ class DialectParser {
         }
         return result;
     }
+    // Sort fields by MAVLink v2 wire order: by type size descending, extensions last
+    // Uses stable sort to preserve original order for same-size fields
+    sortFieldsByWireOrder(fields) {
+        // Separate core fields and extension fields
+        const coreFields = [];
+        const extensionFields = [];
+        fields.forEach((field, index) => {
+            if (field.extension) {
+                extensionFields.push(field);
+            }
+            else {
+                coreFields.push({ field, originalIndex: index });
+            }
+        });
+        // Stable sort core fields by type size (descending)
+        // Arrays are sorted by element type size, not total array size
+        coreFields.sort((a, b) => {
+            const sizeA = this.getFieldTypeSize(a.field);
+            const sizeB = this.getFieldTypeSize(b.field);
+            if (sizeB !== sizeA) {
+                return sizeB - sizeA; // Descending order (largest first)
+            }
+            // Same size: maintain original XML order (stable sort)
+            return a.originalIndex - b.originalIndex;
+        });
+        // Extension fields maintain their XML order and come after core fields
+        return [...coreFields.map(c => c.field), ...extensionFields];
+    }
+    // Get the size of a single element of a field type (for wire order sorting)
+    getFieldTypeSize(field) {
+        let baseType = field.type;
+        // Strip array notation to get base type (arrays sort by element type, not total size)
+        if (baseType.includes('[') && baseType.includes(']')) {
+            baseType = baseType.substring(0, baseType.indexOf('['));
+        }
+        return this.getSingleFieldSize(baseType);
+    }
     getDefaultValue(field) {
         const isArray = field.arrayLength !== undefined && field.arrayLength > 1;
         if (isArray) {
@@ -897,15 +1014,19 @@ class DialectParser {
         }
     }
     serializePayload(message, fields) {
+        // MAVLink v2 wire format: fields must be sorted by type size (largest first)
+        // Extension fields come after core fields and maintain their XML order
+        // See: https://mavlink.io/en/guide/serialization.html#field_reordering
+        const sortedFields = this.sortFieldsByWireOrder(fields);
         // Calculate total payload size
         let totalSize = 0;
-        for (const field of fields) {
+        for (const field of sortedFields) {
             totalSize += this.getFieldSize(field);
         }
         const buffer = new ArrayBuffer(totalSize);
         const view = new DataView(buffer);
         let offset = 0;
-        for (const field of fields) {
+        for (const field of sortedFields) {
             const value = message[field.name];
             const bytesWritten = this.serializeField(view, offset, field, value);
             offset += bytesWritten;
@@ -917,8 +1038,7 @@ class DialectParser {
         let corePayloadSize = 0;
         let extensionStartOffset = 0;
         let hasExtensions = false;
-        message.message_name;
-        for (const field of fields) {
+        for (const field of sortedFields) {
             const fieldSize = this.getFieldSize(field);
             // Check if this is an extension field using proper XML-based detection
             const isExtensionField = field.extension === true;
@@ -1209,31 +1329,104 @@ const MESSAGE_DEFINITIONS = [
         ]
     },
     {
-        id: 300,
-        name: 'PROTOCOL_VERSION',
+        id: 33,
+        name: 'GLOBAL_POSITION_INT',
         fields: [
             {
-                name: 'spec_version_hash',
-                type: 'uint8_t',
-                arrayLength: 8,
+                name: 'time_boot_ms',
+                type: 'uint32_t',
             },
             {
-                name: 'library_version_hash',
-                type: 'uint8_t',
-                arrayLength: 8,
+                name: 'lat',
+                type: 'int32_t',
             },
             {
-                name: 'version',
+                name: 'lon',
+                type: 'int32_t',
+            },
+            {
+                name: 'alt',
+                type: 'int32_t',
+            },
+            {
+                name: 'relative_alt',
+                type: 'int32_t',
+            },
+            {
+                name: 'vx',
+                type: 'int16_t',
+            },
+            {
+                name: 'vy',
+                type: 'int16_t',
+            },
+            {
+                name: 'vz',
+                type: 'int16_t',
+            },
+            {
+                name: 'hdg',
                 type: 'uint16_t',
             },
+        ]
+    },
+    {
+        id: 148,
+        name: 'AUTOPILOT_VERSION',
+        fields: [
+            {
+                name: 'capabilities',
+                type: 'uint64_t',
+            },
+            {
+                name: 'uid',
+                type: 'uint64_t',
+            },
+            {
+                name: 'flight_sw_version',
+                type: 'uint32_t',
+            },
+            {
+                name: 'middleware_sw_version',
+                type: 'uint32_t',
+            },
+            {
+                name: 'os_sw_version',
+                type: 'uint32_t',
+            },
+            {
+                name: 'board_version',
+                type: 'uint32_t',
+            },
             {
-                name: 'min_version',
+                name: 'vendor_id',
                 type: 'uint16_t',
             },
             {
-                name: 'max_version',
+                name: 'product_id',
                 type: 'uint16_t',
             },
+            {
+                name: 'flight_custom_version',
+                type: 'uint8_t',
+                arrayLength: 8,
+            },
+            {
+                name: 'middleware_custom_version',
+                type: 'uint8_t',
+                arrayLength: 8,
+            },
+            {
+                name: 'os_custom_version',
+                type: 'uint8_t',
+                arrayLength: 8,
+            },
+            {
+                name: 'uid2',
+                type: 'uint8_t',
+                arrayLength: 18,
+                extension: true,
+            },
         ]
     },
 ];
@@ -1293,5 +1486,5 @@ class StandardSerializer {
     }
 }
 
-export { MAV_AUTOPILOTEnum, MAV_BOOLEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, StandardSerializer, isHeartbeat, isProtocolVersion };
+export { FIRMWARE_VERSION_TYPEEnum, MAV_AUTOPILOTEnum, MAV_BOOLEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_PROTOCOL_CAPABILITYEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, StandardSerializer, isAutopilotVersion, isGlobalPositionInt, isHeartbeat };
 //# sourceMappingURL=index.js.map