 ;;; --- Generated by genom 3.1. Do not edit ------------------------------

(

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_mass|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_mass|
    :invocation (! (uavatt_set_mass $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
              (^ (FR $mod set_mass $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_mass: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_mass $RqstId $output))
                 (~> (IR $mod set_mass $RqstId $ACTID))
		 (~> (FR $mod set_mass $RqstId $report $data))
                 (! (PRINTIF "RS: set_mass reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_mass report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_mass report|
    :invocation (! (uavatt_set_mass_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
              (^ (FR $mod set_mass $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_mass: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_mass $RqstId $output))
                 (~> (IR $mod set_mass $RqstId $ACTID))
		 (~> (FR $mod set_mass $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_mass reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_mass async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_mass async|
    :invocation (! (uavatt_set_mass_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_mass
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_mass to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_mass $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_mass_input (mass $float_0))
or a VarArg of the form (VarArg  (mass <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_geom|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_geom|
    :invocation (! (uavatt_set_geom $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_geom $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_geom: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_geom $RqstId $output))
                 (~> (IR $mod set_geom $RqstId $ACTID))
		 (~> (FR $mod set_geom $RqstId $report $data))
                 (! (PRINTIF "RS: set_geom reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_geom_input (mass $float_0) (G $array48_1))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_geom report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_geom report|
    :invocation (! (uavatt_set_geom_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_geom $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_geom: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_geom $RqstId $output))
                 (~> (IR $mod set_geom $RqstId $ACTID))
		 (~> (FR $mod set_geom $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_geom reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_geom_input (mass $float_0) (G $array48_1))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_geom async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_geom async|
    :invocation (! (uavatt_set_geom_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_geom
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_geom $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_geom_input (mass $float_0) (G $array48_1))
or a VarArg of the form (VarArg  (mass <double>) (G <array48_double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_gtmrp_geom|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_gtmrp_geom|
    :invocation (! (uavatt_set_gtmrp_geom $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_gtmrp_geom $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_gtmrp_geom: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_gtmrp_geom $RqstId $output))
                 (~> (IR $mod set_gtmrp_geom $RqstId $ACTID))
		 (~> (FR $mod set_gtmrp_geom $RqstId $report $data))
                 (! (PRINTIF "RS: set_gtmrp_geom reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (rx $float_6) (ry $float_7) (rz $short_8) (cf $float_9) (ct $float_10))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_gtmrp_geom report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_gtmrp_geom report|
    :invocation (! (uavatt_set_gtmrp_geom_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
              (^ (FR $mod set_gtmrp_geom $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_gtmrp_geom: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_gtmrp_geom $RqstId $output))
                 (~> (IR $mod set_gtmrp_geom $RqstId $ACTID))
		 (~> (FR $mod set_gtmrp_geom $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_gtmrp_geom reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (rx $float_6) (ry $float_7) (rz $short_8) (cf $float_9) (ct $float_10))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_gtmrp_geom async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_gtmrp_geom async|
    :invocation (! (uavatt_set_gtmrp_geom_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_gtmrp_geom
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_gtmrp_geom to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_gtmrp_geom $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_gtmrp_geom_input (rotors $ushort_0) (cx $float_1) (cy $float_2) (cz $float_3) (armlen $float_4) (mass $float_5) (rx $float_6) (ry $float_7) (rz $short_8) (cf $float_9) (ct $float_10))
or a VarArg of the form (VarArg  (rotors <unsigned_short>) (cx <double>) (cy <double>) (cz <double>) (armlen <double>) (mass <double>) (rx <double>) (ry <double>) (rz <short>) (cf <double>) (ct <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_saturation_weights|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_saturation_weights|
    :invocation (! (uavatt_set_saturation_weights $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation_weights $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation_weights: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation_weights $RqstId $output))
                 (~> (IR $mod set_saturation_weights $RqstId $ACTID))
		 (~> (FR $mod set_saturation_weights $RqstId $report $data))
                 (! (PRINTIF "RS: set_saturation_weights reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_saturation_weights_input (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.lateral <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_saturation_weights report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_saturation_weights report|
    :invocation (! (uavatt_set_saturation_weights_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
              (^ (FR $mod set_saturation_weights $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_saturation_weights: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_saturation_weights $RqstId $output))
                 (~> (IR $mod set_saturation_weights $RqstId $ACTID))
		 (~> (FR $mod set_saturation_weights $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_saturation_weights reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_saturation_weights_input (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.lateral <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_saturation_weights async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_saturation_weights async|
    :invocation (! (uavatt_set_saturation_weights_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_saturation_weights
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_saturation_weights to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_saturation_weights $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_saturation_weights_input (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))))
or a VarArg of the form (VarArg  (satweight.enable <boolean>) (satweight.thrust <double>) (satweight.lateral <double>) (satweight.tilt <double>) (satweight.head <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_control_mode|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_control_mode|
    :invocation (! (uavatt_set_control_mode $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
              (^ (FR $mod set_control_mode $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_control_mode: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_control_mode $RqstId $output))
                 (~> (IR $mod set_control_mode $RqstId $ACTID))
		 (~> (FR $mod set_control_mode $RqstId $report $data))
                 (! (PRINTIF "RS: set_control_mode reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_control_mode_input (att_mode $t_uavatt_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_uavatt_attitude_control_mode>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_control_mode report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_control_mode report|
    :invocation (! (uavatt_set_control_mode_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
              (^ (FR $mod set_control_mode $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_control_mode: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_control_mode $RqstId $output))
                 (~> (IR $mod set_control_mode $RqstId $ACTID))
		 (~> (FR $mod set_control_mode $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_control_mode reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_control_mode_input (att_mode $t_uavatt_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_uavatt_attitude_control_mode>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_control_mode async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_control_mode async|
    :invocation (! (uavatt_set_control_mode_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_control_mode
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_control_mode to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_control_mode $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_control_mode_input (att_mode $t_uavatt_attitude_control_mode))
or a VarArg of the form (VarArg  (att_mode <t_uavatt_attitude_control_mode>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_wlimit|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_wlimit|
    :invocation (! (uavatt_set_wlimit $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
              (^ (FR $mod set_wlimit $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_wlimit: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_wlimit $RqstId $output))
                 (~> (IR $mod set_wlimit $RqstId $ACTID))
		 (~> (FR $mod set_wlimit $RqstId $report $data))
                 (! (PRINTIF "RS: set_wlimit reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_wlimit report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_wlimit report|
    :invocation (! (uavatt_set_wlimit_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
              (^ (FR $mod set_wlimit $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_wlimit: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_wlimit $RqstId $output))
                 (~> (IR $mod set_wlimit $RqstId $ACTID))
		 (~> (FR $mod set_wlimit $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_wlimit reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_wlimit async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_wlimit async|
    :invocation (! (uavatt_set_wlimit_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_wlimit
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_wlimit to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_wlimit $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_wlimit_input (wmin $float_0) (wmax $float_1))
or a VarArg of the form (VarArg  (wmin <double>) (wmax <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_servo_gain|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_servo_gain|
    :invocation (! (uavatt_set_servo_gain $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
              (^ (FR $mod set_servo_gain $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_servo_gain: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_servo_gain $RqstId $output))
                 (~> (IR $mod set_servo_gain $RqstId $ACTID))
		 (~> (FR $mod set_servo_gain $RqstId $report $data))
                 (! (PRINTIF "RS: set_servo_gain reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_servo_gain_input (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_0) (Kqz $float_1) (Kwxy $float_2) (Kwz $float_3))))
or a VarArg of the form (VarArg  (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kwxy <double>) (gain.Kwz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_servo_gain report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_servo_gain report|
    :invocation (! (uavatt_set_servo_gain_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
              (^ (FR $mod set_servo_gain $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_servo_gain: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_servo_gain $RqstId $output))
                 (~> (IR $mod set_servo_gain $RqstId $ACTID))
		 (~> (FR $mod set_servo_gain $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_servo_gain reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_servo_gain_input (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_0) (Kqz $float_1) (Kwxy $float_2) (Kwz $float_3))))
or a VarArg of the form (VarArg  (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kwxy <double>) (gain.Kwz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_servo_gain async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_servo_gain async|
    :invocation (! (uavatt_set_servo_gain_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_servo_gain
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_servo_gain to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_servo_gain $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_servo_gain_input (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_0) (Kqz $float_1) (Kwxy $float_2) (Kwz $float_3))))
or a VarArg of the form (VarArg  (gain.Kqxy <double>) (gain.Kqz <double>) (gain.Kwxy <double>) (gain.Kwz <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_emerg|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_emerg|
    :invocation (! (uavatt_set_emerg $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
              (^ (FR $mod set_emerg $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_emerg: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_emerg $RqstId $output))
                 (~> (IR $mod set_emerg $RqstId $ACTID))
		 (~> (FR $mod set_emerg $RqstId $report $data))
                 (! (PRINTIF "RS: set_emerg reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_emerg_input (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_0) (dw $float_1))))
or a VarArg of the form (VarArg  (emerg.dq <double>) (emerg.dw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_emerg report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_emerg report|
    :invocation (! (uavatt_set_emerg_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
              (^ (FR $mod set_emerg $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_emerg: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_emerg $RqstId $output))
                 (~> (IR $mod set_emerg $RqstId $ACTID))
		 (~> (FR $mod set_emerg $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_emerg reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_emerg_input (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_0) (dw $float_1))))
or a VarArg of the form (VarArg  (emerg.dq <double>) (emerg.dw <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_emerg async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_emerg async|
    :invocation (! (uavatt_set_emerg_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_emerg
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_emerg to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_emerg $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_emerg_input (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_0) (dw $float_1))))
or a VarArg of the form (VarArg  (emerg.dq <double>) (emerg.dw <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_servo_parameters|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_servo_parameters|
    :invocation (! (uavatt_get_servo_parameters $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_servo_parameters $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_servo_parameters: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_servo_parameters $RqstId $output))
                 (~> (IR $mod get_servo_parameters $RqstId $ACTID))
		 (~> (FR $mod get_servo_parameters $RqstId $report $data))
                 (! (PRINTIF "RS: get_servo_parameters reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_servo_parameters_output (servo (t_uavatt_ids_servo_s (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))) (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_6) (Kqz $float_7) (Kwxy $float_8) (Kwz $float_9))) (att_mode $t_uavatt_attitude_control_mode) (ramp $float_12) (scale $float_13) (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_14) (dw $float_15))))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_servo_parameters report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_servo_parameters report|
    :invocation (! (uavatt_get_servo_parameters_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_servo_parameters $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_servo_parameters: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_servo_parameters $RqstId $output))
                 (~> (IR $mod get_servo_parameters $RqstId $ACTID))
		 (~> (FR $mod get_servo_parameters $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_servo_parameters reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_servo_parameters_output (servo (t_uavatt_ids_servo_s (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))) (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_6) (Kqz $float_7) (Kwxy $float_8) (Kwz $float_9))) (att_mode $t_uavatt_attitude_control_mode) (ramp $float_12) (scale $float_13) (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_14) (dw $float_15))))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_servo_parameters async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_servo_parameters async|
    :invocation (! (uavatt_get_servo_parameters_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_servo_parameters
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_servo_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_servo_parameters $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_servo_parameters_output (servo (t_uavatt_ids_servo_s (satweight (t_uavatt_ids_servo_s_satweight_s (enable $bool_0) (thrust $float_1) (lateral $float_2) (tilt $float_3) (head $float_4))) (gain (t_uavatt_ids_servo_s_gain_s (Kqxy $float_6) (Kqz $float_7) (Kwxy $float_8) (Kwz $float_9))) (att_mode $t_uavatt_attitude_control_mode) (ramp $float_12) (scale $float_13) (emerg (t_uavatt_ids_servo_s_emerg_s (dq $float_14) (dw $float_15))))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_geom_parameters|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_geom_parameters|
    :invocation (! (uavatt_get_geom_parameters $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_geom_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_geom_parameters $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_geom_parameters: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_geom_parameters $RqstId $output))
                 (~> (IR $mod get_geom_parameters $RqstId $ACTID))
		 (~> (FR $mod get_geom_parameters $RqstId $report $data))
                 (! (PRINTIF "RS: get_geom_parameters reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_geom_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_geom_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_geom_parameters_output (body (t_uavatt_ids_body_s (G $array48_0) (iG $array48_1) (mass $float_2) (rotors $ushort_3) (wmin $float_4) (wmax $float_5) (wrench_min $array6_6) (wrench_max $array6_7) (init $bool_8))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_geom_parameters report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_geom_parameters report|
    :invocation (! (uavatt_get_geom_parameters_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_geom_parameters
		   $input
		   $RqstId))
              (^ (FR $mod get_geom_parameters $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_geom_parameters: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_geom_parameters $RqstId $output))
                 (~> (IR $mod get_geom_parameters $RqstId $ACTID))
		 (~> (FR $mod get_geom_parameters $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_geom_parameters reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_geom_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_geom_parameters  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_geom_parameters_output (body (t_uavatt_ids_body_s (G $array48_0) (iG $array48_1) (mass $float_2) (rotors $ushort_3) (wmin $float_4) (wmax $float_5) (wrench_min $array6_6) (wrench_max $array6_7) (init $bool_8))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_geom_parameters async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_geom_parameters async|
    :invocation (! (uavatt_get_geom_parameters_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_geom_parameters
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_geom_parameters to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_geom_parameters $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_geom_parameters_output (body (t_uavatt_ids_body_s (G $array48_0) (iG $array48_1) (mass $float_2) (rotors $ushort_3) (wmin $float_4) (wmax $float_5) (wrench_min $array6_6) (wrench_max $array6_7) (init $bool_8))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_reference|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_reference|
    :invocation (! (uavatt_get_reference $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
              (^ (FR $mod get_reference $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_reference: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod get_reference $RqstId $output))
                 (~> (IR $mod get_reference $RqstId $ACTID))
		 (~> (FR $mod get_reference $RqstId $report $data))
                 (! (PRINTIF "RS: get_reference reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_reference_output (reference (t_or_uav_input (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (thrust $optional_4) (att $optional_5) (avel $optional_6) (aacc $optional_7))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_reference report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_reference report|
    :invocation (! (uavatt_get_reference_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
              (^ (FR $mod get_reference $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in get_reference: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod get_reference $RqstId $output))
                 (~> (IR $mod get_reference $RqstId $ACTID))
		 (~> (FR $mod get_reference $RqstId $report1 $data))
                 (! (PRINTIF "RS: get_reference reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_reference_output (reference (t_or_uav_input (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (thrust $optional_4) (att $optional_5) (avel $optional_6) (aacc $optional_7))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt get_reference async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt get_reference async|
    :invocation (! (uavatt_get_reference_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod get_reference
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send get_reference to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod get_reference $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_get_reference_output (reference (t_or_uav_input (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (thrust $optional_4) (att $optional_5) (avel $optional_6) (aacc $optional_7))))"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt servo|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt servo|
    :invocation (! (uavatt_servo $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
              (^ (FR $mod servo $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in servo: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod servo $RqstId $output))
                 (~> (IR $mod servo $RqstId $ACTID))
		 (~> (FR $mod servo $RqstId $report $data))
                 (! (PRINTIF "RS: servo reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt servo report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt servo report|
    :invocation (! (uavatt_servo_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
              (^ (FR $mod servo $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in servo: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod servo $RqstId $output))
                 (~> (IR $mod servo $RqstId $ACTID))
		 (~> (FR $mod servo $RqstId $report1 $data))
                 (! (PRINTIF "RS: servo reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt servo async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt servo async|
    :invocation (! (uavatt_servo_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod servo
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send servo to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod servo $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_state|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_state|
    :invocation (! (uavatt_set_state $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
              (^ (FR $mod set_state $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_state: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod set_state $RqstId $output))
                 (~> (IR $mod set_state $RqstId $ACTID))
		 (~> (FR $mod set_state $RqstId $report $data))
                 (! (PRINTIF "RS: set_state reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_state_input (thrust (t_or_rb3d_force (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (avel (t_or_t3d_avel (wx $float_9) (wy $float_10) (wz $float_11))) (aacc (t_or_t3d_aacc (awx $float_13) (awy $float_14) (awz $float_15))))
or a VarArg of the form (VarArg  (thrust.x <double>) (thrust.y <double>) (thrust.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (aacc.awx <double>) (aacc.awy <double>) (aacc.awz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_state report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_state report|
    :invocation (! (uavatt_set_state_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
              (^ (FR $mod set_state $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in set_state: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod set_state $RqstId $output))
                 (~> (IR $mod set_state $RqstId $ACTID))
		 (~> (FR $mod set_state $RqstId $report1 $data))
                 (! (PRINTIF "RS: set_state reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_state_input (thrust (t_or_rb3d_force (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (avel (t_or_t3d_avel (wx $float_9) (wy $float_10) (wz $float_11))) (aacc (t_or_t3d_aacc (awx $float_13) (awy $float_14) (awz $float_15))))
or a VarArg of the form (VarArg  (thrust.x <double>) (thrust.y <double>) (thrust.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (aacc.awx <double>) (aacc.awy <double>) (aacc.awz <double>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt set_state async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt set_state async|
    :invocation (! (uavatt_set_state_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod set_state
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send set_state to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod set_state $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_set_state_input (thrust (t_or_rb3d_force (x $float_0) (y $float_1) (z $float_2))) (att (t_or_t3d_att (qw $float_4) (qx $float_5) (qy $float_6) (qz $float_7))) (avel (t_or_t3d_avel (wx $float_9) (wy $float_10) (wz $float_11))) (aacc (t_or_t3d_aacc (awx $float_13) (awy $float_14) (awz $float_15))))
or a VarArg of the form (VarArg  (thrust.x <double>) (thrust.y <double>) (thrust.z <double>) (att.qw <double>) (att.qx <double>) (att.qy <double>) (att.qz <double>) (avel.wx <double>) (avel.wy <double>) (avel.wz <double>) (aacc.awx <double>) (aacc.awy <double>) (aacc.awz <double>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt coast|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt coast|
    :invocation (! (uavatt_coast $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod coast
		   $input
		   $RqstId))
              (^ (FR $mod coast $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in coast: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod coast $RqstId $output))
                 (~> (IR $mod coast $RqstId $ACTID))
		 (~> (FR $mod coast $RqstId $report $data))
                 (! (PRINTIF "RS: coast reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send coast to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod coast  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt coast report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt coast report|
    :invocation (! (uavatt_coast_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod coast
		   $input
		   $RqstId))
              (^ (FR $mod coast $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in coast: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod coast $RqstId $output))
                 (~> (IR $mod coast $RqstId $ACTID))
		 (~> (FR $mod coast $RqstId $report1 $data))
                 (! (PRINTIF "RS: coast reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send coast to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod coast  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt coast async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt coast async|
    :invocation (! (uavatt_coast_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod coast
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send coast to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod coast $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log|
    :invocation (! (uavatt_log $mod $input))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
              (^ (FR $mod log $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log $RqstId $output))
                 (~> (IR $mod log $RqstId $ACTID))
		 (~> (FR $mod log $RqstId $report $data))
                 (! (PRINTIF "RS: log reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log report|
    :invocation (! (uavatt_log_report $mod $input $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
              (^ (FR $mod log $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log $RqstId $output))
                 (~> (IR $mod log $RqstId $ACTID))
		 (~> (FR $mod log $RqstId $report1 $data))
                 (! (PRINTIF "RS: log reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log async|
    :invocation (! (uavatt_log_async $mod $input $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect (uavatt_log_input (path $string64_0) (decimation $ulong_1))
or a VarArg of the form (VarArg  (path <string64>) (decimation <unsigned_long>))
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_stop|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_stop|
    :invocation (! (uavatt_log_stop $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
              (^ (FR $mod log_stop $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_stop: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log_stop $RqstId $output))
                 (~> (IR $mod log_stop $RqstId $ACTID))
		 (~> (FR $mod log_stop $RqstId $report $data))
                 (! (PRINTIF "RS: log_stop reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_stop report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_stop report|
    :invocation (! (uavatt_log_stop_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
              (^ (FR $mod log_stop $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_stop: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log_stop $RqstId $output))
                 (~> (IR $mod log_stop $RqstId $ACTID))
		 (~> (FR $mod log_stop $RqstId $report1 $data))
                 (! (PRINTIF "RS: log_stop reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_stop async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_stop async|
    :invocation (! (uavatt_log_stop_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_stop
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log_stop to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_stop $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return nil"
)

;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_info|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_info|
    :invocation (! (uavatt_log_info $mod ))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
              (^ (FR $mod log_info $RqstId $report $output))
              (IF (? (~ (EQUAL $report OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_info: %d\n" $report)))
               ELSE
	         (=> (FR-OUTPUT $mod log_info $RqstId $output))
                 (~> (IR $mod log_info $RqstId $ACTID))
		 (~> (FR $mod log_info $RqstId $report $data))
                 (! (PRINTIF "RS: log_info reply OK\n"))
              )
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_log_info_output (miss $ulong_0) (total $ulong_1))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_info report|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_info report|
    :invocation (! (uavatt_log_info_report $mod  $report))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
              (^ (FR $mod log_info $RqstId $report1 $output))
              (IF (? (~ (EQUAL $report1 OK)))
                 (! (PRINTIFF (FORMAT "RS: BAD report in log_info: %d\n" $report1)))
               ELSE
	         (=> (FR-OUTPUT $mod log_info $RqstId $output))
                 (~> (IR $mod log_info $RqstId $ACTID))
		 (~> (FR $mod log_info $RqstId $report1 $data))
                 (! (PRINTIF "RS: log_info reply OK\n"))
		 )
	       (! (== $report $report1))
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info  $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_log_info_output (miss $ulong_0) (total $ulong_1))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt log_info async|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt log_info async|
    :invocation (! (uavatt_log_info_async $mod  $RqstId))
    :body ((IF (! (RS-SEND-G3-REQUEST $mod log_info
		   $input
		   $RqstId))
            ELSE
              (! (PRINTIF "RS: Fail send log_info to $mod\n"))
	      (=> (RS-SEND-G3-REQUEST-ERROR $mod log_info $input $RqstId))
	      (! (FAILED))
           )
          )
  :documentation "Expect nil
or a VarArg of the form (VarArg )
return (uavatt_log_info_output (miss $ulong_0) (total $ulong_1))"
)


;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt wrench_measure|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt wrench_measure|
    :invocation (! (read_uavatt_wrench_measure $mod))
    :body ((IF (! (READ-PORT-INTERNAL $mod wrench_measure $data))
	      (=> (uavatt_wrench_measure $mod $data))    	     
            ELSE  
              (! (PRINTIF "RS: Fail reading port wrench_measure from $mod\n"))
	      (! (FAILED))
           ))
 :documentation "Read wrench_measure and store (uavatt_wrench_measure uavatt (uavatt_wrench_measure (t_or_wrench_estimator_state (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (intrinsic $bool_3) (force $optional_4) (force_cov $optional_5) (torque $optional_6) (torque_cov $optional_7))))"
)
;;;;;;;;;;;;;;;;;;;;;;;;;
;;; |uavatt rotor_input|
;;;;;;;;;;;;;;;;;;;;;;;;;
(defop |uavatt rotor_input|
    :invocation (! (read_uavatt_rotor_input $mod))
    :body ((IF (! (READ-PORT-INTERNAL $mod rotor_input $data))
	      (=> (uavatt_rotor_input $mod $data))    	     
            ELSE  
              (! (PRINTIF "RS: Fail reading port rotor_input from $mod\n"))
	      (! (FAILED))
           ))
 :documentation "Read rotor_input and store (uavatt_rotor_input uavatt (uavatt_rotor_input (t_or_rotorcraft_input (ts (t_or_time_ts (sec $long_0) (nsec $long_1))) (control $t_or_rotorcraft_control_type) (desired $seq8_4))))"
)


(defop |Make New uavatt Module| 
:invocation (! (Make_New_uavatt_Module $MOD-NAME))
:action (MAKE-NEW-UAVATT-MODULE $MOD-NAME)
:documentation "This action will create a new instance of a uavatt module named $MOD-NAME."
)
)
