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typedef struct CommandsForAM_t{
2  WaypointType waypoint_type;  // not necessary 3
4  // heading unit vector and magnitude
5  float dist_xforward; 
6  float dist_yright; 
7  float dist_zup; 
8  float magnitude; // Magnitude distance to waypoint target
9  float heading; // heading at target waypoint
10  double speedvelocity_target; // Target velocity of drone approaching target
11} CommandsForAM;