Addition of the 'Type' and 'Operation' fields to the 'Formation' message. (imcjava hash: 1316cef316e8c4e4d536cf304770a49a20804840)
Added altitude constraints to the 'Formation' message. (imcjava hash: fe968a146ed0031bac835e276cee4aedcb2ace8f)
conf/params: UAV parameters update.