<?xml version="1.0"?>

<control_panel name="paparazzi control panel">

  <section name="programs">
    <program name="Server" command="sw/ground_segment/tmtc/server"/>
    <program name="Data Link" command="sw/ground_segment/tmtc/link">
      <arg flag="-d" constant="/dev/ttyUSB0"/>
    </program>
    <program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
    <program name="GCS" command="sw/ground_segment/cockpit/gcs">
      <arg flag="-layout" constant="large_left_col.xml"/>
    </program>
    <program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
      <arg flag="-edit"/>
    </program>
    <program name="Messages" command="sw/ground_segment/tmtc/messages"/>
    <program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
    <program name="Settings" command="sw/ground_segment/tmtc/settings">
      <arg flag="-ac" constant="@AIRCRAFT"/>
    </program>
    <program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py">
      <arg flag="--ac_id" constant="@AC_ID"/>
    </program>
    <program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
    <program name="Log Plotter" command="sw/logalizer/logplotter"/>
    <program name="Real-time Plotter" command="sw/logalizer/plotter"/>
    <program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/realtimeplotapp.py"/>
    <program name="Log File Player" command="sw/logalizer/play"/>
    <program name="Simulator" command="sw/simulator/pprzsim-launch">
      <arg flag="-a" constant="@AIRCRAFT"/>
    </program>
    <program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
    <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
      <arg flag="-ac" constant="@AIRCRAFT"/>
      <arg flag="xbox_gamepad.xml"/>
    </program>
    <program name="Environment Simulator" command="sw/simulator/gaia"/>
    <program name="Http Server" command="$python">
      <arg flag="-m" constant="SimpleHTTPServer"/>
      <arg flag="8889"/>
    </program>
    <program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
    <program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
      <arg flag="-d" constant="/dev/ttyUSB1"/>
    </program>
    <program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
    <program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
    <program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
    <program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
      <arg flag="--port" constant="/dev/ttyUSB1"/>
      <arg flag="--id" constant="1"/>
    </program>
    <program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
      <arg flag="/dev/ttyACM2"/>
      <arg flag="scan" />
    </program>
    <program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
      <arg flag="/dev/ttyACM2"/>
      <arg flag="00:07:00:2d:d6:bb" />
      <arg flag="4242" />
      <arg flag="4252" />
    </program>
    <program name="ADS-B Intruders receiver" command="sw/ground_segment/misc/sbs2ivy">
      <arg flag="--ac" constant="@AC_ID"/>
    </program>
    <program name="SVInfo" command="sw/ground_segment/python/svinfo/svinfo.py"/>
    <program name="IridiumDialer" command="sw/tools/iridium/iridium_link.py"/>
    <program name="PayloadForward" command="sw/ground_segment/python/payload_forward/payload.py"/>
    <program name="AeronauticalInfo" command="sw/ground_segment/python/atc/atc.py"/>
    <program name="RtpViewer" command="sw/tools/rtp_viewer/rtp_viewer.py">
      <arg flag="-p" constant="5000"/>
      <arg flag="-s" constant="0.75"/>
      <arg flag="-r" constant="3"/>
    </program>
    <program name="rtcm2ivy" command="sw/ground_segment/misc/rtcm2ivy"/>
 </section>

  <section name="sessions">

   <session name="Flight UDP/WiFi">
      <program name="Server"/>
      <program name="GCS"/>
      <program name="Data Link">
        <arg flag="-udp"/>
      </program>
    </session>

   <session name="Flight USB-serial@9600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
    </session>

   <session name="Flight USB-serial@57600">
     <program name="Data Link">
       <arg flag="-d" constant="/dev/ttyUSB0"/>
       <arg flag="-s" constant="57600"/>
     </program>
     <program name="Server"/>
     <program name="GCS"/>
   </session>

   <session name="Flight USB-XBee-API@57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/paparazzi/xbee"/>
        <arg flag="-transport" constant="xbee"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
    </session>

    <session name="Flight USB-serial Redundant">
      <program name="Server"/>
      <program name="GCS"/>
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-id" constant="1"/>
        <arg flag="-redlink"/>
      </program>
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB1"/>
        <arg flag="-id" constant="2"/>
        <arg flag="-redlink"/>
      </program>
      <program name="Link Combiner"/>
    </session>

    <session name="SupperBitRF">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyACM0"/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
      <program name="Messages"/>
    </session>

    <session name="SupperBitRF cable telemetry">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyACM1"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS"/>
      <program name="Messages"/>
      <program name="Messages"/>
    </session>

    <session name="Messages and Settings">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server">
        <arg flag="-n"/>
      </program>
      <program name="Messages"/>
      <program name="Settings">
        <arg flag="-ac" constant="@AIRCRAFT"/>
      </program>
    </session>

    <session name="Raw Sensors">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server">
        <arg flag="-n"/>
      </program>
      <program name="Messages">
        <arg flag="-g" constant="300x400+0-220"/>
      </program>
      <program name="Settings">
        <arg flag="-ac" constant="@AIRCRAFT"/>
        <arg flag="-g" constant="800x200+0-0"/>
      </program>
      <program name="Real-time Plotter">
        <arg flag="-g" constant="1000x250-0+0"/>
        <arg flag="-t" constant="ACC"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ax"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:ay"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_RAW:az"/>
        <arg flag="-n"/>
        <arg flag="-g" constant="1000x250-0+250"/>
        <arg flag="-t" constant="GYRO"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gp"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gq"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_RAW:gr"/>
        <arg flag="-n"/>
        <arg flag="-g" constant="1000x250-0+500"/>
        <arg flag="-t" constant="MAG"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mx"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:my"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_RAW:mz"/>
        <arg flag="-n"/>
        <arg flag="-g" constant="1000x250-0+750"/>
        <arg flag="-t" constant="BARO"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="101325.0"/>
        <arg flag="-c" constant="*:telemetry:BARO_RAW:abs"/>
      </program>
    </session>

    <session name="Scaled Sensors">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server">
        <arg flag="-n"/>
      </program>
      <program name="Messages">
        <arg flag="-g" constant="300x400+0-220"/>
      </program>
      <program name="Settings">
        <arg flag="-ac" constant="@AIRCRAFT"/>
        <arg flag="-g" constant="800x200+0-0"/>
      </program>
      <program name="Real-time Plotter">
        <arg flag="-g" constant="1000x250-0+0"/>
        <arg flag="-t" constant="ACC"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="9.81"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="-9.81"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ax:0.0009766"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:ay:0.0009766"/>
        <arg flag="-c" constant="*:telemetry:IMU_ACCEL_SCALED:az:0.0009766"/>
        <arg flag="-n"/>
        <arg flag="-g" constant="1000x250-0+250"/>
        <arg flag="-t" constant="GYRO"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gp:0.0139882"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gq:0.0139882"/>
        <arg flag="-c" constant="*:telemetry:IMU_GYRO_SCALED:gr:0.0139882"/>
        <arg flag="-n"/>
        <arg flag="-g" constant="1000x250-0+500"/>
        <arg flag="-t" constant="MAG"/>
        <arg flag="-u" constant="0.05"/>
        <arg flag="-c" constant="0.00"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mx:0.0004883"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:my:0.0004883"/>
        <arg flag="-c" constant="*:telemetry:IMU_MAG_SCALED:mz:0.0004883"/>
      </program>
    </session>

  </section>

</control_panel>
