<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "../telemetry.dtd">
<telemetry>
  <process name="Main">

    <mode name="default" key_press="d">
      <message name="DL_VALUE"               period="1.1"/>
      <message name="ROTORCRAFT_STATUS"      period="0.9"/>
      <message name="ROTORCRAFT_FP"          period="0.25"/>
      <message name="ALIVE"                  period="2.1"/>
      <message name="INS_REF"                period="5.1"/>
      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
      <message name="WP_MOVED"               period="0.4"/>
      <message name="GPS_INT"                period="0.25"/>
      <message name="INS"                    period="0.25"/>
      <message name="I2C_ERRORS"             period="4.1"/>
      <message name="UART_ERRORS"            period="3.1"/>
      <message name="IMU_ACCEL_RAW"     		 period="0.05"/>
      <message name="IMU_GYRO_RAW"           period="0.05"/>
      <message name="IMU_MAG_RAW"            period="0.25"/>
      <message name="BARO_RAW"               period="0.1"/>
      <message name="ARDRONE_NAVDATA"        period="0.13"/>
      <message name="IMU_GYRO_SCALED"        period="0.25"/>
      <message name="IMU_ACCEL_SCALED"       period="0.25"/>
      <message name="IMU_MAG_SCALED"         period="0.25"/>
      <message name="FILTER_ALIGNER"         period="2.2"/>
      <message name="FILTER"                 period="0.7"/>
      <message name="AHRS_GYRO_BIAS_INT"     period="0.08"/>
      <message name="AHRS_QUAT_INT"          period="0.26"/>
	    <message name="AHRS_ARDRONE2"          period="0.11"/>
      <message name="VFF"                    period="0.06"/>
      <message name="VERT_LOOP"              period="0.07"/>
      <message name="INS"                    period="0.08"/>
      <message name="INS_REF"                period="5.1"/>
      <message name="HOVER_LOOP"             period="0.062"/>
      <message name="GUIDANCE_H_REF_INT"         period="0.062"/>
      <message name="STAB_ATTITUDE_INT"          period="0.4"/>
      <message name="STAB_ATTITUDE_REF_INT"      period="2.1"/>
      <message name="ROTORCRAFT_FP"          period="0.8"/>
      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
      <message name="INS_REF"                period="5.1"/>
      <!-- HFF messages are only sent if USE_HFF -->
      <message name="HFF"                    period=".05"/>
	    <message name="HFF_GPS"                period=".03"/>
      <message name="HFF_DBG"                period=".2"/>
    </mode>

    <mode name="raw_sensors" key_press="r">
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="IMU_ACCEL_RAW"     period=".05"/>
      <message name="IMU_GYRO_RAW"      period=".05"/>
      <message name="IMU_MAG_RAW"       period=".05"/>
      <message name="BARO_RAW"          period=".1"/>
      <message name="ARDRONE_NAVDATA"   period=".05"/>
    </mode>

  </process>

</telemetry>

