<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>


  <process name="Main">

    <mode name="default" key_press="d">
      <message name="AUTOPILOT_VERSION"      period="11.1"/>
      <message name="DL_VALUE"               period="1.1"/>
      <message name="ALIVE"                  period="2.1"/>
      <message name="I2C_ERRORS"             period="4.1"/>
      <message name="UART_ERRORS"            period="3.1"/>
      <message name="SUPERBITRF"             period="3"/>
      <message name="DATALINK_REPORT"        period="5.1"/>
      <message name="STATE_FILTER_STATUS"    period="3.2"/>
      <message name="AHRS_EULER_INT"     period=".1"/>
    </mode>

    <mode name="commands">
      <message name="DL_VALUE"            period="0.5"/>
      <message name="ALIVE"               period="2.1"/>
      <message name="COMMANDS"            period=".05"/>
      <message name="ACTUATORS"           period=".05"/>
    </mode>

    <mode name="raw_sensors">
      <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"/>
    </mode>

    <mode name="scaled_sensors">
      <message name="DL_VALUE"               period="0.5"/>
      <message name="ALIVE"                  period="2.1"/>
      <message name="IMU_GYRO_SCALED"        period=".075"/>
      <message name="IMU_ACCEL_SCALED"       period=".075"/>
      <message name="IMU_MAG_SCALED"         period=".1"/>
    </mode>

    <mode name="ahrs">
      <message name="DL_VALUE"           period="0.5"/>
      <message name="ALIVE"              period="2.1"/>
      <message name="FILTER_ALIGNER"     period="2.2"/>
      <message name="FILTER"             period=".5"/>
      <message name="GEO_MAG"            period="5."/>
      <message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
      <message name="AHRS_QUAT_INT"      period=".25"/>
      <message name="AHRS_EULER_INT"     period=".1"/>
    </mode>

  </process>

</telemetry>

