<?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="ROTORCRAFT_STATUS"      period="1.2"/>
      <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="1.3"/>
      <message name="ROTORCRAFT_CAM"         period="1."/>
      <message name="GPS_INT"                period=".25"/>
      <message name="INS"                    period=".25"/>
      <message name="I2C_ERRORS"             period="4.1"/>
      <message name="UART_ERRORS"            period="3.1"/>
      <message name="SUPERBITRF"             period="3"/>
      <message name="ENERGY"                 period="2.5"/>
      <message name="DATALINK_REPORT"        period="5.1"/>
      <message name="STATE_FILTER_STATUS"    period="3.2"/>
      <message name="AIR_DATA"               period="1.3"/>
      <message name="SURVEY"                 period="2.5"/>
      <message name="OPTIC_FLOW_EST"         period="0.25"/>
      <message name="VECTORNAV_INFO"         period="0.5"/>
      <message name="TEMP_ADC"               period="3.0"/>
      <message name="FBW_STATUS"             period="2.0"/>
      <message name="MOTOR"                  period="0.5"/>
    </mode>

    <mode name="ppm">
      <message name="DL_VALUE"                 period="0.5"/>
      <message name="ALIVE"                    period="2.1"/>
      <message name="ROTORCRAFT_CMD"           period=".05"/>
      <message name="PPM"                      period="0.5"/>
      <message name="RC"                       period="0.5"/>
      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
      <message name="ROTORCRAFT_STATUS"        period="1"/>
      <message name="BEBOP_ACTUATORS"          period="0.2"/>
    </mode>

    <mode name="raw_sensors">
      <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>

    <mode name="scaled_sensors">
      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
      <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="ROTORCRAFT_STATUS"  period="1.2"/>
      <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"/>
<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
    </mode>

    <mode name="rate_loop">
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="RATE_LOOP"         period=".02"/>
    </mode>

    <mode name="attitude_setpoint_viz" key_press="v">
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="0.9"/>
      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
      <message name="AHRS_REF_QUAT" period="0.05"/>
    </mode>

    <mode name="attitude_loop" key_press="a">
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="0.9"/>
      <message name="STAB_ATTITUDE_INT"     period=".03"/>
      <message name="STAB_ATTITUDE_REF_INT" period=".03"/>
      <message name="STAB_ATTITUDE_INDI"     period=".25"/>
    </mode>

    <mode name="vert_loop" key_press="v">
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="DL_VALUE"          period="0.5"/>
      <message name="ALIVE"             period="0.9"/>
      <message name="VFF"               period=".05"/>
      <message name="VFF_EXTENDED"      period=".05"/>
      <message name="VERT_LOOP"         period=".05"/>
      <message name="INS_Z"             period=".05"/>
      <message name="INS"               period=".11"/>
      <message name="INS_REF"           period="5.1"/>
    </mode>

    <mode name="h_loop" key_press="h">
      <message name="ALIVE"                 period="0.9"/>
      <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="0.4"/>-->
      <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="aligner">
      <message name="ALIVE"             period="0.9"/>
      <message name="FILTER_ALIGNER"    period="0.02"/>
    </mode>

    <mode name="tune_hover">
      <message name="DL_VALUE"          period="1.1"/>
      <message name="ROTORCRAFT_STATUS" period="1.2"/>
      <message name="ALIVE"             period="2.1"/>
      <message name="GUIDANCE_H_INT"    period="0.05"/>
      <message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>
      <!-- <message name="GPS_INT"               period=".20"/> -->
      <!--<message name="INS2"              period=".05"/>
      <message name="INS3"              period=".20"/>-->
      <message name="INS_REF"           period="5.1"/>
    </mode>

    <mode name="empty"></mode>

  </process>

  <process name="Logger">
    <mode name="default">
      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
      <message name="DL_VALUE"               period="0.5"/>
      <message name="IMU_GYRO_SCALED"        period=".002"/>
      <message name="IMU_MAG_SCALED"         period=".1"/>
      <message name="ROTORCRAFT_CMD"         period=".002"/>
    </mode>
  </process>

  <process name="InterMCU">
    <mode name="default">
      <message name="ROTORCRAFT_STATUS"      period="0.1"/>
    </mode>
  </process>

</telemetry>

