<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"/>
    <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"/>
    <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/messagepicker.py"/>
    <program name="Log File Player" command="sw/logalizer/play"/>
    <program name="Simulator" command="sw/simulator/pprzsim-launch"/>
    <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="Hardware in the Loop" command="sw/simulator/simhitl"/>
    <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>
  </section>

  <section name="sessions">
    <session name="Bluegiga">
      <program name="Data Link">
        <arg flag="-udp"/>
        <arg flag="-udp_port" constant="4242"/>
        <arg flag="-udp_uplink_port" constant="4252"/>
      </program>
      <program name="Server"/>
      <program name="Messages"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
      <program name="NatNet">
        <arg flag="-ac" constant="1"/>
        <arg flag="12"/>
        <arg flag="-small"/>
        <arg flag="-tf" constant="5"/>
      </program>
      <program name="Joystick">
        <arg flag="-d" constant="2"/>
        <arg flag="-ac" constant="@AIRCRAFT"/>
        <arg flag="hobbyking.xml"/>
      </program>
    </session>
    <session name="Guido">
      <program name="Data Link">
        <arg flag="-udp"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech"/>
      </program>
      <program name="Joystick">
        <arg flag="-ac" constant="ARDrone2_optitrack"/>
        <arg flag="hobbyking.xml"/>
        <arg flag="-d" constant="1"/>
      </program>
      <program name="NatNet">
        <arg flag="-ac" constant="2"/>
        <arg flag="11"/>
      </program>
    </session>
    <session name="Flight USB0 @57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Flight Paparazzi @57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/paparazzi/link"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Flight ACM1 @57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyACM1"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Flight ACM0 @57600">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyACM0"/>
        <arg flag="-s" constant="57600"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Flight XBee @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">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Flight UDP">
      <program name="Data Link">
        <arg flag="-udp"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
        <arg flag="-speech" />
      </program>
    </session>
    <session name="Raw Sensors">
      <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="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>
    <session name="Messages and Settings">
      <program name="Messages"/>
      <program name="Settings">
        <arg flag="-ac" constant="@AIRCRAFT"/>
      </program>
    </session>
    <session name="Joystick Hobbyking">
      <program name="Joystick">
        <arg flag="-ac" constant="@AIRCRAFT"/>
        <arg flag="hobbyking.xml"/>
      </program>
    </session>
    <session name="Joystick X3D Pro">
      <program name="Joystick">
        <arg flag="-ac" constant="@AIRCRAFT"/>
        <arg flag="extreme_3d_pro.xml"/>
      </program>
    </session>
  </section>
</control_panel>
